diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 63e10b3..c6ecaaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -68,24 +69,30 @@
         wrapRobotInfo(robotInfo);
         return robotInfo;
     }
-
+    @Transactional
     @Override
     public void updateSpeed(RobotInfoSetDTO robotInfo) {
-        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        LambdaUpdateWrapper<RobotInfo> update = new LambdaUpdateWrapper<>();
         if (robotInfo.getConfV() != null) {
-            update.set("conf_v", robotInfo.getConfV());
+            update.set(RobotInfo::getConfV, robotInfo.getConfV());
         }
         if (robotInfo.getConfW() != null) {
-            update.set("conf_w", robotInfo.getConfW());
+            update.set(RobotInfo::getConfW, robotInfo.getConfW());
         }
         if (robotInfo.getAlarmThreshold() != null) {
-            update.set("alarm_threshold", robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
         }
-        if (robotInfo.getGridScale() != null) {
-            update.set("grid_scale", robotInfo.getGridScale());
+        if (robotInfo.getGridSize() != null) {
+            update.set(RobotInfo::getGridSize, robotInfo.getGridSize());
         }
-        update.eq("id", robotInfo.getId());
+        if (robotInfo.getGridNumber() != null) {
+            update.set(RobotInfo::getGridNumber, robotInfo.getGridNumber());
+        }
+        update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
+
+
+
     }
 
     @Transactional

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 63e10b3..c6ecaaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -68,24 +69,30 @@
         wrapRobotInfo(robotInfo);
         return robotInfo;
     }
-
+    @Transactional
     @Override
     public void updateSpeed(RobotInfoSetDTO robotInfo) {
-        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        LambdaUpdateWrapper<RobotInfo> update = new LambdaUpdateWrapper<>();
         if (robotInfo.getConfV() != null) {
-            update.set("conf_v", robotInfo.getConfV());
+            update.set(RobotInfo::getConfV, robotInfo.getConfV());
         }
         if (robotInfo.getConfW() != null) {
-            update.set("conf_w", robotInfo.getConfW());
+            update.set(RobotInfo::getConfW, robotInfo.getConfW());
         }
         if (robotInfo.getAlarmThreshold() != null) {
-            update.set("alarm_threshold", robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
         }
-        if (robotInfo.getGridScale() != null) {
-            update.set("grid_scale", robotInfo.getGridScale());
+        if (robotInfo.getGridSize() != null) {
+            update.set(RobotInfo::getGridSize, robotInfo.getGridSize());
         }
-        update.eq("id", robotInfo.getId());
+        if (robotInfo.getGridNumber() != null) {
+            update.set(RobotInfo::getGridNumber, robotInfo.getGridNumber());
+        }
+        update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
+
+
+
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
new file mode 100644
index 0000000..9339341
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
@@ -0,0 +1,42 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.TaskHeatMapMapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Service
+public class TaskHeatMapServiceImpl extends ServiceImpl<TaskHeatMapMapper, TaskHeatMap> implements ITaskHeatMapService {
+    @Override
+    public List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page, QueryWrapper<TaskHeatMap> query) {
+        return this.baseMapper.selectTaskHeatMapPage(page, query);
+    }
+
+    @Transactional
+    @Override
+    public void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap) {
+        saveOrUpdate(taskHeatMap, new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, taskHeatMap.getTaskId()));
+    }
+
+    @Transactional
+    @Override
+    public TaskHeatMap getByTaskId(Long id) {
+        return getOne(new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, id));
+    }
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 63e10b3..c6ecaaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -68,24 +69,30 @@
         wrapRobotInfo(robotInfo);
         return robotInfo;
     }
-
+    @Transactional
     @Override
     public void updateSpeed(RobotInfoSetDTO robotInfo) {
-        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        LambdaUpdateWrapper<RobotInfo> update = new LambdaUpdateWrapper<>();
         if (robotInfo.getConfV() != null) {
-            update.set("conf_v", robotInfo.getConfV());
+            update.set(RobotInfo::getConfV, robotInfo.getConfV());
         }
         if (robotInfo.getConfW() != null) {
-            update.set("conf_w", robotInfo.getConfW());
+            update.set(RobotInfo::getConfW, robotInfo.getConfW());
         }
         if (robotInfo.getAlarmThreshold() != null) {
-            update.set("alarm_threshold", robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
         }
-        if (robotInfo.getGridScale() != null) {
-            update.set("grid_scale", robotInfo.getGridScale());
+        if (robotInfo.getGridSize() != null) {
+            update.set(RobotInfo::getGridSize, robotInfo.getGridSize());
         }
-        update.eq("id", robotInfo.getId());
+        if (robotInfo.getGridNumber() != null) {
+            update.set(RobotInfo::getGridNumber, robotInfo.getGridNumber());
+        }
+        update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
+
+
+
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
new file mode 100644
index 0000000..9339341
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
@@ -0,0 +1,42 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.TaskHeatMapMapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Service
+public class TaskHeatMapServiceImpl extends ServiceImpl<TaskHeatMapMapper, TaskHeatMap> implements ITaskHeatMapService {
+    @Override
+    public List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page, QueryWrapper<TaskHeatMap> query) {
+        return this.baseMapper.selectTaskHeatMapPage(page, query);
+    }
+
+    @Transactional
+    @Override
+    public void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap) {
+        saveOrUpdate(taskHeatMap, new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, taskHeatMap.getTaskId()));
+    }
+
+    @Transactional
+    @Override
+    public TaskHeatMap getByTaskId(Long id) {
+        return getOne(new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index 50b508e..c0fd233 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -18,10 +18,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
-import com.casic.missiles.modular.robot.service.IAlarmRecordService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.service.*;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -45,12 +42,14 @@
     private final IRobotStatusInfoService statusInfoService;
     private final AbstractDictService dictService;
     private final IAlarmRecordService recordService;
+    private final ITaskHeatMapService taskHeatMapService;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
         this.recordService = recordService;
+        this.taskHeatMapService = taskHeatMapService;
     }
 
     @Override
@@ -58,6 +57,7 @@
         return this.baseMapper.selectTaskInfoPage(page, query);
     }
 
+    @Transactional
     @Override
     public TaskInfo getById(Serializable id) {
         TaskInfo taskInfo = super.getById(id);
@@ -65,6 +65,7 @@
         return taskInfo;
     }
 
+    @Transactional
     @Override
     public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
         E infoIPage = super.page(page, queryWrapper);
@@ -78,6 +79,7 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
+        taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
     }
 
     @Transactional

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 63e10b3..c6ecaaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -68,24 +69,30 @@
         wrapRobotInfo(robotInfo);
         return robotInfo;
     }
-
+    @Transactional
     @Override
     public void updateSpeed(RobotInfoSetDTO robotInfo) {
-        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        LambdaUpdateWrapper<RobotInfo> update = new LambdaUpdateWrapper<>();
         if (robotInfo.getConfV() != null) {
-            update.set("conf_v", robotInfo.getConfV());
+            update.set(RobotInfo::getConfV, robotInfo.getConfV());
         }
         if (robotInfo.getConfW() != null) {
-            update.set("conf_w", robotInfo.getConfW());
+            update.set(RobotInfo::getConfW, robotInfo.getConfW());
         }
         if (robotInfo.getAlarmThreshold() != null) {
-            update.set("alarm_threshold", robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
         }
-        if (robotInfo.getGridScale() != null) {
-            update.set("grid_scale", robotInfo.getGridScale());
+        if (robotInfo.getGridSize() != null) {
+            update.set(RobotInfo::getGridSize, robotInfo.getGridSize());
         }
-        update.eq("id", robotInfo.getId());
+        if (robotInfo.getGridNumber() != null) {
+            update.set(RobotInfo::getGridNumber, robotInfo.getGridNumber());
+        }
+        update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
+
+
+
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
new file mode 100644
index 0000000..9339341
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
@@ -0,0 +1,42 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.TaskHeatMapMapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Service
+public class TaskHeatMapServiceImpl extends ServiceImpl<TaskHeatMapMapper, TaskHeatMap> implements ITaskHeatMapService {
+    @Override
+    public List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page, QueryWrapper<TaskHeatMap> query) {
+        return this.baseMapper.selectTaskHeatMapPage(page, query);
+    }
+
+    @Transactional
+    @Override
+    public void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap) {
+        saveOrUpdate(taskHeatMap, new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, taskHeatMap.getTaskId()));
+    }
+
+    @Transactional
+    @Override
+    public TaskHeatMap getByTaskId(Long id) {
+        return getOne(new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index 50b508e..c0fd233 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -18,10 +18,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
-import com.casic.missiles.modular.robot.service.IAlarmRecordService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.service.*;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -45,12 +42,14 @@
     private final IRobotStatusInfoService statusInfoService;
     private final AbstractDictService dictService;
     private final IAlarmRecordService recordService;
+    private final ITaskHeatMapService taskHeatMapService;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
         this.recordService = recordService;
+        this.taskHeatMapService = taskHeatMapService;
     }
 
     @Override
@@ -58,6 +57,7 @@
         return this.baseMapper.selectTaskInfoPage(page, query);
     }
 
+    @Transactional
     @Override
     public TaskInfo getById(Serializable id) {
         TaskInfo taskInfo = super.getById(id);
@@ -65,6 +65,7 @@
         return taskInfo;
     }
 
+    @Transactional
     @Override
     public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
         E infoIPage = super.page(page, queryWrapper);
@@ -78,6 +79,7 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
+        taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
new file mode 100644
index 0000000..a248484
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.utils;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.List;
+
+public class AlgorithmUtils {
+
+    /**
+     * 方法执行体
+     *
+     * @param params
+     */
+    public static void invokeJob(List<String> params) {
+        try {
+            BufferedReader br = null;
+            BufferedReader brError;
+            String line = null;
+            Process p = new ProcessBuilder(params).start();
+            br = new BufferedReader(new InputStreamReader(p.getInputStream()));
+            brError = new BufferedReader(new InputStreamReader(p.getErrorStream()));
+            while ((line = br.readLine()) != null || (line = brError.readLine()) != null) {
+                //输出exe输出的信息以及错误信息
+                System.out.println(line);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+    public static void main(String[] args) {
+        //算法初始化调用
+        String exePath = "D:\\casic\\dist\\" + "PathPlanning_init.exe";
+
+        ArrayList<String> invocation = new ArrayList<String>();
+        invocation.add(exePath);
+        invocation.add(10 + "");
+        invocation.add(10 + "");
+        invocation.add("0.05");
+        invocation.add("8");
+        invocation.add("8");
+
+//        invokeJob(invocation);
+
+        String planning = "D:\\casic\\dist\\" + "PathPlanning.exe";
+
+        ArrayList<String> planInvocation = new ArrayList<String>();
+        planInvocation.add(planning);
+        planInvocation.add(5 + "");
+        planInvocation.add(5 + "");
+        planInvocation.add("1,1,0,1,1,1,1,1");
+        planInvocation.add("0.05");
+        planInvocation.add("10");
+        planInvocation.add("10");
+
+        invokeJob(planInvocation);
+
+    }
+}
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 63e10b3..c6ecaaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -68,24 +69,30 @@
         wrapRobotInfo(robotInfo);
         return robotInfo;
     }
-
+    @Transactional
     @Override
     public void updateSpeed(RobotInfoSetDTO robotInfo) {
-        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        LambdaUpdateWrapper<RobotInfo> update = new LambdaUpdateWrapper<>();
         if (robotInfo.getConfV() != null) {
-            update.set("conf_v", robotInfo.getConfV());
+            update.set(RobotInfo::getConfV, robotInfo.getConfV());
         }
         if (robotInfo.getConfW() != null) {
-            update.set("conf_w", robotInfo.getConfW());
+            update.set(RobotInfo::getConfW, robotInfo.getConfW());
         }
         if (robotInfo.getAlarmThreshold() != null) {
-            update.set("alarm_threshold", robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
         }
-        if (robotInfo.getGridScale() != null) {
-            update.set("grid_scale", robotInfo.getGridScale());
+        if (robotInfo.getGridSize() != null) {
+            update.set(RobotInfo::getGridSize, robotInfo.getGridSize());
         }
-        update.eq("id", robotInfo.getId());
+        if (robotInfo.getGridNumber() != null) {
+            update.set(RobotInfo::getGridNumber, robotInfo.getGridNumber());
+        }
+        update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
+
+
+
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
new file mode 100644
index 0000000..9339341
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
@@ -0,0 +1,42 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.TaskHeatMapMapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Service
+public class TaskHeatMapServiceImpl extends ServiceImpl<TaskHeatMapMapper, TaskHeatMap> implements ITaskHeatMapService {
+    @Override
+    public List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page, QueryWrapper<TaskHeatMap> query) {
+        return this.baseMapper.selectTaskHeatMapPage(page, query);
+    }
+
+    @Transactional
+    @Override
+    public void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap) {
+        saveOrUpdate(taskHeatMap, new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, taskHeatMap.getTaskId()));
+    }
+
+    @Transactional
+    @Override
+    public TaskHeatMap getByTaskId(Long id) {
+        return getOne(new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index 50b508e..c0fd233 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -18,10 +18,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
-import com.casic.missiles.modular.robot.service.IAlarmRecordService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.service.*;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -45,12 +42,14 @@
     private final IRobotStatusInfoService statusInfoService;
     private final AbstractDictService dictService;
     private final IAlarmRecordService recordService;
+    private final ITaskHeatMapService taskHeatMapService;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
         this.recordService = recordService;
+        this.taskHeatMapService = taskHeatMapService;
     }
 
     @Override
@@ -58,6 +57,7 @@
         return this.baseMapper.selectTaskInfoPage(page, query);
     }
 
+    @Transactional
     @Override
     public TaskInfo getById(Serializable id) {
         TaskInfo taskInfo = super.getById(id);
@@ -65,6 +65,7 @@
         return taskInfo;
     }
 
+    @Transactional
     @Override
     public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
         E infoIPage = super.page(page, queryWrapper);
@@ -78,6 +79,7 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
+        taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
new file mode 100644
index 0000000..a248484
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.utils;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.List;
+
+public class AlgorithmUtils {
+
+    /**
+     * 方法执行体
+     *
+     * @param params
+     */
+    public static void invokeJob(List<String> params) {
+        try {
+            BufferedReader br = null;
+            BufferedReader brError;
+            String line = null;
+            Process p = new ProcessBuilder(params).start();
+            br = new BufferedReader(new InputStreamReader(p.getInputStream()));
+            brError = new BufferedReader(new InputStreamReader(p.getErrorStream()));
+            while ((line = br.readLine()) != null || (line = brError.readLine()) != null) {
+                //输出exe输出的信息以及错误信息
+                System.out.println(line);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+    public static void main(String[] args) {
+        //算法初始化调用
+        String exePath = "D:\\casic\\dist\\" + "PathPlanning_init.exe";
+
+        ArrayList<String> invocation = new ArrayList<String>();
+        invocation.add(exePath);
+        invocation.add(10 + "");
+        invocation.add(10 + "");
+        invocation.add("0.05");
+        invocation.add("8");
+        invocation.add("8");
+
+//        invokeJob(invocation);
+
+        String planning = "D:\\casic\\dist\\" + "PathPlanning.exe";
+
+        ArrayList<String> planInvocation = new ArrayList<String>();
+        planInvocation.add(planning);
+        planInvocation.add(5 + "");
+        planInvocation.add(5 + "");
+        planInvocation.add("1,1,0,1,1,1,1,1");
+        planInvocation.add("0.05");
+        planInvocation.add("10");
+        planInvocation.add("10");
+
+        invokeJob(planInvocation);
+
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java
new file mode 100644
index 0000000..624df1f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 监测热力图对象VO
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Data
+public class TaskHeatMapVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "热力图" , dataType = "String")
+            private String repetition;
+
+public QueryWrapper<TaskHeatMap> genQuery() {
+QueryWrapper<TaskHeatMap> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(repetition)) {
+        query.eq("repetition",repetition);
+}
+return query;
+}}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 63e10b3..c6ecaaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -68,24 +69,30 @@
         wrapRobotInfo(robotInfo);
         return robotInfo;
     }
-
+    @Transactional
     @Override
     public void updateSpeed(RobotInfoSetDTO robotInfo) {
-        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        LambdaUpdateWrapper<RobotInfo> update = new LambdaUpdateWrapper<>();
         if (robotInfo.getConfV() != null) {
-            update.set("conf_v", robotInfo.getConfV());
+            update.set(RobotInfo::getConfV, robotInfo.getConfV());
         }
         if (robotInfo.getConfW() != null) {
-            update.set("conf_w", robotInfo.getConfW());
+            update.set(RobotInfo::getConfW, robotInfo.getConfW());
         }
         if (robotInfo.getAlarmThreshold() != null) {
-            update.set("alarm_threshold", robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
         }
-        if (robotInfo.getGridScale() != null) {
-            update.set("grid_scale", robotInfo.getGridScale());
+        if (robotInfo.getGridSize() != null) {
+            update.set(RobotInfo::getGridSize, robotInfo.getGridSize());
         }
-        update.eq("id", robotInfo.getId());
+        if (robotInfo.getGridNumber() != null) {
+            update.set(RobotInfo::getGridNumber, robotInfo.getGridNumber());
+        }
+        update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
+
+
+
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
new file mode 100644
index 0000000..9339341
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
@@ -0,0 +1,42 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.TaskHeatMapMapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Service
+public class TaskHeatMapServiceImpl extends ServiceImpl<TaskHeatMapMapper, TaskHeatMap> implements ITaskHeatMapService {
+    @Override
+    public List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page, QueryWrapper<TaskHeatMap> query) {
+        return this.baseMapper.selectTaskHeatMapPage(page, query);
+    }
+
+    @Transactional
+    @Override
+    public void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap) {
+        saveOrUpdate(taskHeatMap, new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, taskHeatMap.getTaskId()));
+    }
+
+    @Transactional
+    @Override
+    public TaskHeatMap getByTaskId(Long id) {
+        return getOne(new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index 50b508e..c0fd233 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -18,10 +18,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
-import com.casic.missiles.modular.robot.service.IAlarmRecordService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.service.*;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -45,12 +42,14 @@
     private final IRobotStatusInfoService statusInfoService;
     private final AbstractDictService dictService;
     private final IAlarmRecordService recordService;
+    private final ITaskHeatMapService taskHeatMapService;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
         this.recordService = recordService;
+        this.taskHeatMapService = taskHeatMapService;
     }
 
     @Override
@@ -58,6 +57,7 @@
         return this.baseMapper.selectTaskInfoPage(page, query);
     }
 
+    @Transactional
     @Override
     public TaskInfo getById(Serializable id) {
         TaskInfo taskInfo = super.getById(id);
@@ -65,6 +65,7 @@
         return taskInfo;
     }
 
+    @Transactional
     @Override
     public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
         E infoIPage = super.page(page, queryWrapper);
@@ -78,6 +79,7 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
+        taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
new file mode 100644
index 0000000..a248484
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.utils;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.List;
+
+public class AlgorithmUtils {
+
+    /**
+     * 方法执行体
+     *
+     * @param params
+     */
+    public static void invokeJob(List<String> params) {
+        try {
+            BufferedReader br = null;
+            BufferedReader brError;
+            String line = null;
+            Process p = new ProcessBuilder(params).start();
+            br = new BufferedReader(new InputStreamReader(p.getInputStream()));
+            brError = new BufferedReader(new InputStreamReader(p.getErrorStream()));
+            while ((line = br.readLine()) != null || (line = brError.readLine()) != null) {
+                //输出exe输出的信息以及错误信息
+                System.out.println(line);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+    public static void main(String[] args) {
+        //算法初始化调用
+        String exePath = "D:\\casic\\dist\\" + "PathPlanning_init.exe";
+
+        ArrayList<String> invocation = new ArrayList<String>();
+        invocation.add(exePath);
+        invocation.add(10 + "");
+        invocation.add(10 + "");
+        invocation.add("0.05");
+        invocation.add("8");
+        invocation.add("8");
+
+//        invokeJob(invocation);
+
+        String planning = "D:\\casic\\dist\\" + "PathPlanning.exe";
+
+        ArrayList<String> planInvocation = new ArrayList<String>();
+        planInvocation.add(planning);
+        planInvocation.add(5 + "");
+        planInvocation.add(5 + "");
+        planInvocation.add("1,1,0,1,1,1,1,1");
+        planInvocation.add("0.05");
+        planInvocation.add("10");
+        planInvocation.add("10");
+
+        invokeJob(planInvocation);
+
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java
new file mode 100644
index 0000000..624df1f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 监测热力图对象VO
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Data
+public class TaskHeatMapVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "热力图" , dataType = "String")
+            private String repetition;
+
+public QueryWrapper<TaskHeatMap> genQuery() {
+QueryWrapper<TaskHeatMap> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(repetition)) {
+        query.eq("repetition",repetition);
+}
+return query;
+}}
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index b3c29a0..0a3cc06 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -39,6 +39,9 @@
   no-login-urls: /user/login,/kaptcha,/config/baseConfig
   hikSdk: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\HCNetSDK.dll
   hikPlay: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\PlayCtrl.dll
+  algorithm:
+    initPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning_init.exe
+    planPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning.exe
   config:
     export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
     config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 63e10b3..c6ecaaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -68,24 +69,30 @@
         wrapRobotInfo(robotInfo);
         return robotInfo;
     }
-
+    @Transactional
     @Override
     public void updateSpeed(RobotInfoSetDTO robotInfo) {
-        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        LambdaUpdateWrapper<RobotInfo> update = new LambdaUpdateWrapper<>();
         if (robotInfo.getConfV() != null) {
-            update.set("conf_v", robotInfo.getConfV());
+            update.set(RobotInfo::getConfV, robotInfo.getConfV());
         }
         if (robotInfo.getConfW() != null) {
-            update.set("conf_w", robotInfo.getConfW());
+            update.set(RobotInfo::getConfW, robotInfo.getConfW());
         }
         if (robotInfo.getAlarmThreshold() != null) {
-            update.set("alarm_threshold", robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
         }
-        if (robotInfo.getGridScale() != null) {
-            update.set("grid_scale", robotInfo.getGridScale());
+        if (robotInfo.getGridSize() != null) {
+            update.set(RobotInfo::getGridSize, robotInfo.getGridSize());
         }
-        update.eq("id", robotInfo.getId());
+        if (robotInfo.getGridNumber() != null) {
+            update.set(RobotInfo::getGridNumber, robotInfo.getGridNumber());
+        }
+        update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
+
+
+
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
new file mode 100644
index 0000000..9339341
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
@@ -0,0 +1,42 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.TaskHeatMapMapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Service
+public class TaskHeatMapServiceImpl extends ServiceImpl<TaskHeatMapMapper, TaskHeatMap> implements ITaskHeatMapService {
+    @Override
+    public List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page, QueryWrapper<TaskHeatMap> query) {
+        return this.baseMapper.selectTaskHeatMapPage(page, query);
+    }
+
+    @Transactional
+    @Override
+    public void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap) {
+        saveOrUpdate(taskHeatMap, new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, taskHeatMap.getTaskId()));
+    }
+
+    @Transactional
+    @Override
+    public TaskHeatMap getByTaskId(Long id) {
+        return getOne(new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index 50b508e..c0fd233 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -18,10 +18,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
-import com.casic.missiles.modular.robot.service.IAlarmRecordService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.service.*;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -45,12 +42,14 @@
     private final IRobotStatusInfoService statusInfoService;
     private final AbstractDictService dictService;
     private final IAlarmRecordService recordService;
+    private final ITaskHeatMapService taskHeatMapService;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
         this.recordService = recordService;
+        this.taskHeatMapService = taskHeatMapService;
     }
 
     @Override
@@ -58,6 +57,7 @@
         return this.baseMapper.selectTaskInfoPage(page, query);
     }
 
+    @Transactional
     @Override
     public TaskInfo getById(Serializable id) {
         TaskInfo taskInfo = super.getById(id);
@@ -65,6 +65,7 @@
         return taskInfo;
     }
 
+    @Transactional
     @Override
     public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
         E infoIPage = super.page(page, queryWrapper);
@@ -78,6 +79,7 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
+        taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
new file mode 100644
index 0000000..a248484
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.utils;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.List;
+
+public class AlgorithmUtils {
+
+    /**
+     * 方法执行体
+     *
+     * @param params
+     */
+    public static void invokeJob(List<String> params) {
+        try {
+            BufferedReader br = null;
+            BufferedReader brError;
+            String line = null;
+            Process p = new ProcessBuilder(params).start();
+            br = new BufferedReader(new InputStreamReader(p.getInputStream()));
+            brError = new BufferedReader(new InputStreamReader(p.getErrorStream()));
+            while ((line = br.readLine()) != null || (line = brError.readLine()) != null) {
+                //输出exe输出的信息以及错误信息
+                System.out.println(line);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+    public static void main(String[] args) {
+        //算法初始化调用
+        String exePath = "D:\\casic\\dist\\" + "PathPlanning_init.exe";
+
+        ArrayList<String> invocation = new ArrayList<String>();
+        invocation.add(exePath);
+        invocation.add(10 + "");
+        invocation.add(10 + "");
+        invocation.add("0.05");
+        invocation.add("8");
+        invocation.add("8");
+
+//        invokeJob(invocation);
+
+        String planning = "D:\\casic\\dist\\" + "PathPlanning.exe";
+
+        ArrayList<String> planInvocation = new ArrayList<String>();
+        planInvocation.add(planning);
+        planInvocation.add(5 + "");
+        planInvocation.add(5 + "");
+        planInvocation.add("1,1,0,1,1,1,1,1");
+        planInvocation.add("0.05");
+        planInvocation.add("10");
+        planInvocation.add("10");
+
+        invokeJob(planInvocation);
+
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java
new file mode 100644
index 0000000..624df1f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 监测热力图对象VO
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Data
+public class TaskHeatMapVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "热力图" , dataType = "String")
+            private String repetition;
+
+public QueryWrapper<TaskHeatMap> genQuery() {
+QueryWrapper<TaskHeatMap> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(repetition)) {
+        query.eq("repetition",repetition);
+}
+return query;
+}}
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index b3c29a0..0a3cc06 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -39,6 +39,9 @@
   no-login-urls: /user/login,/kaptcha,/config/baseConfig
   hikSdk: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\HCNetSDK.dll
   hikPlay: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\PlayCtrl.dll
+  algorithm:
+    initPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning_init.exe
+    planPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning.exe
   config:
     export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
     config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
diff --git a/casic-web/src/main/resources/config/path/PathPlanning.exe b/casic-web/src/main/resources/config/path/PathPlanning.exe
new file mode 100644
index 0000000..fa6af4b
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/PathPlanning.exe
Binary files differ

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index 427a6d9..ab67fac 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -6,13 +6,16 @@
 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.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import com.casic.missiles.modular.robot.vo.RouteInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -21,20 +24,38 @@
  * @author lwh
  * @date 2023-10-30
  */
-@Api(tags = "线路信息管理(其他信息待定)")
+@Api(tags = "线路信息管理")
 @RestController
 @RequestMapping("/robot/routeInfo")
 public class RouteInfoController extends BaseController {
 
     private final IRouteInfoService routeInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RouteInfoController(IRouteInfoService routeInfoService) {
+    public RouteInfoController(IRouteInfoService routeInfoService, IAlgorithmService algorithmService) {
         this.routeInfoService = routeInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
      * 线路信息管理(其他信息待定)列表
      */
+    @ApiOperation(value = "测试", hidden = true)
+    @GetMapping(value = "/test")
+    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
+    @ApiOperation(value = "栅格转换", hidden = true)
+    @GetMapping(value = "/testGrid")
+    public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
+        return ResponseDataDTO.success(algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()),new BigDecimal(pathInitDTO.getY()),10,new BigDecimal(4)));
+    }
+    /**
+     * 线路信息管理(其他信息待定)列表
+     */
     @ApiOperation(value = "列表查询")
     @GetMapping(value = "/list")
     public ResponseDataDTO<List<RouteInfo>> list(RouteInfoVO routeInfoVO) {
@@ -45,7 +66,7 @@
     /**
      * 线路信息管理(其他信息待定)分页列表
      */
-    @ApiOperation(value = "分页查询" , hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RouteInfo>> listPage(RouteInfoVO routeInfoVO) {
         Page<RouteInfo> page = PageFactory.defaultPage();
@@ -57,7 +78,7 @@
     /**
      * 新增线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RouteInfo routeInfo) {
         routeInfoService.save(routeInfo);
@@ -67,7 +88,7 @@
     /**
      * 修改线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RouteInfo routeInfo) {
         routeInfoService.updateById(routeInfo);
@@ -87,7 +108,7 @@
     /**
      * 线路信息管理(其他信息待定)详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RouteInfo> detail(String id) {
         return ResponseDataDTO.success(routeInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.java
new file mode 100644
index 0000000..86ecf67
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskHeatMapMapper.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.TaskHeatMap;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 监测热力图 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface TaskHeatMapMapper extends BaseMapper<TaskHeatMap> {
+    /**
+     * 监测热力图 分页检索
+     */
+    List<TaskHeatMap> selectTaskHeatMapPage(@Param("page") Page<TaskHeatMap> page, @Param("ew") QueryWrapper<TaskHeatMap> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
new file mode 100644
index 0000000..2707ec8
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskHeatMapMapper.xml
@@ -0,0 +1,47 @@
+<?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.TaskHeatMapMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="repetition" property="repetition"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+            repetition
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+            a.create_time
+            as createTime ,
+            a.update_time
+            as updateTime ,
+            a.repetition
+    </sql>
+    <select id="selectTaskHeatMapPage" resultType="com.casic.missiles.modular.robot.model.TaskHeatMap">
+        select
+        <include refid="Base_Column_Alias"/>
+        from task_heat_map a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.repetition!= null and request.repetition!=''">
+                and repetition = #{request.repetition}
+            </if>
+        </if>
+    </sql>
+</mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
new file mode 100644
index 0000000..749f559
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/AlgorithmResponse.java
@@ -0,0 +1,16 @@
+package com.casic.missiles.modular.robot.dto;
+
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import lombok.Data;
+
+@Data
+public class AlgorithmResponse {
+    /**
+     * 热力数据
+     */
+    private TaskHeatMap taskHeatMap;
+    /**
+     * 规划点位信息
+     */
+    private PointNextDTO pointNextDTO;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
new file mode 100644
index 0000000..e9fb527
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -0,0 +1,11 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class GridPointDTO {
+    BigDecimal x;
+    BigDecimal y;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
new file mode 100644
index 0000000..8c88242
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathInitDTO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathInitDTO {
+    //---------------------算法参数
+    /**
+     * x坐标最大值（x方向栅格总数）
+     */
+    private String xMax;
+    /**
+     * y坐标最大值（y方向栅格总数）
+     */
+    private String yMax;
+    /**
+     * 初始位置计数率
+     */
+    private String count;
+    /**
+     * 初始位置x坐标(0<=x<x_max)
+     */
+    private String x;
+    /**
+     * 初始位置y坐标(0<=y<y_max)
+     */
+    private String y;
+
+    //---------------------其他执行参数
+    private String robotId;
+    private Long taskId;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(xMax);
+        list.add(yMax);
+        list.add(count);
+        list.add(x);
+        list.add(y);
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
new file mode 100644
index 0000000..4112415
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PathPlanDTO.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路线规划初始化DTO
+ */
+@Data
+public class PathPlanDTO extends PathInitDTO {
+
+    /**
+     * 长度为8的数组，记录(x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), (x+1, y-1), (x+1, y), (x+1, y+1)8个坐标的可通行信息。
+     * 若某坐标有障碍物（不可通行行）则记为0，否则记为1
+     */
+    private String open;
+
+    public List<String> toArray() {
+        List<String> list = new ArrayList<>();
+        list.add(getXMax());
+        list.add(getYMax());
+        list.add(getCount());
+        list.add(getX());
+        list.add(getY());
+        return list;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
new file mode 100644
index 0000000..a29734d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointNextDTO {
+    private String x;
+    private String y;
+    private String z;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index 955b8a5..0b6266a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,10 +17,13 @@
 
     @ApiModelProperty(value = "设置角速度", dataType = "BigDecimal")
     private BigDecimal confW;
-
     @ApiModelProperty(value = "阈值设定", dataType = "BigDecimal")
     private BigDecimal alarmThreshold;
 
-    @ApiModelProperty(value = "栅格设定", dataType = "BigDecimal")
-    private BigDecimal gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 7f30c44..985c7f9 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -124,9 +124,12 @@
     @TableField("voltage_min")
     private Integer voltageMin;
 
-    @ApiModelProperty(value = "地图栅格设定", dataType = "Integer")
-    @TableField("grid_scale")
-    private Integer gridScale;
+    @ApiModelProperty(value = "栅格顶点值", dataType = "Integer")
+    @TableField("grid_size")
+    private BigDecimal gridSize;
+    @ApiModelProperty(value = "栅格数量", dataType = "Integer")
+    @TableField("grid_number")
+    private Integer gridNumber;
 
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
new file mode 100644
index 0000000..c6246fe
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskHeatMap.java
@@ -0,0 +1,88 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.annotation.JSONField;
+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 lombok.extern.slf4j.Slf4j;
+
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
+
+
+/**
+ * 监测热力图对象 task_heat_map
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Slf4j
+@Data
+@TableName("task_heat_map")
+public class TaskHeatMap extends Model<TaskHeatMap> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    @ApiModelProperty(value = "热力图原始数据", dataType = "String")
+    @TableField("repetition")
+    private String repetition;
+    @ApiModelProperty(value = "任务id", dataType = "Long")
+    @TableField("task_id")
+    private Long taskId;
+
+    @ApiModelProperty(value = "热力图数组", dataType = "String")
+    @TableField(exist = false)
+    private List<List<String>> repetitionList;
+
+    public List<List<String>> getRepetitionList() {
+        if (CollectionUtil.isEmpty(repetitionList)) {
+            try {
+                if (StrUtil.isNotEmpty(repetition)) {
+                    List<String> strList = StrUtil.split(repetition.trim(), "\r\n");
+                    repetitionList = strList.stream().map(str -> {
+                        List<String> list = new ArrayList<>();
+                        for (String s : StrUtil.split(str, " ")) {
+                            BigDecimal bigDecimal = new BigDecimal(s);
+                            DecimalFormat decimalFormat = new DecimalFormat();
+                            String format = decimalFormat.format(bigDecimal);
+                            list.add(format);
+                        }
+                        return list;
+                    }).collect(Collectors.toList());
+                }
+            } catch (Exception e) {
+                log.error("task_heat_map parse error,task_id:{}", taskId);
+            }
+        }
+        return repetitionList;
+    }
+
+    @Override
+    public String toString() {
+        return "TaskHeatMap{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "repetition=" + repetition
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 49e822a..4f5053c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -123,6 +123,10 @@
     @TableField(exist = false)
     private Integer alarmNum;
 
+    @ApiModelProperty(value = "热力图数据")
+    @TableField(exist = false)
+    private TaskHeatMap heatMap;
+
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
new file mode 100644
index 0000000..b570568
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -0,0 +1,33 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.casic.missiles.modular.robot.dto.AlgorithmResponse;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
+import com.casic.missiles.modular.robot.dto.PathInitDTO;
+import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+
+import java.math.BigDecimal;
+
+/**
+ * 循迹算法调用
+ */
+public interface IAlgorithmService {
+
+    /**
+     * 寻源任务初始化
+     */
+    AlgorithmResponse pathPlanningInit(PathInitDTO initDTO);
+
+    /**
+     * 寻源点位获取
+     */
+    AlgorithmResponse pathPlanning(PathPlanDTO planDTO);
+
+    /** slam经纬度转换为 栅格坐标
+     * @param x slam x
+     * @param y slam y
+     * @param gridNum 栅格总数
+     * @param gridSize 栅格顶点经纬度
+     * @return
+     */
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
new file mode 100644
index 0000000..e9e8744
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskHeatMapService.java
@@ -0,0 +1,27 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+public interface ITaskHeatMapService extends IService<TaskHeatMap> {
+/**
+* 监测热力图 分页检索
+*/
+List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page,QueryWrapper<TaskHeatMap> query);
+
+    void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap);
+
+    TaskHeatMap getByTaskId(Long id);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
new file mode 100644
index 0000000..a4882c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -0,0 +1,151 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.CharsetUtil;
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import com.casic.missiles.modular.robot.utils.AlgorithmUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.File;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 寻源算法调用
+ */
+@Slf4j
+@Service
+public class AlgorithmServiceImpl implements IAlgorithmService {
+    @Value("${casic.algorithm.initPath:-1}")
+    private String initPath;
+    @Value("${casic.algorithm.planPath:-1}")
+    private String planPath;
+    private final ITaskHeatMapService heatMapService;
+
+    public AlgorithmServiceImpl(ITaskHeatMapService heatMapService) {
+        this.heatMapService = heatMapService;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanningInit(PathInitDTO initDTO) {
+        //算法路径及入参配置
+        List<String> commends = new ArrayList<>();
+        commends.add(initPath);
+        commends.addAll(initDTO.toArray());
+        AlgorithmUtils.invokeJob(commends);
+
+        File repetitionFile = new File("repetition.txt");
+        //判断当前任务是否开启
+        AlgorithmResponse response = new AlgorithmResponse();
+        if (initDTO.getTaskId() != null && repetitionFile.exists()) {
+            readAlgorithmResponse("repetition.txt", response, initDTO.getTaskId());
+            heatMapService.saveOrUpdateByTaskId(response.getTaskHeatMap());
+        } else {
+            log.info("taskId is empty!");
+        }
+        readAlgorithmResponse("xy_train.txt", response, initDTO.getTaskId());
+        readAlgorithmResponse("z_train.txt", response, initDTO.getTaskId());
+        return response;
+    }
+
+    @Transactional
+    @Override
+    public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
+        return null;
+    }
+
+    /**
+     * 读取算法输出数据
+     *
+     * @param fileName 文件名称
+     * @param response 结果集
+     * @param taskId   任务ID
+     */
+    public void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId) {
+        File file = new File(fileName);
+        if (!file.exists()) {
+            log.info("{} file is empty!", fileName);
+            return;
+        }
+        if (response.getPointNextDTO() == null) {
+            response.setPointNextDTO(new PointNextDTO());
+        }
+        switch (fileName) {
+            case "repetition.txt":
+                String msg = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                TaskHeatMap taskHeatMap = createEmptyTaskHeatMap(taskId);
+                taskHeatMap.setRepetition(msg);
+                response.setTaskHeatMap(taskHeatMap);
+                break;
+            case "xy_train.txt":
+                String xyTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(xyTrain)) {
+                    xyTrain = StrUtil.removeAll(xyTrain, "\r\n");
+                    List<String> list = StrUtil.split(xyTrain, " ");
+                    if (list != null && list.size() == 2) {
+                        response.getPointNextDTO().setX(formatBigDecimal(list.get(0)));
+                        response.getPointNextDTO().setY(formatBigDecimal(list.get(1)));
+                    }
+                }
+                break;
+            case "z_train.txt":
+                String zTrain = FileUtil.readString(file, CharsetUtil.CHARSET_UTF_8);
+                if (StrUtil.isNotEmpty(zTrain)) {
+                    zTrain = StrUtil.removeAll(zTrain, "\r\n");
+                    response.getPointNextDTO().setZ(formatBigDecimal(zTrain));
+                }
+                break;
+        }
+    }
+
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    @Override
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+        pointDTO.setX(x.multiply(scale));
+        pointDTO.setY(y.multiply(scale));
+        return pointDTO;
+    }
+
+    /**
+     * 数值格式化
+     *
+     * @param str
+     * @return
+     */
+    private String formatBigDecimal(String str) {
+        DecimalFormat decimalFormat = new DecimalFormat();
+        return decimalFormat.format(new BigDecimal(str));
+    }
+
+    /**
+     * 热力图数据对象初始化
+     *
+     * @param taskId 任务ID
+     * @return
+     */
+    private TaskHeatMap createEmptyTaskHeatMap(Long taskId) {
+        TaskHeatMap taskHeatMap = new TaskHeatMap();
+        taskHeatMap.setCreateTime(new Date());
+        taskHeatMap.setUpdateTime(new Date());
+        taskHeatMap.setTaskId(taskId);
+        return taskHeatMap;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 63e10b3..c6ecaaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -68,24 +69,30 @@
         wrapRobotInfo(robotInfo);
         return robotInfo;
     }
-
+    @Transactional
     @Override
     public void updateSpeed(RobotInfoSetDTO robotInfo) {
-        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        LambdaUpdateWrapper<RobotInfo> update = new LambdaUpdateWrapper<>();
         if (robotInfo.getConfV() != null) {
-            update.set("conf_v", robotInfo.getConfV());
+            update.set(RobotInfo::getConfV, robotInfo.getConfV());
         }
         if (robotInfo.getConfW() != null) {
-            update.set("conf_w", robotInfo.getConfW());
+            update.set(RobotInfo::getConfW, robotInfo.getConfW());
         }
         if (robotInfo.getAlarmThreshold() != null) {
-            update.set("alarm_threshold", robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
         }
-        if (robotInfo.getGridScale() != null) {
-            update.set("grid_scale", robotInfo.getGridScale());
+        if (robotInfo.getGridSize() != null) {
+            update.set(RobotInfo::getGridSize, robotInfo.getGridSize());
         }
-        update.eq("id", robotInfo.getId());
+        if (robotInfo.getGridNumber() != null) {
+            update.set(RobotInfo::getGridNumber, robotInfo.getGridNumber());
+        }
+        update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
+
+
+
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
new file mode 100644
index 0000000..9339341
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskHeatMapServiceImpl.java
@@ -0,0 +1,42 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.TaskHeatMapMapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 监测热力图 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Service
+public class TaskHeatMapServiceImpl extends ServiceImpl<TaskHeatMapMapper, TaskHeatMap> implements ITaskHeatMapService {
+    @Override
+    public List<TaskHeatMap> selectTaskHeatMapPage(Page<TaskHeatMap> page, QueryWrapper<TaskHeatMap> query) {
+        return this.baseMapper.selectTaskHeatMapPage(page, query);
+    }
+
+    @Transactional
+    @Override
+    public void saveOrUpdateByTaskId(TaskHeatMap taskHeatMap) {
+        saveOrUpdate(taskHeatMap, new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, taskHeatMap.getTaskId()));
+    }
+
+    @Transactional
+    @Override
+    public TaskHeatMap getByTaskId(Long id) {
+        return getOne(new LambdaQueryWrapper<TaskHeatMap>().eq(TaskHeatMap::getTaskId, id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index 50b508e..c0fd233 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -18,10 +18,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
-import com.casic.missiles.modular.robot.service.IAlarmRecordService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.service.*;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -45,12 +42,14 @@
     private final IRobotStatusInfoService statusInfoService;
     private final AbstractDictService dictService;
     private final IAlarmRecordService recordService;
+    private final ITaskHeatMapService taskHeatMapService;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
         this.recordService = recordService;
+        this.taskHeatMapService = taskHeatMapService;
     }
 
     @Override
@@ -58,6 +57,7 @@
         return this.baseMapper.selectTaskInfoPage(page, query);
     }
 
+    @Transactional
     @Override
     public TaskInfo getById(Serializable id) {
         TaskInfo taskInfo = super.getById(id);
@@ -65,6 +65,7 @@
         return taskInfo;
     }
 
+    @Transactional
     @Override
     public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
         E infoIPage = super.page(page, queryWrapper);
@@ -78,6 +79,7 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
+        taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
     }
 
     @Transactional
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
new file mode 100644
index 0000000..a248484
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.utils;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.List;
+
+public class AlgorithmUtils {
+
+    /**
+     * 方法执行体
+     *
+     * @param params
+     */
+    public static void invokeJob(List<String> params) {
+        try {
+            BufferedReader br = null;
+            BufferedReader brError;
+            String line = null;
+            Process p = new ProcessBuilder(params).start();
+            br = new BufferedReader(new InputStreamReader(p.getInputStream()));
+            brError = new BufferedReader(new InputStreamReader(p.getErrorStream()));
+            while ((line = br.readLine()) != null || (line = brError.readLine()) != null) {
+                //输出exe输出的信息以及错误信息
+                System.out.println(line);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+    public static void main(String[] args) {
+        //算法初始化调用
+        String exePath = "D:\\casic\\dist\\" + "PathPlanning_init.exe";
+
+        ArrayList<String> invocation = new ArrayList<String>();
+        invocation.add(exePath);
+        invocation.add(10 + "");
+        invocation.add(10 + "");
+        invocation.add("0.05");
+        invocation.add("8");
+        invocation.add("8");
+
+//        invokeJob(invocation);
+
+        String planning = "D:\\casic\\dist\\" + "PathPlanning.exe";
+
+        ArrayList<String> planInvocation = new ArrayList<String>();
+        planInvocation.add(planning);
+        planInvocation.add(5 + "");
+        planInvocation.add(5 + "");
+        planInvocation.add("1,1,0,1,1,1,1,1");
+        planInvocation.add("0.05");
+        planInvocation.add("10");
+        planInvocation.add("10");
+
+        invokeJob(planInvocation);
+
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java
new file mode 100644
index 0000000..624df1f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskHeatMapVO.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 监测热力图对象VO
+ *
+ * @author lwh
+ * @date 2023-11-29
+ */
+@Data
+public class TaskHeatMapVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "热力图" , dataType = "String")
+            private String repetition;
+
+public QueryWrapper<TaskHeatMap> genQuery() {
+QueryWrapper<TaskHeatMap> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(repetition)) {
+        query.eq("repetition",repetition);
+}
+return query;
+}}
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index b3c29a0..0a3cc06 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -39,6 +39,9 @@
   no-login-urls: /user/login,/kaptcha,/config/baseConfig
   hikSdk: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\HCNetSDK.dll
   hikPlay: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\PlayCtrl.dll
+  algorithm:
+    initPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning_init.exe
+    planPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning.exe
   config:
     export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
     config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
diff --git a/casic-web/src/main/resources/config/path/PathPlanning.exe b/casic-web/src/main/resources/config/path/PathPlanning.exe
new file mode 100644
index 0000000..fa6af4b
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/PathPlanning.exe
Binary files differ
diff --git a/casic-web/src/main/resources/config/path/PathPlanning_init.exe b/casic-web/src/main/resources/config/path/PathPlanning_init.exe
new file mode 100644
index 0000000..d89dc16
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/PathPlanning_init.exe
Binary files differ