diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 9801924..69ce932 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -32,6 +33,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.io.File;
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -279,7 +281,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-//            toStringAry(responseDTO);
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -333,9 +334,50 @@
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
-    }
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
 
+        writeCost(arrayList,width,height);
+    }
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        Integer newX = 60;
+        Integer newY = height-440;
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 9801924..69ce932 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -32,6 +33,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.io.File;
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -279,7 +281,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-//            toStringAry(responseDTO);
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -333,9 +334,50 @@
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
-    }
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
 
+        writeCost(arrayList,width,height);
+    }
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        Integer newX = 60;
+        Integer newY = height-440;
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
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 b434af0..603262b 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
@@ -458,31 +458,49 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if(height==null){
+                    height=521;
+                }
+                Integer newX = robotInfo.getNewOriginX();
+                Integer newY = height-robotInfo.getNewOriginY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if(i<=newY){
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList= costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if(j>=newX){
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
-
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if(CollectionUtil.isNotEmpty(newCostList)){
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
                 //中子源计数率读取

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 9801924..69ce932 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -32,6 +33,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.io.File;
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -279,7 +281,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-//            toStringAry(responseDTO);
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -333,9 +334,50 @@
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
-    }
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
 
+        writeCost(arrayList,width,height);
+    }
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        Integer newX = 60;
+        Integer newY = height-440;
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
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 b434af0..603262b 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
@@ -458,31 +458,49 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if(height==null){
+                    height=521;
+                }
+                Integer newX = robotInfo.getNewOriginX();
+                Integer newY = height-robotInfo.getNewOriginY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if(i<=newY){
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList= costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if(j>=newX){
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
-
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if(CollectionUtil.isNotEmpty(newCostList)){
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
                 //中子源计数率读取
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 9801924..69ce932 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -32,6 +33,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.io.File;
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -279,7 +281,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-//            toStringAry(responseDTO);
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -333,9 +334,50 @@
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
-    }
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
 
+        writeCost(arrayList,width,height);
+    }
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        Integer newX = 60;
+        Integer newY = height-440;
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
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 b434af0..603262b 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
@@ -458,31 +458,49 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if(height==null){
+                    height=521;
+                }
+                Integer newX = robotInfo.getNewOriginX();
+                Integer newY = height-robotInfo.getNewOriginY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if(i<=newY){
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList= costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if(j>=newX){
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
-
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if(CollectionUtil.isNotEmpty(newCostList)){
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
                 //中子源计数率读取
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index f54377c..22d4aa9 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,7 +4,7 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://192.168.83.36:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
     password: 123456
     druid:

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 9801924..69ce932 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -32,6 +33,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.io.File;
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -279,7 +281,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-//            toStringAry(responseDTO);
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -333,9 +334,50 @@
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
-    }
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
 
+        writeCost(arrayList,width,height);
+    }
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        Integer newX = 60;
+        Integer newY = height-440;
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
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 b434af0..603262b 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
@@ -458,31 +458,49 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if(height==null){
+                    height=521;
+                }
+                Integer newX = robotInfo.getNewOriginX();
+                Integer newY = height-robotInfo.getNewOriginY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if(i<=newY){
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList= costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if(j>=newX){
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
-
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if(CollectionUtil.isNotEmpty(newCostList)){
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
                 //中子源计数率读取
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index f54377c..22d4aa9 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,7 +4,7 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://192.168.83.36:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
     password: 123456
     druid:
diff --git a/casic-web/src/main/resources/config/path/map.txt b/casic-web/src/main/resources/config/path/map.txt
index dd57d9f..5953cbb 100644
--- a/casic-web/src/main/resources/config/path/map.txt
+++ b/casic-web/src/main/resources/config/path/map.txt
@@ -1,47 +1,110 @@
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+0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
+0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 1 1 0 0 0
+0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0
+0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+1 1 1 1 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+1 1 1 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+1 1 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+1 1 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 9801924..69ce932 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -32,6 +33,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.io.File;
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -279,7 +281,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-//            toStringAry(responseDTO);
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -333,9 +334,50 @@
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
-    }
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
 
+        writeCost(arrayList,width,height);
+    }
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        Integer newX = 60;
+        Integer newY = height-440;
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
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 b434af0..603262b 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
@@ -458,31 +458,49 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if(height==null){
+                    height=521;
+                }
+                Integer newX = robotInfo.getNewOriginX();
+                Integer newY = height-robotInfo.getNewOriginY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if(i<=newY){
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList= costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if(j>=newX){
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
-
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if(CollectionUtil.isNotEmpty(newCostList)){
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
                 //中子源计数率读取
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index f54377c..22d4aa9 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,7 +4,7 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://192.168.83.36:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
     password: 123456
     druid:
diff --git a/casic-web/src/main/resources/config/path/map.txt b/casic-web/src/main/resources/config/path/map.txt
index dd57d9f..5953cbb 100644
--- a/casic-web/src/main/resources/config/path/map.txt
+++ b/casic-web/src/main/resources/config/path/map.txt
@@ -1,47 +1,110 @@
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diff --git a/casic-web/src/main/resources/config/path/map2.txt b/casic-web/src/main/resources/config/path/map2.txt
index d20fe0c..c87c7ea 100644
--- a/casic-web/src/main/resources/config/path/map2.txt
+++ b/casic-web/src/main/resources/config/path/map2.txt
@@ -1,668 +1,82 @@
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+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0
+0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0
+0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 1 1 1 1 0 0 0
+0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
+0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index a849528..4f34669 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据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
index d97aec3..911eb83 100644
--- 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
@@ -169,8 +169,8 @@
         pointDTO.setY(new BigDecimal(y.divide(scale, 3, BigDecimal.ROUND_HALF_UP).intValue() +1));
 
         //todo  原点栅格转换,减去相对原点值
-//        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewOriginY())));
         return pointDTO;
     }
 
@@ -183,8 +183,8 @@
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
 
-//        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
-//        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewOriginX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewOriginY())));
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 9801924..69ce932 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -32,6 +33,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.io.File;
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -279,7 +281,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-//            toStringAry(responseDTO);
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -333,9 +334,50 @@
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
-    }
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
 
+        writeCost(arrayList,width,height);
+    }
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        Integer newX = 60;
+        Integer newY = height-440;
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
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 b434af0..603262b 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
@@ -458,31 +458,49 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if(height==null){
+                    height=521;
+                }
+                Integer newX = robotInfo.getNewOriginX();
+                Integer newY = height-robotInfo.getNewOriginY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if(i<=newY){
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList= costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if(j>=newX){
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
-
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if(CollectionUtil.isNotEmpty(newCostList)){
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
                 //中子源计数率读取
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index f54377c..22d4aa9 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,7 +4,7 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://192.168.83.36:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
     password: 123456
     druid:
diff --git a/casic-web/src/main/resources/config/path/map.txt b/casic-web/src/main/resources/config/path/map.txt
index dd57d9f..5953cbb 100644
--- a/casic-web/src/main/resources/config/path/map.txt
+++ b/casic-web/src/main/resources/config/path/map.txt
@@ -1,47 +1,110 @@
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diff --git a/casic-web/src/main/resources/config/path/map2.txt b/casic-web/src/main/resources/config/path/map2.txt
index d20fe0c..c87c7ea 100644
--- a/casic-web/src/main/resources/config/path/map2.txt
+++ b/casic-web/src/main/resources/config/path/map2.txt
@@ -1,668 +1,82 @@
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