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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
new file mode 100644
index 0000000..8fc00e6
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
@@ -0,0 +1,51 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RobotPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Service
+public class RobotPointInfoServiceImpl extends ServiceImpl<RobotPointInfoMapper, RobotPointInfo> implements IRobotPointInfoService {
+    @Override
+    public List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query) {
+        return this.baseMapper.selectRobotPointInfoPage(page, query);
+    }
+
+    @Override
+    public void saveList(List<String> list, RouteInfo routeInfo) {
+        LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+        query.eq(RobotPointInfo::getRouteId, routeInfo.getRobotId());
+        remove(query);
+
+        List<RobotPointInfo> robotPointInfos = new ArrayList<>();
+        for (String point : list) {
+            RobotPointInfo robotPointInfo = RobotPointInfo.parse(point);
+            if (robotPointInfo != null) {
+                robotPointInfo.setRobotId(routeInfo.getRobotId());
+                robotPointInfo.setRouteId(routeInfo.getId());
+                robotPointInfo.setCreateTime(new Date());
+                robotPointInfos.add(robotPointInfo);
+            }
+        }
+        saveBatch(robotPointInfos);
+    }
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
new file mode 100644
index 0000000..8fc00e6
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
@@ -0,0 +1,51 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RobotPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Service
+public class RobotPointInfoServiceImpl extends ServiceImpl<RobotPointInfoMapper, RobotPointInfo> implements IRobotPointInfoService {
+    @Override
+    public List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query) {
+        return this.baseMapper.selectRobotPointInfoPage(page, query);
+    }
+
+    @Override
+    public void saveList(List<String> list, RouteInfo routeInfo) {
+        LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+        query.eq(RobotPointInfo::getRouteId, routeInfo.getRobotId());
+        remove(query);
+
+        List<RobotPointInfo> robotPointInfos = new ArrayList<>();
+        for (String point : list) {
+            RobotPointInfo robotPointInfo = RobotPointInfo.parse(point);
+            if (robotPointInfo != null) {
+                robotPointInfo.setRobotId(routeInfo.getRobotId());
+                robotPointInfo.setRouteId(routeInfo.getId());
+                robotPointInfo.setCreateTime(new Date());
+                robotPointInfos.add(robotPointInfo);
+            }
+        }
+        saveBatch(robotPointInfos);
+    }
+}
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 609a4af..4646c2c 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
@@ -18,9 +18,11 @@
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
@@ -47,17 +49,19 @@
 public class RobotStatusInfoServiceImpl extends ServiceImpl<RobotStatusInfoMapper, RobotStatusInfo> implements IRobotStatusInfoService {
     private final AbstractDictService dictService;
     private final IRobotInfoService robotInfoService;
+    private final IRobotCacheService cacheService;
 
-    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService) {
+    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService, @Lazy IRobotCacheService cacheService) {
         this.dictService = dictService;
         this.robotInfoService = robotInfoService;
+        this.cacheService = cacheService;
     }
 
     @Override
     public void updateConnStatus(String robotId, Integer status) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("conn_status" , status);
-        query.eq("robot_id" , robotId);
+        query.set("conn_status", status);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
@@ -71,29 +75,29 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType" , statusInfo.getDiscernType()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
-        statusInfo.setAppNavPauseName(getDictName("appNavPause" , statusInfo.getAppNavPause()));
+        statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        String statusName = getDictName("trackStatus" , statusInfo.getNavigationStatus());
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
         statusInfo.setNavigationStatusName(statusName);
-        statusInfo.setDataRecordName(getDictName("trackStatus" , statusInfo.getDataRecord()));
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        statusInfo.setTrackName(getDictName("trackStatus" , statusInfo.getTrack()));
-        statusInfo.setInsStatusName(getDictName("trackStatus" , statusInfo.getInsStatus()));
-        statusInfo.setAppStopNavtrackName(getDictName("trackStatus" , statusInfo.getAppStopNavtrack()));
-        statusInfo.setTrackRecordName(getDictName("trackStatus" , statusInfo.getTrackRecord()));
+        statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
+        statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
+        statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
-        statusInfo.setLidarMsgName(getDictName("lidarMsg" , statusInfo.getLidarMsg()));
-        statusInfo.setImuMsgName(getDictName("lidarMsg" , statusInfo.getImuMsg()));
-        statusInfo.setChargeMsgName(getDictName("lidarMsg" , statusInfo.getChargeMsg()));
-        statusInfo.setGpsMsgName(getDictName("lidarMsg" , statusInfo.getGpsMsg()));
+        statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
+        statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
+        statusInfo.setChargeMsgName(getDictName("lidarMsg", statusInfo.getChargeMsg()));
+        statusInfo.setGpsMsgName(getDictName("lidarMsg", statusInfo.getGpsMsg()));
 
         //连接状态
-        statusInfo.setConnStatusName(getDictName("connStatus" , statusInfo.getConnStatus()));
+        statusInfo.setConnStatusName(getDictName("connStatus", statusInfo.getConnStatus()));
 
     }
 
@@ -125,11 +129,11 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg" , msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
-            query.set("imu_msg" , msg.getImuMsg() == null ? 0 : msg.getImuMsg());
-            query.set("charge_msg" , msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
-            query.set("gps_msg" , msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
-            query.eq("robot_id" , robotId);
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -148,8 +152,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
-            query.set("process_message" , msg.getP());
-            query.eq("robot_id" , robotId);
+            query.set("process_message", msg.getP());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -168,8 +172,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_nav_pause", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -182,8 +186,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_stop_navtrack", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -191,16 +195,16 @@
     @Override
     public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("curr_route_id" , currRouteId);
-        query.set("curr_task_id" , currTaskId);
-        query.eq("robot_id" , robotId);
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
     @Override
     public RobotStatusInfo getStatusByRobotId(String robotId) {
         QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotId);
+        query.eq("robot_id", robotId);
         return getOne(query);
     }
 
@@ -210,11 +214,11 @@
         RobotResponseDTO<SpeedResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference<RobotResponseDTO<SpeedResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("速度信息保存：{}" , responseDTO.getMsg());
+            log.info("速度信息保存：{}", responseDTO.getMsg());
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-            query.set("robot_v" , responseDTO.getMsg().getSpeed().getV());
-            query.set("robot_w" , responseDTO.getMsg().getSpeed().getW());
-            query.eq("robot_id" , robotId);
+            query.set("robot_v", responseDTO.getMsg().getSpeed().getV());
+            query.set("robot_w", responseDTO.getMsg().getSpeed().getW());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -224,7 +228,7 @@
         RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("急停状态保存：{}" , responseDTO.getMsg());
+            log.info("急停状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
             query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
@@ -243,14 +247,14 @@
         //电压下限 45V  电压上限 58.8V  估算电量
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
-            log.info("电压状态保存：{}" , responseDTO.getMsg());
+            log.info("电压状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
                 query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
-                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()),2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity*100);
+                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
+                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
                 query.eq(RobotStatusInfo::getRobotId, robotId);
                 update(query);
             }
@@ -258,6 +262,16 @@
 
     }
 
+    @Override
+    public void saveCostMap(String robotId, MqttMessage message) {
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
+        if (responseDTO != null && responseDTO.getMsg() != null) {
+            cacheService.updateCostMap(robotId, responseDTO.getMsg());
+            log.info("----------------------------------------------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
+        }
+    }
+
     private <R> RobotResponseDTO<R> parseJson(MqttMessage message, TypeReference<RobotResponseDTO<R>> cls) {
         String json = new String(message.getPayload());
         if (json.startsWith("\"")) {
@@ -266,7 +280,7 @@
         if (json.endsWith("\"")) {
             json = json.substring(0, json.length() - 1);
         }
-        json = json.replaceAll("\\\\" , "");
+        json = json.replaceAll("\\\\", "");
         log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
new file mode 100644
index 0000000..8fc00e6
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
@@ -0,0 +1,51 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RobotPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Service
+public class RobotPointInfoServiceImpl extends ServiceImpl<RobotPointInfoMapper, RobotPointInfo> implements IRobotPointInfoService {
+    @Override
+    public List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query) {
+        return this.baseMapper.selectRobotPointInfoPage(page, query);
+    }
+
+    @Override
+    public void saveList(List<String> list, RouteInfo routeInfo) {
+        LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+        query.eq(RobotPointInfo::getRouteId, routeInfo.getRobotId());
+        remove(query);
+
+        List<RobotPointInfo> robotPointInfos = new ArrayList<>();
+        for (String point : list) {
+            RobotPointInfo robotPointInfo = RobotPointInfo.parse(point);
+            if (robotPointInfo != null) {
+                robotPointInfo.setRobotId(routeInfo.getRobotId());
+                robotPointInfo.setRouteId(routeInfo.getId());
+                robotPointInfo.setCreateTime(new Date());
+                robotPointInfos.add(robotPointInfo);
+            }
+        }
+        saveBatch(robotPointInfos);
+    }
+}
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 609a4af..4646c2c 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
@@ -18,9 +18,11 @@
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
@@ -47,17 +49,19 @@
 public class RobotStatusInfoServiceImpl extends ServiceImpl<RobotStatusInfoMapper, RobotStatusInfo> implements IRobotStatusInfoService {
     private final AbstractDictService dictService;
     private final IRobotInfoService robotInfoService;
+    private final IRobotCacheService cacheService;
 
-    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService) {
+    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService, @Lazy IRobotCacheService cacheService) {
         this.dictService = dictService;
         this.robotInfoService = robotInfoService;
+        this.cacheService = cacheService;
     }
 
     @Override
     public void updateConnStatus(String robotId, Integer status) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("conn_status" , status);
-        query.eq("robot_id" , robotId);
+        query.set("conn_status", status);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
@@ -71,29 +75,29 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType" , statusInfo.getDiscernType()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
-        statusInfo.setAppNavPauseName(getDictName("appNavPause" , statusInfo.getAppNavPause()));
+        statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        String statusName = getDictName("trackStatus" , statusInfo.getNavigationStatus());
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
         statusInfo.setNavigationStatusName(statusName);
-        statusInfo.setDataRecordName(getDictName("trackStatus" , statusInfo.getDataRecord()));
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        statusInfo.setTrackName(getDictName("trackStatus" , statusInfo.getTrack()));
-        statusInfo.setInsStatusName(getDictName("trackStatus" , statusInfo.getInsStatus()));
-        statusInfo.setAppStopNavtrackName(getDictName("trackStatus" , statusInfo.getAppStopNavtrack()));
-        statusInfo.setTrackRecordName(getDictName("trackStatus" , statusInfo.getTrackRecord()));
+        statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
+        statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
+        statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
-        statusInfo.setLidarMsgName(getDictName("lidarMsg" , statusInfo.getLidarMsg()));
-        statusInfo.setImuMsgName(getDictName("lidarMsg" , statusInfo.getImuMsg()));
-        statusInfo.setChargeMsgName(getDictName("lidarMsg" , statusInfo.getChargeMsg()));
-        statusInfo.setGpsMsgName(getDictName("lidarMsg" , statusInfo.getGpsMsg()));
+        statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
+        statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
+        statusInfo.setChargeMsgName(getDictName("lidarMsg", statusInfo.getChargeMsg()));
+        statusInfo.setGpsMsgName(getDictName("lidarMsg", statusInfo.getGpsMsg()));
 
         //连接状态
-        statusInfo.setConnStatusName(getDictName("connStatus" , statusInfo.getConnStatus()));
+        statusInfo.setConnStatusName(getDictName("connStatus", statusInfo.getConnStatus()));
 
     }
 
@@ -125,11 +129,11 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg" , msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
-            query.set("imu_msg" , msg.getImuMsg() == null ? 0 : msg.getImuMsg());
-            query.set("charge_msg" , msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
-            query.set("gps_msg" , msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
-            query.eq("robot_id" , robotId);
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -148,8 +152,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
-            query.set("process_message" , msg.getP());
-            query.eq("robot_id" , robotId);
+            query.set("process_message", msg.getP());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -168,8 +172,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_nav_pause", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -182,8 +186,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_stop_navtrack", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -191,16 +195,16 @@
     @Override
     public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("curr_route_id" , currRouteId);
-        query.set("curr_task_id" , currTaskId);
-        query.eq("robot_id" , robotId);
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
     @Override
     public RobotStatusInfo getStatusByRobotId(String robotId) {
         QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotId);
+        query.eq("robot_id", robotId);
         return getOne(query);
     }
 
@@ -210,11 +214,11 @@
         RobotResponseDTO<SpeedResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference<RobotResponseDTO<SpeedResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("速度信息保存：{}" , responseDTO.getMsg());
+            log.info("速度信息保存：{}", responseDTO.getMsg());
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-            query.set("robot_v" , responseDTO.getMsg().getSpeed().getV());
-            query.set("robot_w" , responseDTO.getMsg().getSpeed().getW());
-            query.eq("robot_id" , robotId);
+            query.set("robot_v", responseDTO.getMsg().getSpeed().getV());
+            query.set("robot_w", responseDTO.getMsg().getSpeed().getW());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -224,7 +228,7 @@
         RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("急停状态保存：{}" , responseDTO.getMsg());
+            log.info("急停状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
             query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
@@ -243,14 +247,14 @@
         //电压下限 45V  电压上限 58.8V  估算电量
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
-            log.info("电压状态保存：{}" , responseDTO.getMsg());
+            log.info("电压状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
                 query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
-                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()),2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity*100);
+                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
+                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
                 query.eq(RobotStatusInfo::getRobotId, robotId);
                 update(query);
             }
@@ -258,6 +262,16 @@
 
     }
 
+    @Override
+    public void saveCostMap(String robotId, MqttMessage message) {
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
+        if (responseDTO != null && responseDTO.getMsg() != null) {
+            cacheService.updateCostMap(robotId, responseDTO.getMsg());
+            log.info("----------------------------------------------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
+        }
+    }
+
     private <R> RobotResponseDTO<R> parseJson(MqttMessage message, TypeReference<RobotResponseDTO<R>> cls) {
         String json = new String(message.getPayload());
         if (json.startsWith("\"")) {
@@ -266,7 +280,7 @@
         if (json.endsWith("\"")) {
             json = json.substring(0, json.length() - 1);
         }
-        json = json.replaceAll("\\\\" , "");
+        json = json.replaceAll("\\\\", "");
         log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 59dc5cb..afbf972 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -1,6 +1,8 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@@ -8,13 +10,16 @@
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import java.io.Serializable;
 import java.util.ArrayList;
@@ -35,11 +40,32 @@
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
     private final IBaseRobotService robotService;
+    private final IRobotPointInfoService robotPointInfoService;
 
-    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService, @Lazy IRobotPointInfoService robotPointInfoService) {
         this.robotService = robotService;
+        this.robotPointInfoService = robotPointInfoService;
     }
 
+    @Transactional
+    @Override
+    public List<RouteInfo> list(Wrapper<RouteInfo> queryWrapper) {
+        List<RouteInfo> routeInfos = super.list(queryWrapper);
+        routeInfos.forEach(this::wrapInfo);
+        return routeInfos;
+    }
+
+    private void wrapInfo(RouteInfo routeInfo) {
+        if (routeInfo != null) {
+            LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+            query.eq(RobotPointInfo::getRouteId, routeInfo.getId());
+            query.orderByAsc(RobotPointInfo::getPointIndex);
+            List<RobotPointInfo> robotPointInfos = robotPointInfoService.list(query);
+            routeInfo.setPointInfos(robotPointInfos);
+        }
+    }
+
+
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
         return this.baseMapper.selectRouteInfoPage(page, query);
@@ -71,10 +97,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotInfo.getId());
+        query.eq("robot_id", robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id" , result);
+        rmQuery.notIn("target_id", result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -102,8 +128,8 @@
     @Override
     public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
         QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
-        queryWrapper.eq("robot_id" , robotInfo.getId());
-        queryWrapper.eq("target_id" , track_name);
+        queryWrapper.eq("robot_id", robotInfo.getId());
+        queryWrapper.eq("target_id", track_name);
         return list(queryWrapper);
     }
 }
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
new file mode 100644
index 0000000..8fc00e6
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
@@ -0,0 +1,51 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RobotPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Service
+public class RobotPointInfoServiceImpl extends ServiceImpl<RobotPointInfoMapper, RobotPointInfo> implements IRobotPointInfoService {
+    @Override
+    public List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query) {
+        return this.baseMapper.selectRobotPointInfoPage(page, query);
+    }
+
+    @Override
+    public void saveList(List<String> list, RouteInfo routeInfo) {
+        LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+        query.eq(RobotPointInfo::getRouteId, routeInfo.getRobotId());
+        remove(query);
+
+        List<RobotPointInfo> robotPointInfos = new ArrayList<>();
+        for (String point : list) {
+            RobotPointInfo robotPointInfo = RobotPointInfo.parse(point);
+            if (robotPointInfo != null) {
+                robotPointInfo.setRobotId(routeInfo.getRobotId());
+                robotPointInfo.setRouteId(routeInfo.getId());
+                robotPointInfo.setCreateTime(new Date());
+                robotPointInfos.add(robotPointInfo);
+            }
+        }
+        saveBatch(robotPointInfos);
+    }
+}
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 609a4af..4646c2c 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
@@ -18,9 +18,11 @@
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
@@ -47,17 +49,19 @@
 public class RobotStatusInfoServiceImpl extends ServiceImpl<RobotStatusInfoMapper, RobotStatusInfo> implements IRobotStatusInfoService {
     private final AbstractDictService dictService;
     private final IRobotInfoService robotInfoService;
+    private final IRobotCacheService cacheService;
 
-    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService) {
+    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService, @Lazy IRobotCacheService cacheService) {
         this.dictService = dictService;
         this.robotInfoService = robotInfoService;
+        this.cacheService = cacheService;
     }
 
     @Override
     public void updateConnStatus(String robotId, Integer status) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("conn_status" , status);
-        query.eq("robot_id" , robotId);
+        query.set("conn_status", status);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
@@ -71,29 +75,29 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType" , statusInfo.getDiscernType()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
-        statusInfo.setAppNavPauseName(getDictName("appNavPause" , statusInfo.getAppNavPause()));
+        statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        String statusName = getDictName("trackStatus" , statusInfo.getNavigationStatus());
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
         statusInfo.setNavigationStatusName(statusName);
-        statusInfo.setDataRecordName(getDictName("trackStatus" , statusInfo.getDataRecord()));
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        statusInfo.setTrackName(getDictName("trackStatus" , statusInfo.getTrack()));
-        statusInfo.setInsStatusName(getDictName("trackStatus" , statusInfo.getInsStatus()));
-        statusInfo.setAppStopNavtrackName(getDictName("trackStatus" , statusInfo.getAppStopNavtrack()));
-        statusInfo.setTrackRecordName(getDictName("trackStatus" , statusInfo.getTrackRecord()));
+        statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
+        statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
+        statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
-        statusInfo.setLidarMsgName(getDictName("lidarMsg" , statusInfo.getLidarMsg()));
-        statusInfo.setImuMsgName(getDictName("lidarMsg" , statusInfo.getImuMsg()));
-        statusInfo.setChargeMsgName(getDictName("lidarMsg" , statusInfo.getChargeMsg()));
-        statusInfo.setGpsMsgName(getDictName("lidarMsg" , statusInfo.getGpsMsg()));
+        statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
+        statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
+        statusInfo.setChargeMsgName(getDictName("lidarMsg", statusInfo.getChargeMsg()));
+        statusInfo.setGpsMsgName(getDictName("lidarMsg", statusInfo.getGpsMsg()));
 
         //连接状态
-        statusInfo.setConnStatusName(getDictName("connStatus" , statusInfo.getConnStatus()));
+        statusInfo.setConnStatusName(getDictName("connStatus", statusInfo.getConnStatus()));
 
     }
 
@@ -125,11 +129,11 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg" , msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
-            query.set("imu_msg" , msg.getImuMsg() == null ? 0 : msg.getImuMsg());
-            query.set("charge_msg" , msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
-            query.set("gps_msg" , msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
-            query.eq("robot_id" , robotId);
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -148,8 +152,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
-            query.set("process_message" , msg.getP());
-            query.eq("robot_id" , robotId);
+            query.set("process_message", msg.getP());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -168,8 +172,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_nav_pause", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -182,8 +186,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_stop_navtrack", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -191,16 +195,16 @@
     @Override
     public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("curr_route_id" , currRouteId);
-        query.set("curr_task_id" , currTaskId);
-        query.eq("robot_id" , robotId);
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
     @Override
     public RobotStatusInfo getStatusByRobotId(String robotId) {
         QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotId);
+        query.eq("robot_id", robotId);
         return getOne(query);
     }
 
@@ -210,11 +214,11 @@
         RobotResponseDTO<SpeedResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference<RobotResponseDTO<SpeedResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("速度信息保存：{}" , responseDTO.getMsg());
+            log.info("速度信息保存：{}", responseDTO.getMsg());
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-            query.set("robot_v" , responseDTO.getMsg().getSpeed().getV());
-            query.set("robot_w" , responseDTO.getMsg().getSpeed().getW());
-            query.eq("robot_id" , robotId);
+            query.set("robot_v", responseDTO.getMsg().getSpeed().getV());
+            query.set("robot_w", responseDTO.getMsg().getSpeed().getW());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -224,7 +228,7 @@
         RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("急停状态保存：{}" , responseDTO.getMsg());
+            log.info("急停状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
             query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
@@ -243,14 +247,14 @@
         //电压下限 45V  电压上限 58.8V  估算电量
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
-            log.info("电压状态保存：{}" , responseDTO.getMsg());
+            log.info("电压状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
                 query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
-                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()),2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity*100);
+                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
+                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
                 query.eq(RobotStatusInfo::getRobotId, robotId);
                 update(query);
             }
@@ -258,6 +262,16 @@
 
     }
 
+    @Override
+    public void saveCostMap(String robotId, MqttMessage message) {
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
+        if (responseDTO != null && responseDTO.getMsg() != null) {
+            cacheService.updateCostMap(robotId, responseDTO.getMsg());
+            log.info("----------------------------------------------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
+        }
+    }
+
     private <R> RobotResponseDTO<R> parseJson(MqttMessage message, TypeReference<RobotResponseDTO<R>> cls) {
         String json = new String(message.getPayload());
         if (json.startsWith("\"")) {
@@ -266,7 +280,7 @@
         if (json.endsWith("\"")) {
             json = json.substring(0, json.length() - 1);
         }
-        json = json.replaceAll("\\\\" , "");
+        json = json.replaceAll("\\\\", "");
         log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 59dc5cb..afbf972 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -1,6 +1,8 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@@ -8,13 +10,16 @@
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import java.io.Serializable;
 import java.util.ArrayList;
@@ -35,11 +40,32 @@
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
     private final IBaseRobotService robotService;
+    private final IRobotPointInfoService robotPointInfoService;
 
-    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService, @Lazy IRobotPointInfoService robotPointInfoService) {
         this.robotService = robotService;
+        this.robotPointInfoService = robotPointInfoService;
     }
 
+    @Transactional
+    @Override
+    public List<RouteInfo> list(Wrapper<RouteInfo> queryWrapper) {
+        List<RouteInfo> routeInfos = super.list(queryWrapper);
+        routeInfos.forEach(this::wrapInfo);
+        return routeInfos;
+    }
+
+    private void wrapInfo(RouteInfo routeInfo) {
+        if (routeInfo != null) {
+            LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+            query.eq(RobotPointInfo::getRouteId, routeInfo.getId());
+            query.orderByAsc(RobotPointInfo::getPointIndex);
+            List<RobotPointInfo> robotPointInfos = robotPointInfoService.list(query);
+            routeInfo.setPointInfos(robotPointInfos);
+        }
+    }
+
+
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
         return this.baseMapper.selectRouteInfoPage(page, query);
@@ -71,10 +97,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotInfo.getId());
+        query.eq("robot_id", robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id" , result);
+        rmQuery.notIn("target_id", result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -102,8 +128,8 @@
     @Override
     public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
         QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
-        queryWrapper.eq("robot_id" , robotInfo.getId());
-        queryWrapper.eq("target_id" , track_name);
+        queryWrapper.eq("robot_id", robotInfo.getId());
+        queryWrapper.eq("target_id", track_name);
         return list(queryWrapper);
     }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index f26904b..9b481ce 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -18,13 +19,17 @@
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.modular.constants.RobotDictConstants;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
 import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.*;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.SoftwareStopRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TargetPointRequest;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.util.WordUtil;
 import lombok.SneakyThrows;
@@ -63,13 +68,15 @@
     private final ITaskHeatMapService taskHeatMapService;
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
+    private final IBaseRobotService baseRobotService;
+
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
     @Value("${casic.doc.temp}")
     private String docTemp;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -77,6 +84,7 @@
         this.taskHeatMapService = taskHeatMapService;
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
+        this.baseRobotService = baseRobotService;
     }
 
     /**
@@ -135,8 +143,11 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
-
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
+        if (taskInfo != null) {
+            RobotInfo robotInfo = cacheService.getRobotInfo(taskInfo.getRobotId());
+            taskInfo.setRobotName(robotInfo.getRobotName());
+        }
     }
 
     @Transactional
@@ -172,6 +183,7 @@
         Long currTaskId = taskInfo.getId();
 
         statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -191,13 +203,22 @@
             update(updateWrapper);
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         }
-
         //清空任务缓存
+        robotCacheClean(robotId);
+        //清空机器当前任务
+        statusInfoService.updateCurrTask(robotId, null, null);
+
+    }
+
+    /**
+     * 关闭任务清空缓存信息
+     *
+     * @param robotId
+     */
+    private void robotCacheClean(String robotId) {
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ROUTE_ID + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId);
-        //清空当前任务
-        statusInfoService.updateCurrTask(robotId, null, null);
     }
 
     /**
@@ -213,7 +234,7 @@
         Long taskId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         //缓存当前点位信息
 
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId,dto);
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
@@ -229,7 +250,7 @@
 
         Integer initValue = cacheService.readTaskInit(longId);
         //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize());
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
@@ -248,6 +269,7 @@
             GridPointDTO oldPointDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId);
             if (oldPointDTO == null || isChange(pointDTO, oldPointDTO)) {
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
+
                 //算法调用获取热力图
                 PathPlanDTO pathPlanDTO = createPlanDTO(robotInfo.getGridNumber() + "", pointDTO, taskId, robotId);
                 //TO-DO 障碍物判定信息
@@ -256,28 +278,78 @@
                 pathPlanDTO.setCount(cacheService.getNeutronCount(longId) + "");
                 log.debug("heat map -- robotId:{},taskId:{}", robotId, taskId);
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
-
-                //存储算法估算栅格信息
+                //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
+
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
                     log.debug("task planning-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人寻点指令下发
+                    sendTargetPoint(robotInfo, response);
                 }
+                //是否触发停止状态
                 if (bigCount.compareTo(robotInfo.getMaxThreshold()) > 0) {
                     log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人停止指令下发
+                    SoftwareStopRequest request = new SoftwareStopRequest();
+                    request.setRobotId(robotInfo.getId());
+                    //设置为急停
+                    request.setControl(1);
+                    baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
+                    //循迹任务结束
+                    closeTask(null, robotId);
                 }
             }
         }
     }
 
+    /**
+     * 机器人目标栅格设定
+     *
+     * @param robotInfo 机器人信息
+     * @param response  算法输出数据
+     */
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response) {
+        //读取已设置巡点目标信息
+        PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
+        //巡点
+        if (response.getPointNextDTO() != null && !response.getPointNextDTO().equals(nextDTO)) {
+            GridPointDTO gridPointDTO = GridPointDTO.convertGridPoint(response.getPointNextDTO());
+            //得到寻源栅格数据,转换为栅格目标点位
+            GridPointDTO gridCenterPoint = algorithmService.convertGridCenterPoint(gridPointDTO, robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
+            TargetPointRequest request = new TargetPointRequest();
+            request.setX(Convert.toStr(gridCenterPoint.getX()));
+            request.setY(Convert.toStr(gridCenterPoint.getY()));
+            request.setZ("0");
+
+            request.setRobotId(robotInfo.getId());
+            //执行巡点指令
+            baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+            //重设寻点点位
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId(), response.getPointNextDTO());
+        }
+
+    }
+
+    /**
+     * 任务相关图片保存
+     *
+     * @param imgDTO
+     */
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
         LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
-        updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
-        updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
-        updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
+            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
+            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
+            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        }
         updateWrapper.set(TaskInfo::getHeatImg, path);
         updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
     }
@@ -287,6 +359,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
         response.setHeader("Content-disposition", "attachment;filename=report.docx");
@@ -319,7 +392,7 @@
         if (CollectionUtil.isNotEmpty(records)) {
             for (AlarmRecord record : records) {
                 //栅格信息转换
-                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize());
+                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize(),robotInfo);
                 record.setX(pointDTO.getX());
                 record.setY(pointDTO.getY());
                 record.setIndex(index);

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
new file mode 100644
index 0000000..8fc00e6
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
@@ -0,0 +1,51 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RobotPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Service
+public class RobotPointInfoServiceImpl extends ServiceImpl<RobotPointInfoMapper, RobotPointInfo> implements IRobotPointInfoService {
+    @Override
+    public List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query) {
+        return this.baseMapper.selectRobotPointInfoPage(page, query);
+    }
+
+    @Override
+    public void saveList(List<String> list, RouteInfo routeInfo) {
+        LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+        query.eq(RobotPointInfo::getRouteId, routeInfo.getRobotId());
+        remove(query);
+
+        List<RobotPointInfo> robotPointInfos = new ArrayList<>();
+        for (String point : list) {
+            RobotPointInfo robotPointInfo = RobotPointInfo.parse(point);
+            if (robotPointInfo != null) {
+                robotPointInfo.setRobotId(routeInfo.getRobotId());
+                robotPointInfo.setRouteId(routeInfo.getId());
+                robotPointInfo.setCreateTime(new Date());
+                robotPointInfos.add(robotPointInfo);
+            }
+        }
+        saveBatch(robotPointInfos);
+    }
+}
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 609a4af..4646c2c 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
@@ -18,9 +18,11 @@
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
@@ -47,17 +49,19 @@
 public class RobotStatusInfoServiceImpl extends ServiceImpl<RobotStatusInfoMapper, RobotStatusInfo> implements IRobotStatusInfoService {
     private final AbstractDictService dictService;
     private final IRobotInfoService robotInfoService;
+    private final IRobotCacheService cacheService;
 
-    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService) {
+    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService, @Lazy IRobotCacheService cacheService) {
         this.dictService = dictService;
         this.robotInfoService = robotInfoService;
+        this.cacheService = cacheService;
     }
 
     @Override
     public void updateConnStatus(String robotId, Integer status) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("conn_status" , status);
-        query.eq("robot_id" , robotId);
+        query.set("conn_status", status);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
@@ -71,29 +75,29 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType" , statusInfo.getDiscernType()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
-        statusInfo.setAppNavPauseName(getDictName("appNavPause" , statusInfo.getAppNavPause()));
+        statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        String statusName = getDictName("trackStatus" , statusInfo.getNavigationStatus());
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
         statusInfo.setNavigationStatusName(statusName);
-        statusInfo.setDataRecordName(getDictName("trackStatus" , statusInfo.getDataRecord()));
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        statusInfo.setTrackName(getDictName("trackStatus" , statusInfo.getTrack()));
-        statusInfo.setInsStatusName(getDictName("trackStatus" , statusInfo.getInsStatus()));
-        statusInfo.setAppStopNavtrackName(getDictName("trackStatus" , statusInfo.getAppStopNavtrack()));
-        statusInfo.setTrackRecordName(getDictName("trackStatus" , statusInfo.getTrackRecord()));
+        statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
+        statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
+        statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
-        statusInfo.setLidarMsgName(getDictName("lidarMsg" , statusInfo.getLidarMsg()));
-        statusInfo.setImuMsgName(getDictName("lidarMsg" , statusInfo.getImuMsg()));
-        statusInfo.setChargeMsgName(getDictName("lidarMsg" , statusInfo.getChargeMsg()));
-        statusInfo.setGpsMsgName(getDictName("lidarMsg" , statusInfo.getGpsMsg()));
+        statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
+        statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
+        statusInfo.setChargeMsgName(getDictName("lidarMsg", statusInfo.getChargeMsg()));
+        statusInfo.setGpsMsgName(getDictName("lidarMsg", statusInfo.getGpsMsg()));
 
         //连接状态
-        statusInfo.setConnStatusName(getDictName("connStatus" , statusInfo.getConnStatus()));
+        statusInfo.setConnStatusName(getDictName("connStatus", statusInfo.getConnStatus()));
 
     }
 
@@ -125,11 +129,11 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg" , msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
-            query.set("imu_msg" , msg.getImuMsg() == null ? 0 : msg.getImuMsg());
-            query.set("charge_msg" , msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
-            query.set("gps_msg" , msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
-            query.eq("robot_id" , robotId);
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -148,8 +152,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
-            query.set("process_message" , msg.getP());
-            query.eq("robot_id" , robotId);
+            query.set("process_message", msg.getP());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -168,8 +172,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_nav_pause", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -182,8 +186,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_stop_navtrack", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -191,16 +195,16 @@
     @Override
     public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("curr_route_id" , currRouteId);
-        query.set("curr_task_id" , currTaskId);
-        query.eq("robot_id" , robotId);
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
     @Override
     public RobotStatusInfo getStatusByRobotId(String robotId) {
         QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotId);
+        query.eq("robot_id", robotId);
         return getOne(query);
     }
 
@@ -210,11 +214,11 @@
         RobotResponseDTO<SpeedResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference<RobotResponseDTO<SpeedResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("速度信息保存：{}" , responseDTO.getMsg());
+            log.info("速度信息保存：{}", responseDTO.getMsg());
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-            query.set("robot_v" , responseDTO.getMsg().getSpeed().getV());
-            query.set("robot_w" , responseDTO.getMsg().getSpeed().getW());
-            query.eq("robot_id" , robotId);
+            query.set("robot_v", responseDTO.getMsg().getSpeed().getV());
+            query.set("robot_w", responseDTO.getMsg().getSpeed().getW());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -224,7 +228,7 @@
         RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("急停状态保存：{}" , responseDTO.getMsg());
+            log.info("急停状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
             query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
@@ -243,14 +247,14 @@
         //电压下限 45V  电压上限 58.8V  估算电量
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
-            log.info("电压状态保存：{}" , responseDTO.getMsg());
+            log.info("电压状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
                 query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
-                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()),2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity*100);
+                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
+                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
                 query.eq(RobotStatusInfo::getRobotId, robotId);
                 update(query);
             }
@@ -258,6 +262,16 @@
 
     }
 
+    @Override
+    public void saveCostMap(String robotId, MqttMessage message) {
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
+        if (responseDTO != null && responseDTO.getMsg() != null) {
+            cacheService.updateCostMap(robotId, responseDTO.getMsg());
+            log.info("----------------------------------------------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
+        }
+    }
+
     private <R> RobotResponseDTO<R> parseJson(MqttMessage message, TypeReference<RobotResponseDTO<R>> cls) {
         String json = new String(message.getPayload());
         if (json.startsWith("\"")) {
@@ -266,7 +280,7 @@
         if (json.endsWith("\"")) {
             json = json.substring(0, json.length() - 1);
         }
-        json = json.replaceAll("\\\\" , "");
+        json = json.replaceAll("\\\\", "");
         log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 59dc5cb..afbf972 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -1,6 +1,8 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@@ -8,13 +10,16 @@
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import java.io.Serializable;
 import java.util.ArrayList;
@@ -35,11 +40,32 @@
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
     private final IBaseRobotService robotService;
+    private final IRobotPointInfoService robotPointInfoService;
 
-    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService, @Lazy IRobotPointInfoService robotPointInfoService) {
         this.robotService = robotService;
+        this.robotPointInfoService = robotPointInfoService;
     }
 
+    @Transactional
+    @Override
+    public List<RouteInfo> list(Wrapper<RouteInfo> queryWrapper) {
+        List<RouteInfo> routeInfos = super.list(queryWrapper);
+        routeInfos.forEach(this::wrapInfo);
+        return routeInfos;
+    }
+
+    private void wrapInfo(RouteInfo routeInfo) {
+        if (routeInfo != null) {
+            LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+            query.eq(RobotPointInfo::getRouteId, routeInfo.getId());
+            query.orderByAsc(RobotPointInfo::getPointIndex);
+            List<RobotPointInfo> robotPointInfos = robotPointInfoService.list(query);
+            routeInfo.setPointInfos(robotPointInfos);
+        }
+    }
+
+
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
         return this.baseMapper.selectRouteInfoPage(page, query);
@@ -71,10 +97,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotInfo.getId());
+        query.eq("robot_id", robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id" , result);
+        rmQuery.notIn("target_id", result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -102,8 +128,8 @@
     @Override
     public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
         QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
-        queryWrapper.eq("robot_id" , robotInfo.getId());
-        queryWrapper.eq("target_id" , track_name);
+        queryWrapper.eq("robot_id", robotInfo.getId());
+        queryWrapper.eq("target_id", track_name);
         return list(queryWrapper);
     }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index f26904b..9b481ce 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -18,13 +19,17 @@
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.modular.constants.RobotDictConstants;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
 import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.*;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.SoftwareStopRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TargetPointRequest;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.util.WordUtil;
 import lombok.SneakyThrows;
@@ -63,13 +68,15 @@
     private final ITaskHeatMapService taskHeatMapService;
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
+    private final IBaseRobotService baseRobotService;
+
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
     @Value("${casic.doc.temp}")
     private String docTemp;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -77,6 +84,7 @@
         this.taskHeatMapService = taskHeatMapService;
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
+        this.baseRobotService = baseRobotService;
     }
 
     /**
@@ -135,8 +143,11 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
-
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
+        if (taskInfo != null) {
+            RobotInfo robotInfo = cacheService.getRobotInfo(taskInfo.getRobotId());
+            taskInfo.setRobotName(robotInfo.getRobotName());
+        }
     }
 
     @Transactional
@@ -172,6 +183,7 @@
         Long currTaskId = taskInfo.getId();
 
         statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -191,13 +203,22 @@
             update(updateWrapper);
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         }
-
         //清空任务缓存
+        robotCacheClean(robotId);
+        //清空机器当前任务
+        statusInfoService.updateCurrTask(robotId, null, null);
+
+    }
+
+    /**
+     * 关闭任务清空缓存信息
+     *
+     * @param robotId
+     */
+    private void robotCacheClean(String robotId) {
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ROUTE_ID + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId);
-        //清空当前任务
-        statusInfoService.updateCurrTask(robotId, null, null);
     }
 
     /**
@@ -213,7 +234,7 @@
         Long taskId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         //缓存当前点位信息
 
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId,dto);
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
@@ -229,7 +250,7 @@
 
         Integer initValue = cacheService.readTaskInit(longId);
         //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize());
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
@@ -248,6 +269,7 @@
             GridPointDTO oldPointDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId);
             if (oldPointDTO == null || isChange(pointDTO, oldPointDTO)) {
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
+
                 //算法调用获取热力图
                 PathPlanDTO pathPlanDTO = createPlanDTO(robotInfo.getGridNumber() + "", pointDTO, taskId, robotId);
                 //TO-DO 障碍物判定信息
@@ -256,28 +278,78 @@
                 pathPlanDTO.setCount(cacheService.getNeutronCount(longId) + "");
                 log.debug("heat map -- robotId:{},taskId:{}", robotId, taskId);
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
-
-                //存储算法估算栅格信息
+                //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
+
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
                     log.debug("task planning-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人寻点指令下发
+                    sendTargetPoint(robotInfo, response);
                 }
+                //是否触发停止状态
                 if (bigCount.compareTo(robotInfo.getMaxThreshold()) > 0) {
                     log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人停止指令下发
+                    SoftwareStopRequest request = new SoftwareStopRequest();
+                    request.setRobotId(robotInfo.getId());
+                    //设置为急停
+                    request.setControl(1);
+                    baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
+                    //循迹任务结束
+                    closeTask(null, robotId);
                 }
             }
         }
     }
 
+    /**
+     * 机器人目标栅格设定
+     *
+     * @param robotInfo 机器人信息
+     * @param response  算法输出数据
+     */
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response) {
+        //读取已设置巡点目标信息
+        PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
+        //巡点
+        if (response.getPointNextDTO() != null && !response.getPointNextDTO().equals(nextDTO)) {
+            GridPointDTO gridPointDTO = GridPointDTO.convertGridPoint(response.getPointNextDTO());
+            //得到寻源栅格数据,转换为栅格目标点位
+            GridPointDTO gridCenterPoint = algorithmService.convertGridCenterPoint(gridPointDTO, robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
+            TargetPointRequest request = new TargetPointRequest();
+            request.setX(Convert.toStr(gridCenterPoint.getX()));
+            request.setY(Convert.toStr(gridCenterPoint.getY()));
+            request.setZ("0");
+
+            request.setRobotId(robotInfo.getId());
+            //执行巡点指令
+            baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+            //重设寻点点位
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId(), response.getPointNextDTO());
+        }
+
+    }
+
+    /**
+     * 任务相关图片保存
+     *
+     * @param imgDTO
+     */
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
         LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
-        updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
-        updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
-        updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
+            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
+            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
+            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        }
         updateWrapper.set(TaskInfo::getHeatImg, path);
         updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
     }
@@ -287,6 +359,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
         response.setHeader("Content-disposition", "attachment;filename=report.docx");
@@ -319,7 +392,7 @@
         if (CollectionUtil.isNotEmpty(records)) {
             for (AlarmRecord record : records) {
                 //栅格信息转换
-                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize());
+                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize(),robotInfo);
                 record.setX(pointDTO.getX());
                 record.setY(pointDTO.getY());
                 record.setIndex(index);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
index dc6683f..2e62229 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
@@ -1,10 +1,10 @@
 package com.casic.missiles.modular.robot.vo;
 
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.DetectorInfo;
-import cn.hutool.core.util.StrUtil;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
 
 
 /**

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
new file mode 100644
index 0000000..8fc00e6
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
@@ -0,0 +1,51 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RobotPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Service
+public class RobotPointInfoServiceImpl extends ServiceImpl<RobotPointInfoMapper, RobotPointInfo> implements IRobotPointInfoService {
+    @Override
+    public List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query) {
+        return this.baseMapper.selectRobotPointInfoPage(page, query);
+    }
+
+    @Override
+    public void saveList(List<String> list, RouteInfo routeInfo) {
+        LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+        query.eq(RobotPointInfo::getRouteId, routeInfo.getRobotId());
+        remove(query);
+
+        List<RobotPointInfo> robotPointInfos = new ArrayList<>();
+        for (String point : list) {
+            RobotPointInfo robotPointInfo = RobotPointInfo.parse(point);
+            if (robotPointInfo != null) {
+                robotPointInfo.setRobotId(routeInfo.getRobotId());
+                robotPointInfo.setRouteId(routeInfo.getId());
+                robotPointInfo.setCreateTime(new Date());
+                robotPointInfos.add(robotPointInfo);
+            }
+        }
+        saveBatch(robotPointInfos);
+    }
+}
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 609a4af..4646c2c 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
@@ -18,9 +18,11 @@
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
@@ -47,17 +49,19 @@
 public class RobotStatusInfoServiceImpl extends ServiceImpl<RobotStatusInfoMapper, RobotStatusInfo> implements IRobotStatusInfoService {
     private final AbstractDictService dictService;
     private final IRobotInfoService robotInfoService;
+    private final IRobotCacheService cacheService;
 
-    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService) {
+    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService, @Lazy IRobotCacheService cacheService) {
         this.dictService = dictService;
         this.robotInfoService = robotInfoService;
+        this.cacheService = cacheService;
     }
 
     @Override
     public void updateConnStatus(String robotId, Integer status) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("conn_status" , status);
-        query.eq("robot_id" , robotId);
+        query.set("conn_status", status);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
@@ -71,29 +75,29 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType" , statusInfo.getDiscernType()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
-        statusInfo.setAppNavPauseName(getDictName("appNavPause" , statusInfo.getAppNavPause()));
+        statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        String statusName = getDictName("trackStatus" , statusInfo.getNavigationStatus());
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
         statusInfo.setNavigationStatusName(statusName);
-        statusInfo.setDataRecordName(getDictName("trackStatus" , statusInfo.getDataRecord()));
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        statusInfo.setTrackName(getDictName("trackStatus" , statusInfo.getTrack()));
-        statusInfo.setInsStatusName(getDictName("trackStatus" , statusInfo.getInsStatus()));
-        statusInfo.setAppStopNavtrackName(getDictName("trackStatus" , statusInfo.getAppStopNavtrack()));
-        statusInfo.setTrackRecordName(getDictName("trackStatus" , statusInfo.getTrackRecord()));
+        statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
+        statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
+        statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
-        statusInfo.setLidarMsgName(getDictName("lidarMsg" , statusInfo.getLidarMsg()));
-        statusInfo.setImuMsgName(getDictName("lidarMsg" , statusInfo.getImuMsg()));
-        statusInfo.setChargeMsgName(getDictName("lidarMsg" , statusInfo.getChargeMsg()));
-        statusInfo.setGpsMsgName(getDictName("lidarMsg" , statusInfo.getGpsMsg()));
+        statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
+        statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
+        statusInfo.setChargeMsgName(getDictName("lidarMsg", statusInfo.getChargeMsg()));
+        statusInfo.setGpsMsgName(getDictName("lidarMsg", statusInfo.getGpsMsg()));
 
         //连接状态
-        statusInfo.setConnStatusName(getDictName("connStatus" , statusInfo.getConnStatus()));
+        statusInfo.setConnStatusName(getDictName("connStatus", statusInfo.getConnStatus()));
 
     }
 
@@ -125,11 +129,11 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg" , msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
-            query.set("imu_msg" , msg.getImuMsg() == null ? 0 : msg.getImuMsg());
-            query.set("charge_msg" , msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
-            query.set("gps_msg" , msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
-            query.eq("robot_id" , robotId);
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -148,8 +152,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
-            query.set("process_message" , msg.getP());
-            query.eq("robot_id" , robotId);
+            query.set("process_message", msg.getP());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -168,8 +172,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_nav_pause", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -182,8 +186,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_stop_navtrack", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -191,16 +195,16 @@
     @Override
     public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("curr_route_id" , currRouteId);
-        query.set("curr_task_id" , currTaskId);
-        query.eq("robot_id" , robotId);
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
     @Override
     public RobotStatusInfo getStatusByRobotId(String robotId) {
         QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotId);
+        query.eq("robot_id", robotId);
         return getOne(query);
     }
 
@@ -210,11 +214,11 @@
         RobotResponseDTO<SpeedResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference<RobotResponseDTO<SpeedResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("速度信息保存：{}" , responseDTO.getMsg());
+            log.info("速度信息保存：{}", responseDTO.getMsg());
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-            query.set("robot_v" , responseDTO.getMsg().getSpeed().getV());
-            query.set("robot_w" , responseDTO.getMsg().getSpeed().getW());
-            query.eq("robot_id" , robotId);
+            query.set("robot_v", responseDTO.getMsg().getSpeed().getV());
+            query.set("robot_w", responseDTO.getMsg().getSpeed().getW());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -224,7 +228,7 @@
         RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("急停状态保存：{}" , responseDTO.getMsg());
+            log.info("急停状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
             query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
@@ -243,14 +247,14 @@
         //电压下限 45V  电压上限 58.8V  估算电量
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
-            log.info("电压状态保存：{}" , responseDTO.getMsg());
+            log.info("电压状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
                 query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
-                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()),2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity*100);
+                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
+                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
                 query.eq(RobotStatusInfo::getRobotId, robotId);
                 update(query);
             }
@@ -258,6 +262,16 @@
 
     }
 
+    @Override
+    public void saveCostMap(String robotId, MqttMessage message) {
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
+        if (responseDTO != null && responseDTO.getMsg() != null) {
+            cacheService.updateCostMap(robotId, responseDTO.getMsg());
+            log.info("----------------------------------------------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
+        }
+    }
+
     private <R> RobotResponseDTO<R> parseJson(MqttMessage message, TypeReference<RobotResponseDTO<R>> cls) {
         String json = new String(message.getPayload());
         if (json.startsWith("\"")) {
@@ -266,7 +280,7 @@
         if (json.endsWith("\"")) {
             json = json.substring(0, json.length() - 1);
         }
-        json = json.replaceAll("\\\\" , "");
+        json = json.replaceAll("\\\\", "");
         log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 59dc5cb..afbf972 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -1,6 +1,8 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@@ -8,13 +10,16 @@
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import java.io.Serializable;
 import java.util.ArrayList;
@@ -35,11 +40,32 @@
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
     private final IBaseRobotService robotService;
+    private final IRobotPointInfoService robotPointInfoService;
 
-    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService, @Lazy IRobotPointInfoService robotPointInfoService) {
         this.robotService = robotService;
+        this.robotPointInfoService = robotPointInfoService;
     }
 
+    @Transactional
+    @Override
+    public List<RouteInfo> list(Wrapper<RouteInfo> queryWrapper) {
+        List<RouteInfo> routeInfos = super.list(queryWrapper);
+        routeInfos.forEach(this::wrapInfo);
+        return routeInfos;
+    }
+
+    private void wrapInfo(RouteInfo routeInfo) {
+        if (routeInfo != null) {
+            LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+            query.eq(RobotPointInfo::getRouteId, routeInfo.getId());
+            query.orderByAsc(RobotPointInfo::getPointIndex);
+            List<RobotPointInfo> robotPointInfos = robotPointInfoService.list(query);
+            routeInfo.setPointInfos(robotPointInfos);
+        }
+    }
+
+
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
         return this.baseMapper.selectRouteInfoPage(page, query);
@@ -71,10 +97,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotInfo.getId());
+        query.eq("robot_id", robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id" , result);
+        rmQuery.notIn("target_id", result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -102,8 +128,8 @@
     @Override
     public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
         QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
-        queryWrapper.eq("robot_id" , robotInfo.getId());
-        queryWrapper.eq("target_id" , track_name);
+        queryWrapper.eq("robot_id", robotInfo.getId());
+        queryWrapper.eq("target_id", track_name);
         return list(queryWrapper);
     }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index f26904b..9b481ce 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -18,13 +19,17 @@
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.modular.constants.RobotDictConstants;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
 import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.*;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.SoftwareStopRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TargetPointRequest;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.util.WordUtil;
 import lombok.SneakyThrows;
@@ -63,13 +68,15 @@
     private final ITaskHeatMapService taskHeatMapService;
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
+    private final IBaseRobotService baseRobotService;
+
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
     @Value("${casic.doc.temp}")
     private String docTemp;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -77,6 +84,7 @@
         this.taskHeatMapService = taskHeatMapService;
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
+        this.baseRobotService = baseRobotService;
     }
 
     /**
@@ -135,8 +143,11 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
-
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
+        if (taskInfo != null) {
+            RobotInfo robotInfo = cacheService.getRobotInfo(taskInfo.getRobotId());
+            taskInfo.setRobotName(robotInfo.getRobotName());
+        }
     }
 
     @Transactional
@@ -172,6 +183,7 @@
         Long currTaskId = taskInfo.getId();
 
         statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -191,13 +203,22 @@
             update(updateWrapper);
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         }
-
         //清空任务缓存
+        robotCacheClean(robotId);
+        //清空机器当前任务
+        statusInfoService.updateCurrTask(robotId, null, null);
+
+    }
+
+    /**
+     * 关闭任务清空缓存信息
+     *
+     * @param robotId
+     */
+    private void robotCacheClean(String robotId) {
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ROUTE_ID + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId);
-        //清空当前任务
-        statusInfoService.updateCurrTask(robotId, null, null);
     }
 
     /**
@@ -213,7 +234,7 @@
         Long taskId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         //缓存当前点位信息
 
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId,dto);
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
@@ -229,7 +250,7 @@
 
         Integer initValue = cacheService.readTaskInit(longId);
         //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize());
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
@@ -248,6 +269,7 @@
             GridPointDTO oldPointDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId);
             if (oldPointDTO == null || isChange(pointDTO, oldPointDTO)) {
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
+
                 //算法调用获取热力图
                 PathPlanDTO pathPlanDTO = createPlanDTO(robotInfo.getGridNumber() + "", pointDTO, taskId, robotId);
                 //TO-DO 障碍物判定信息
@@ -256,28 +278,78 @@
                 pathPlanDTO.setCount(cacheService.getNeutronCount(longId) + "");
                 log.debug("heat map -- robotId:{},taskId:{}", robotId, taskId);
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
-
-                //存储算法估算栅格信息
+                //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
+
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
                     log.debug("task planning-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人寻点指令下发
+                    sendTargetPoint(robotInfo, response);
                 }
+                //是否触发停止状态
                 if (bigCount.compareTo(robotInfo.getMaxThreshold()) > 0) {
                     log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人停止指令下发
+                    SoftwareStopRequest request = new SoftwareStopRequest();
+                    request.setRobotId(robotInfo.getId());
+                    //设置为急停
+                    request.setControl(1);
+                    baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
+                    //循迹任务结束
+                    closeTask(null, robotId);
                 }
             }
         }
     }
 
+    /**
+     * 机器人目标栅格设定
+     *
+     * @param robotInfo 机器人信息
+     * @param response  算法输出数据
+     */
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response) {
+        //读取已设置巡点目标信息
+        PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
+        //巡点
+        if (response.getPointNextDTO() != null && !response.getPointNextDTO().equals(nextDTO)) {
+            GridPointDTO gridPointDTO = GridPointDTO.convertGridPoint(response.getPointNextDTO());
+            //得到寻源栅格数据,转换为栅格目标点位
+            GridPointDTO gridCenterPoint = algorithmService.convertGridCenterPoint(gridPointDTO, robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
+            TargetPointRequest request = new TargetPointRequest();
+            request.setX(Convert.toStr(gridCenterPoint.getX()));
+            request.setY(Convert.toStr(gridCenterPoint.getY()));
+            request.setZ("0");
+
+            request.setRobotId(robotInfo.getId());
+            //执行巡点指令
+            baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+            //重设寻点点位
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId(), response.getPointNextDTO());
+        }
+
+    }
+
+    /**
+     * 任务相关图片保存
+     *
+     * @param imgDTO
+     */
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
         LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
-        updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
-        updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
-        updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
+            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
+            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
+            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        }
         updateWrapper.set(TaskInfo::getHeatImg, path);
         updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
     }
@@ -287,6 +359,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
         response.setHeader("Content-disposition", "attachment;filename=report.docx");
@@ -319,7 +392,7 @@
         if (CollectionUtil.isNotEmpty(records)) {
             for (AlarmRecord record : records) {
                 //栅格信息转换
-                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize());
+                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize(),robotInfo);
                 record.setX(pointDTO.getX());
                 record.setY(pointDTO.getY());
                 record.setIndex(index);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
index dc6683f..2e62229 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
@@ -1,10 +1,10 @@
 package com.casic.missiles.modular.robot.vo;
 
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.DetectorInfo;
-import cn.hutool.core.util.StrUtil;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
 
 
 /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java
new file mode 100644
index 0000000..f09eece
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java
@@ -0,0 +1,35 @@
+package com.casic.missiles.modular.robot.vo;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 路线点位信息对象VO
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+public class RobotPointInfoVO {
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    private Long routeId;
+
+    public QueryWrapper<RobotPointInfo> genQuery() {
+        QueryWrapper<RobotPointInfo> query = new QueryWrapper<>();
+        if (robotId != null) {
+            query.eq("robot_id", robotId);
+        }
+        if (routeId != null) {
+            query.eq("route_id", routeId);
+        }
+        return query;
+    }
+}

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
new file mode 100644
index 0000000..8fc00e6
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
@@ -0,0 +1,51 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RobotPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Service
+public class RobotPointInfoServiceImpl extends ServiceImpl<RobotPointInfoMapper, RobotPointInfo> implements IRobotPointInfoService {
+    @Override
+    public List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query) {
+        return this.baseMapper.selectRobotPointInfoPage(page, query);
+    }
+
+    @Override
+    public void saveList(List<String> list, RouteInfo routeInfo) {
+        LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+        query.eq(RobotPointInfo::getRouteId, routeInfo.getRobotId());
+        remove(query);
+
+        List<RobotPointInfo> robotPointInfos = new ArrayList<>();
+        for (String point : list) {
+            RobotPointInfo robotPointInfo = RobotPointInfo.parse(point);
+            if (robotPointInfo != null) {
+                robotPointInfo.setRobotId(routeInfo.getRobotId());
+                robotPointInfo.setRouteId(routeInfo.getId());
+                robotPointInfo.setCreateTime(new Date());
+                robotPointInfos.add(robotPointInfo);
+            }
+        }
+        saveBatch(robotPointInfos);
+    }
+}
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 609a4af..4646c2c 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
@@ -18,9 +18,11 @@
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
@@ -47,17 +49,19 @@
 public class RobotStatusInfoServiceImpl extends ServiceImpl<RobotStatusInfoMapper, RobotStatusInfo> implements IRobotStatusInfoService {
     private final AbstractDictService dictService;
     private final IRobotInfoService robotInfoService;
+    private final IRobotCacheService cacheService;
 
-    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService) {
+    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService, @Lazy IRobotCacheService cacheService) {
         this.dictService = dictService;
         this.robotInfoService = robotInfoService;
+        this.cacheService = cacheService;
     }
 
     @Override
     public void updateConnStatus(String robotId, Integer status) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("conn_status" , status);
-        query.eq("robot_id" , robotId);
+        query.set("conn_status", status);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
@@ -71,29 +75,29 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType" , statusInfo.getDiscernType()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
-        statusInfo.setAppNavPauseName(getDictName("appNavPause" , statusInfo.getAppNavPause()));
+        statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        String statusName = getDictName("trackStatus" , statusInfo.getNavigationStatus());
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
         statusInfo.setNavigationStatusName(statusName);
-        statusInfo.setDataRecordName(getDictName("trackStatus" , statusInfo.getDataRecord()));
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        statusInfo.setTrackName(getDictName("trackStatus" , statusInfo.getTrack()));
-        statusInfo.setInsStatusName(getDictName("trackStatus" , statusInfo.getInsStatus()));
-        statusInfo.setAppStopNavtrackName(getDictName("trackStatus" , statusInfo.getAppStopNavtrack()));
-        statusInfo.setTrackRecordName(getDictName("trackStatus" , statusInfo.getTrackRecord()));
+        statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
+        statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
+        statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
-        statusInfo.setLidarMsgName(getDictName("lidarMsg" , statusInfo.getLidarMsg()));
-        statusInfo.setImuMsgName(getDictName("lidarMsg" , statusInfo.getImuMsg()));
-        statusInfo.setChargeMsgName(getDictName("lidarMsg" , statusInfo.getChargeMsg()));
-        statusInfo.setGpsMsgName(getDictName("lidarMsg" , statusInfo.getGpsMsg()));
+        statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
+        statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
+        statusInfo.setChargeMsgName(getDictName("lidarMsg", statusInfo.getChargeMsg()));
+        statusInfo.setGpsMsgName(getDictName("lidarMsg", statusInfo.getGpsMsg()));
 
         //连接状态
-        statusInfo.setConnStatusName(getDictName("connStatus" , statusInfo.getConnStatus()));
+        statusInfo.setConnStatusName(getDictName("connStatus", statusInfo.getConnStatus()));
 
     }
 
@@ -125,11 +129,11 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg" , msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
-            query.set("imu_msg" , msg.getImuMsg() == null ? 0 : msg.getImuMsg());
-            query.set("charge_msg" , msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
-            query.set("gps_msg" , msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
-            query.eq("robot_id" , robotId);
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -148,8 +152,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
-            query.set("process_message" , msg.getP());
-            query.eq("robot_id" , robotId);
+            query.set("process_message", msg.getP());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -168,8 +172,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_nav_pause", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -182,8 +186,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_stop_navtrack", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -191,16 +195,16 @@
     @Override
     public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("curr_route_id" , currRouteId);
-        query.set("curr_task_id" , currTaskId);
-        query.eq("robot_id" , robotId);
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
     @Override
     public RobotStatusInfo getStatusByRobotId(String robotId) {
         QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotId);
+        query.eq("robot_id", robotId);
         return getOne(query);
     }
 
@@ -210,11 +214,11 @@
         RobotResponseDTO<SpeedResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference<RobotResponseDTO<SpeedResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("速度信息保存：{}" , responseDTO.getMsg());
+            log.info("速度信息保存：{}", responseDTO.getMsg());
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-            query.set("robot_v" , responseDTO.getMsg().getSpeed().getV());
-            query.set("robot_w" , responseDTO.getMsg().getSpeed().getW());
-            query.eq("robot_id" , robotId);
+            query.set("robot_v", responseDTO.getMsg().getSpeed().getV());
+            query.set("robot_w", responseDTO.getMsg().getSpeed().getW());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -224,7 +228,7 @@
         RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("急停状态保存：{}" , responseDTO.getMsg());
+            log.info("急停状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
             query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
@@ -243,14 +247,14 @@
         //电压下限 45V  电压上限 58.8V  估算电量
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
-            log.info("电压状态保存：{}" , responseDTO.getMsg());
+            log.info("电压状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
                 query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
-                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()),2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity*100);
+                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
+                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
                 query.eq(RobotStatusInfo::getRobotId, robotId);
                 update(query);
             }
@@ -258,6 +262,16 @@
 
     }
 
+    @Override
+    public void saveCostMap(String robotId, MqttMessage message) {
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
+        if (responseDTO != null && responseDTO.getMsg() != null) {
+            cacheService.updateCostMap(robotId, responseDTO.getMsg());
+            log.info("----------------------------------------------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
+        }
+    }
+
     private <R> RobotResponseDTO<R> parseJson(MqttMessage message, TypeReference<RobotResponseDTO<R>> cls) {
         String json = new String(message.getPayload());
         if (json.startsWith("\"")) {
@@ -266,7 +280,7 @@
         if (json.endsWith("\"")) {
             json = json.substring(0, json.length() - 1);
         }
-        json = json.replaceAll("\\\\" , "");
+        json = json.replaceAll("\\\\", "");
         log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 59dc5cb..afbf972 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -1,6 +1,8 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@@ -8,13 +10,16 @@
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import java.io.Serializable;
 import java.util.ArrayList;
@@ -35,11 +40,32 @@
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
     private final IBaseRobotService robotService;
+    private final IRobotPointInfoService robotPointInfoService;
 
-    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService, @Lazy IRobotPointInfoService robotPointInfoService) {
         this.robotService = robotService;
+        this.robotPointInfoService = robotPointInfoService;
     }
 
+    @Transactional
+    @Override
+    public List<RouteInfo> list(Wrapper<RouteInfo> queryWrapper) {
+        List<RouteInfo> routeInfos = super.list(queryWrapper);
+        routeInfos.forEach(this::wrapInfo);
+        return routeInfos;
+    }
+
+    private void wrapInfo(RouteInfo routeInfo) {
+        if (routeInfo != null) {
+            LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+            query.eq(RobotPointInfo::getRouteId, routeInfo.getId());
+            query.orderByAsc(RobotPointInfo::getPointIndex);
+            List<RobotPointInfo> robotPointInfos = robotPointInfoService.list(query);
+            routeInfo.setPointInfos(robotPointInfos);
+        }
+    }
+
+
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
         return this.baseMapper.selectRouteInfoPage(page, query);
@@ -71,10 +97,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotInfo.getId());
+        query.eq("robot_id", robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id" , result);
+        rmQuery.notIn("target_id", result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -102,8 +128,8 @@
     @Override
     public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
         QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
-        queryWrapper.eq("robot_id" , robotInfo.getId());
-        queryWrapper.eq("target_id" , track_name);
+        queryWrapper.eq("robot_id", robotInfo.getId());
+        queryWrapper.eq("target_id", track_name);
         return list(queryWrapper);
     }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index f26904b..9b481ce 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -18,13 +19,17 @@
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.modular.constants.RobotDictConstants;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
 import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.*;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.SoftwareStopRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TargetPointRequest;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.util.WordUtil;
 import lombok.SneakyThrows;
@@ -63,13 +68,15 @@
     private final ITaskHeatMapService taskHeatMapService;
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
+    private final IBaseRobotService baseRobotService;
+
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
     @Value("${casic.doc.temp}")
     private String docTemp;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -77,6 +84,7 @@
         this.taskHeatMapService = taskHeatMapService;
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
+        this.baseRobotService = baseRobotService;
     }
 
     /**
@@ -135,8 +143,11 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
-
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
+        if (taskInfo != null) {
+            RobotInfo robotInfo = cacheService.getRobotInfo(taskInfo.getRobotId());
+            taskInfo.setRobotName(robotInfo.getRobotName());
+        }
     }
 
     @Transactional
@@ -172,6 +183,7 @@
         Long currTaskId = taskInfo.getId();
 
         statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -191,13 +203,22 @@
             update(updateWrapper);
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         }
-
         //清空任务缓存
+        robotCacheClean(robotId);
+        //清空机器当前任务
+        statusInfoService.updateCurrTask(robotId, null, null);
+
+    }
+
+    /**
+     * 关闭任务清空缓存信息
+     *
+     * @param robotId
+     */
+    private void robotCacheClean(String robotId) {
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ROUTE_ID + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId);
-        //清空当前任务
-        statusInfoService.updateCurrTask(robotId, null, null);
     }
 
     /**
@@ -213,7 +234,7 @@
         Long taskId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         //缓存当前点位信息
 
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId,dto);
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
@@ -229,7 +250,7 @@
 
         Integer initValue = cacheService.readTaskInit(longId);
         //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize());
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
@@ -248,6 +269,7 @@
             GridPointDTO oldPointDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId);
             if (oldPointDTO == null || isChange(pointDTO, oldPointDTO)) {
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
+
                 //算法调用获取热力图
                 PathPlanDTO pathPlanDTO = createPlanDTO(robotInfo.getGridNumber() + "", pointDTO, taskId, robotId);
                 //TO-DO 障碍物判定信息
@@ -256,28 +278,78 @@
                 pathPlanDTO.setCount(cacheService.getNeutronCount(longId) + "");
                 log.debug("heat map -- robotId:{},taskId:{}", robotId, taskId);
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
-
-                //存储算法估算栅格信息
+                //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
+
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
                     log.debug("task planning-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人寻点指令下发
+                    sendTargetPoint(robotInfo, response);
                 }
+                //是否触发停止状态
                 if (bigCount.compareTo(robotInfo.getMaxThreshold()) > 0) {
                     log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人停止指令下发
+                    SoftwareStopRequest request = new SoftwareStopRequest();
+                    request.setRobotId(robotInfo.getId());
+                    //设置为急停
+                    request.setControl(1);
+                    baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
+                    //循迹任务结束
+                    closeTask(null, robotId);
                 }
             }
         }
     }
 
+    /**
+     * 机器人目标栅格设定
+     *
+     * @param robotInfo 机器人信息
+     * @param response  算法输出数据
+     */
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response) {
+        //读取已设置巡点目标信息
+        PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
+        //巡点
+        if (response.getPointNextDTO() != null && !response.getPointNextDTO().equals(nextDTO)) {
+            GridPointDTO gridPointDTO = GridPointDTO.convertGridPoint(response.getPointNextDTO());
+            //得到寻源栅格数据,转换为栅格目标点位
+            GridPointDTO gridCenterPoint = algorithmService.convertGridCenterPoint(gridPointDTO, robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
+            TargetPointRequest request = new TargetPointRequest();
+            request.setX(Convert.toStr(gridCenterPoint.getX()));
+            request.setY(Convert.toStr(gridCenterPoint.getY()));
+            request.setZ("0");
+
+            request.setRobotId(robotInfo.getId());
+            //执行巡点指令
+            baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+            //重设寻点点位
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId(), response.getPointNextDTO());
+        }
+
+    }
+
+    /**
+     * 任务相关图片保存
+     *
+     * @param imgDTO
+     */
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
         LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
-        updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
-        updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
-        updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
+            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
+            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
+            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        }
         updateWrapper.set(TaskInfo::getHeatImg, path);
         updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
     }
@@ -287,6 +359,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
         response.setHeader("Content-disposition", "attachment;filename=report.docx");
@@ -319,7 +392,7 @@
         if (CollectionUtil.isNotEmpty(records)) {
             for (AlarmRecord record : records) {
                 //栅格信息转换
-                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize());
+                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize(),robotInfo);
                 record.setX(pointDTO.getX());
                 record.setY(pointDTO.getY());
                 record.setIndex(index);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
index dc6683f..2e62229 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
@@ -1,10 +1,10 @@
 package com.casic.missiles.modular.robot.vo;
 
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.DetectorInfo;
-import cn.hutool.core.util.StrUtil;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
 
 
 /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java
new file mode 100644
index 0000000..f09eece
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java
@@ -0,0 +1,35 @@
+package com.casic.missiles.modular.robot.vo;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 路线点位信息对象VO
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+public class RobotPointInfoVO {
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    private Long routeId;
+
+    public QueryWrapper<RobotPointInfo> genQuery() {
+        QueryWrapper<RobotPointInfo> query = new QueryWrapper<>();
+        if (robotId != null) {
+            query.eq("robot_id", robotId);
+        }
+        if (routeId != null) {
+            query.eq("route_id", routeId);
+        }
+        return query;
+    }
+}
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index bf403dd..db10efc 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=GMT%2B8
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
 jms:
    pub-sub-domain: true
 # session:

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 aa51120..b27d2a4 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
@@ -41,4 +41,13 @@
      */
     String KEY_CUR_XY_POINT = "KEY_CUR_XY_POINT_";
     String KEY_CUR_ESTIMATE_GRID = "KEY_CUR_ESTIMATE_GRID_";
+    /**
+     * 机器人巡点栅格
+     */
+    String KEY_CUR_TARGET_POINT_ID = "CUR_TARGET_POINT_ID_";
+
+    /**
+     * 障碍物栅格信息缓存
+     */
+    String KEY_CUR_COST_MAP_ID = "CUR_COST_MAP_ID_";
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
new file mode 100644
index 0000000..cdce1a5
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotPointInfoController.java
@@ -0,0 +1,87 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.form.IdForms;
+
+import java.util.List;
+
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.vo.RobotPointInfoVO;
+
+/**
+ * 路线点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Api(tags = "路线点位信息")
+@RestController
+@RequestMapping("/robot/pointInfo")
+public class RobotPointInfoController extends BaseController {
+
+    private final IRobotPointInfoService robotPointInfoService;
+
+    public RobotPointInfoController(IRobotPointInfoService robotPointInfoService) {
+        this.robotPointInfoService = robotPointInfoService;
+    }
+
+    @ApiOperation(value ="列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RobotPointInfo>> list(RobotPointInfoVO robotPointInfoVO) {
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        return ResponseDataDTO.success(robotPointInfoService.list(query));
+    }
+
+    @ApiOperation(value ="分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RobotPointInfo>> listPage(RobotPointInfoVO robotPointInfoVO) {
+        Page<RobotPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RobotPointInfo> query = robotPointInfoVO.genQuery();
+        page = robotPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+
+    @ApiOperation(value ="新增接口")
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RobotPointInfo  robotPointInfo) {
+            robotPointInfoService.save(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="修改接口")
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RobotPointInfo robotPointInfo) {
+            robotPointInfoService.updateById(robotPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="删除接口")
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+            robotPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation("批量删除")
+    @PostMapping("/batchDelete")
+    public ResponseDataDTO batchDelete(@RequestBody IdForms ids) {
+        robotPointInfoService.removeByIds(ids.getIds());
+        return ResponseDataDTO.success();
+    }
+
+    @ApiOperation(value ="详情查询")
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RobotPointInfo> detail(String id) {
+        return ResponseDataDTO.success(robotPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index d7ef09d..560529c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -12,9 +12,11 @@
 import com.casic.missiles.modular.robot.dto.ImgDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
@@ -39,10 +41,12 @@
 
     private final ITaskInfoService taskInfoService;
     private final IAlgorithmService algorithmService;
+    private final IRobotInfoService infoService;
 
-    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService) {
+    public TaskInfoController(ITaskInfoService taskInfoService, IAlgorithmService algorithmService, IRobotInfoService infoService) {
         this.taskInfoService = taskInfoService;
         this.algorithmService = algorithmService;
+        this.infoService = infoService;
     }
 
     /**
@@ -81,8 +85,9 @@
     @ApiOperation(value = "栅格转换", hidden = true)
     @GetMapping(value = "/testGrid")
     public ResponseDataDTO<List<RouteInfo>> testGrid(@RequestBody PathInitDTO pathInitDTO) {
-        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4));
-        return ResponseDataDTO.success(algorithmService.getGridCenterPoint(gridPointDTO, 10, new BigDecimal(4)));
+        RobotInfo robotInfo = infoService.getById(pathInitDTO.getRobotId());
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(pathInitDTO.getX()), new BigDecimal(pathInitDTO.getY()), 10, new BigDecimal(4), robotInfo);
+        return ResponseDataDTO.success(algorithmService.convertGridCenterPoint(gridPointDTO, 10, new BigDecimal(4), robotInfo));
     }
 
     @ApiOperation("图片路径保存")
@@ -150,6 +155,6 @@
     @ApiOperation(value = "导出接口")
     @GetMapping(value = "/export")
     public void export(HttpServletResponse response, @ApiParam("任务ID") String taskId) {
-        taskInfoService.exportDoc(response,taskId);
+        taskInfoService.exportDoc(response, taskId);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
new file mode 100644
index 0000000..9e7ead1
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RobotPointInfoMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  路线点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface RobotPointInfoMapper extends BaseMapper<RobotPointInfo> {
+/**
+* 路线点位信息 分页检索
+*/
+List<RobotPointInfo> selectRobotPointInfoPage( @Param("page") Page<RobotPointInfo> page,@Param("ew" ) QueryWrapper<RobotPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
new file mode 100644
index 0000000..9263919
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RobotPointInfoMapper.xml
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RobotPointInfoMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RobotPointInfo">
+            <result column="id" property="id"/>
+            <result column="create_time" property="createTime"/>
+            <result column="postion_x" property="postionX"/>
+            <result column="postion_y" property="postionY"/>
+            <result column="theta" property="theta"/>
+            <result column="postion_z" property="postionZ"/>
+            <result column="robot_id" property="robotId"/>
+            <result column="route_id" property="routeId"/>
+            <result column="point_index" property="pointIndex"/>
+            <result column="is_key" property="isKey"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    create_time as createTime ,
+                    postion_x as postionX ,
+                    postion_y as postionY ,
+            theta ,
+                    postion_z as postionZ ,
+                    robot_id as robotId ,
+                    route_id as routeId ,
+                    point_index as pointIndex ,
+                    is_key as isKey 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.create_time
+            as createTime ,
+            a.postion_x
+            as postionX ,
+            a.postion_y
+            as postionY ,
+            a.theta ,
+            a.postion_z
+            as postionZ ,
+            a.robot_id
+            as robotId ,
+            a.route_id
+            as routeId ,
+            a.point_index
+            as pointIndex ,
+            a.is_key
+            as isKey 
+</sql>
+<select id="selectRobotPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RobotPointInfo">
+    select
+    <include refid="Base_Column_Alias"/>
+    from robot_point_info a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.robotId!= null and request.robotId!=''">
+            and robot_id = #{request.robotId}
+</if>
+<if test="request.routeId!= null and request.routeId!=''">
+            and route_id = #{request.routeId}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
index fb7c119..39ff2a2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPointDTO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.dto;
 
+import cn.hutool.core.convert.Convert;
 import lombok.Data;
 
 import java.io.Serializable;
@@ -9,4 +10,11 @@
 public class GridPointDTO implements Serializable {
     private BigDecimal x;
     private BigDecimal y;
+
+    public static GridPointDTO convertGridPoint(PointNextDTO nextDTO) {
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        gridPointDTO.setX(Convert.toBigDecimal(nextDTO.getX()));
+        gridPointDTO.setY(Convert.toBigDecimal(nextDTO.getY()));
+        return gridPointDTO;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
index f0413d3..9106980 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/PointNextDTO.java
@@ -3,11 +3,22 @@
 import lombok.Data;
 
 import java.io.Serializable;
-import java.util.List;
 
 @Data
 public class PointNextDTO implements Serializable {
     private String x;
     private String y;
     private String z;
+
+    @Override
+    public boolean equals(Object obj) {
+        if (obj == null) {
+            return false;
+        }
+        PointNextDTO nextDTO = (PointNextDTO) obj;
+        if (nextDTO.getX().equals(x) && nextDTO.getY().equals(y)) {
+            return true;
+        }
+        return false;
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index e0f946d..2c874c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -133,10 +133,21 @@
     @TableField("grid_number")
     private Integer gridNumber;
 
+    @ApiModelProperty(value = "机器人路线下载地址", dataType = "String")
+    @TableField("trajectory_path")
+    private String trajectoryPath;
     @ApiModelProperty(value = "机器人云台信息", dataType = "Integer")
     @TableField(exist = false)
     private DeviceInfo ptzInfo;
 
+    @ApiModelProperty(value = "栅格原点坐标x", dataType = "BigDecimal")
+    @TableField("origin_x")
+    private BigDecimal originX;
+
+    @ApiModelProperty(value = "栅格原点坐标y", dataType = "BigDecimal")
+    @TableField("origin_y")
+    private BigDecimal originY;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
new file mode 100644
index 0000000..aaaccb7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotPointInfo.java
@@ -0,0 +1,103 @@
+package com.casic.missiles.modular.robot.model;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 路线点位信息对象 robot_point_info
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+@TableName("robot_point_info")
+public class RobotPointInfo extends Model<RobotPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "主键", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    @ApiModelProperty(value = "坐标x", dataType = "BigDecimal")
+    @TableField("postion_x")
+    private BigDecimal postionX;
+
+    @ApiModelProperty(value = "坐标y", dataType = "BigDecimal")
+    @TableField("postion_y")
+    private BigDecimal postionY;
+
+    @ApiModelProperty(value = "小车的theta坐标", dataType = "BigDecimal")
+    @TableField("theta")
+    private BigDecimal theta;
+
+    @ApiModelProperty(value = "坐标z", dataType = "BigDecimal")
+    @TableField("postion_z")
+    private BigDecimal postionZ;
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+    @ApiModelProperty(value = "点位序号", dataType = "Integer")
+    @TableField("point_index")
+    private Integer pointIndex;
+
+    @ApiModelProperty(value = "是否关键点", dataType = "Integer")
+    @TableField("is_key")
+    private Integer isKey;
+
+
+    @Override
+    public String toString() {
+        return "RobotPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "postionX=" + postionX
+                + "postionY=" + postionY
+                + "theta=" + theta
+                + "postionZ=" + postionZ
+                + "robotId=" + robotId
+                + "routeId=" + routeId
+                + "pointIndex=" + pointIndex
+                + "isKey=" + isKey
+                + "}";
+    }
+
+    public RobotPointInfo() {
+    }
+
+    public static RobotPointInfo parse(String str) {
+        if (StrUtil.isNotEmpty(str)) {
+            RobotPointInfo robotPointInfo = new RobotPointInfo();
+            List<String> fields = StrUtil.split(str, ",");
+            if (CollectionUtil.isNotEmpty(fields)) {
+                robotPointInfo.setPointIndex(Convert.toInt(fields.get(0)));
+                robotPointInfo.setPostionX(Convert.toBigDecimal(fields.get(1)));
+                robotPointInfo.setPostionY(Convert.toBigDecimal(fields.get(2)));
+                robotPointInfo.setPostionZ(new BigDecimal(0));
+                robotPointInfo.setTheta(Convert.toBigDecimal(fields.get(3)));
+                robotPointInfo.setIsKey(Convert.toInt(fields.get(4)));
+            }
+            return robotPointInfo;
+        }
+        return null;
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
index 6eda840..b5070f4 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteInfo.java
@@ -7,6 +7,7 @@
 import lombok.Data;
 
 import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -20,51 +21,36 @@
 public class RouteInfo extends Model<RouteInfo> {
     private static final long serialVersionUID = 1L;
 
-    /**
-     * 主键
-     */
-    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @ApiModelProperty(value = "主键", dataType = "Long")
     @TableField("id")
     private Long id;
 
-    /**
-     * 创建时间
-     */
-    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @ApiModelProperty(value = "创建时间", dataType = "Date")
     @TableField("create_time")
     private Date createTime;
 
-    /**
-     * 修改时间
-     */
-    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @ApiModelProperty(value = "修改时间", dataType = "Date")
     @TableField("update_time")
     private Date updateTime;
 
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)" , dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
 
-    /**
-     * 路径名称
-     */
-    @ApiModelProperty(value = "路径名称" , dataType = "String")
+    @ApiModelProperty(value = "路径名称", dataType = "String")
     @TableField("route_name")
     private String routeName;
 
-    /**
-     * 机器人ID
-     */
-    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
 
-    @ApiModelProperty(value = "路线标识" , dataType = "String")
+    @ApiModelProperty(value = "路线标识", dataType = "String")
     @TableField("target_id")
     private String targetId;
+    @ApiModelProperty(value = "路线点位集合", dataType = "String")
+    @TableField(exist = false)
+    private List<RobotPointInfo> pointInfos;
 
     @Override
     public String toString() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index 7da2fa0..49c57dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -62,9 +62,7 @@
     @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
     @TableField(exist = false)
     private String taskTypeName;
-    /**
-     * 识别类型(1中子源识别)
-     */
+
     @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
@@ -119,6 +117,9 @@
     @ApiModelProperty(value = "机器人ID", dataType = "Long")
     @TableField("robot_id")
     private Long robotId;
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
 
     @ApiModelProperty(value = "告警数量", dataType = "Integer")
     @TableField(exist = false)
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 8d77492..78d5ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list" , "/get_track_list_response" , "获取轨迹列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    COSTMAP_RESOLUTION("/set_costmap_resolution" , "/set_costmap_resolution_response" , "设置栅格分辨率" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     TASKPOINT_LIST("/get_taskpoint_list" , "/get_taskpoint_list_response" , "获取关键点列表" , true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
     //当前版本 暂不支撑
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
new file mode 100644
index 0000000..fe69a25
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CostMapResolutionCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+/**
+ * 分辨率设置
+ */
+@Component("COSTMAP_RESOLUTION")
+public class CostMapResolutionCmdHandler extends AbstractCmdHandler<CostMapResolutionRequest, ResponseDataDTO> {
+
+    protected CostMapResolutionCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CostMapResolutionRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CostMapResolutionRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> res = optService.robotCmd(getRobotInfo(), enums, messageDTO);
+        return res;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CostMapResolutionRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
new file mode 100644
index 0000000..0335693
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -0,0 +1,29 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 障碍物栅格数据接收
+ */
+@Slf4j
+@Component("/app_costmap_sender")
+public class AppCostMapHandler extends AbstractSocketHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public AppCostMapHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        statusInfoService.saveCostMap(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 511df3d..7358ac7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -76,6 +76,7 @@
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         initMonitor(info);
     }
+
     @Transactional
     @SneakyThrows
     @Override
@@ -86,9 +87,15 @@
 
             if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
                 String[] topics = info.getDefaultTopic().split(",");
-                // 订阅默认消息,消息处理器统一处理
-                client.subscribe(topics);
+                try {
+                    // 订阅默认消息,消息处理器统一处理
+                    client.subscribe(topics);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    log.error("机器人初始订阅异常", e);
+                }
             }
+
             BaseRobotCmdDTO cmdDTO = new BaseRobotCmdDTO();
             cmdDTO.setRobotId(info.getId());
             reloadTrack(cmdDTO);
@@ -98,6 +105,7 @@
         }
     }
 
+    @Transactional
     @Override
     public void reloadTrack(BaseRobotCmdDTO dto) {
         //线路读取
@@ -112,7 +120,9 @@
                 request.setRobotId(routeInfo.getRobotId());
                 request.setSn(routeInfo.getRobotId() + "");
                 request.setTrack_name(routeInfo.getTargetId());
-                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+//                execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                //机器人路线读取
+                robotInfoService.loadTrack(routeInfo);
             }
         }
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
new file mode 100644
index 0000000..1c09cb9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/CostMapResolutionRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 软件急停
+ */
+@Data
+public class CostMapResolutionRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "分辨率设置(默认0.2 (米))", dataType = "Integer")
+    private Double resolution;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
new file mode 100644
index 0000000..551bafd
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/AppCostmapResponseDTO.java
@@ -0,0 +1,38 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 栅格障碍物
+ */
+@Data
+public class AppCostmapResponseDTO implements Serializable {
+    /**
+     * 分辨率
+     */
+    private Double resolution;
+    /**
+     * 宽
+     */
+    private Integer width;
+    /**
+     * 高
+     */
+    private Integer height;
+    /**
+     * 栅格原点坐标x
+     */
+    private BigDecimal origin_x;
+    /**
+     * 栅格原点坐标Y
+     */
+    private BigDecimal origin_y;
+    /**
+     * 障碍物栅格数据
+     */
+    private List<String> data;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index fe90f30..db3215a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.PathInitDTO;
 import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
 
@@ -29,7 +30,7 @@
      * @param gridSize 栅格顶点经纬度
      * @return
      */
-    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 
     /**
      * 根据栅格获取栅格中心点位
@@ -38,5 +39,5 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize);
+    GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
index 18e8728..ea3ac98 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotCacheService.java
@@ -3,6 +3,7 @@
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 /**
  * 机器人缓存服务
@@ -82,4 +83,12 @@
      * @return
      */
     PoseMessageResponseDTO readRobotPoint(Long robotId);
+
+    /**
+     * 更新栅格缓存数据
+     *
+     * @param robotId 机器人ID
+     * @param msg     消息
+     */
+    void updateCostMap(String robotId, AppCostmapResponseDTO msg);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index e03b965..d7edaee 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -5,6 +5,7 @@
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 
 import java.util.List;
 
@@ -36,4 +37,11 @@
      * @param info
      */
     void loadPcd(RobotInfo info);
+
+    /**
+     * 加载路线信息
+     *
+     * @param routeInfo 路线信息
+     */
+    void loadTrack(RouteInfo routeInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
new file mode 100644
index 0000000..39bcf0d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotPointInfoService.java
@@ -0,0 +1,31 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+public interface IRobotPointInfoService extends IService<RobotPointInfo> {
+    /**
+     * 路线点位信息 分页检索
+     */
+    List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query);
+
+    /**
+     * 加载路线点位信息进行保存
+     * @param list 路线集合
+     */
+    void saveList(List<String> list, RouteInfo routeInfo);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6ab9802..1675445 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -95,4 +95,10 @@
      * @param message 消息体
      */
     void saveVoltageResponseMessage(String robotId, MqttMessage message);
+
+    /**
+     * @param robotId 机器人障碍物栅格数据保存
+     * @param message 消息体
+     */
+    void saveCostMap(String robotId, MqttMessage message);
 }
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 bb7c9d2..112af1e 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.util.CharsetUtil;
 import cn.hutool.core.util.StrUtil;
 import com.casic.missiles.modular.robot.dto.*;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.ITaskHeatMapService;
@@ -64,9 +65,9 @@
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
         //next 点位编写
-        if(CollectionUtil.isNotEmpty(res)&&res.size()==2){
-            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ","")));
-            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ","")));
+        if (CollectionUtil.isNotEmpty(res) && res.size() == 2) {
+            response.getPointNextDTO().setX(formatBigDecimal(res.get(0).replaceAll("next_X: ", "")));
+            response.getPointNextDTO().setY(formatBigDecimal(res.get(1).replaceAll("next_Y: ", "")));
         }
         return response;
     }
@@ -135,9 +136,14 @@
      * @param y slam y
      */
     @Override
-    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
         GridPointDTO pointDTO = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
+
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+
         pointDTO.setX(x.multiply(scale));
         pointDTO.setY(y.multiply(scale));
         return pointDTO;
@@ -151,18 +157,19 @@
      * @param gridSize 栅格顶点值
      * @return
      */
-    public GridPointDTO getGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize) {
+    public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, Integer gridNum, BigDecimal gridSize, RobotInfo robotInfo) {
 
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = gridSize.divide(new BigDecimal(gridNum), 5, BigDecimal.ROUND_HALF_UP);
-
         //点位转换
         BigDecimal slamX = pointDTO.getX().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
         BigDecimal slamY = pointDTO.getY().divide(scale, 5, BigDecimal.ROUND_HALF_UP);
-
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 5, BigDecimal.ROUND_HALF_UP)));
+        //加上栅格原点坐标
+        centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
+        centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
 
         return centerPoint;
     }
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 5265a7d..c522def 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
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import cn.hutool.core.date.DateUtil;
-import cn.hutool.core.util.RandomUtil;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dto.PointNextDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+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.stereotype.Service;
@@ -78,6 +77,11 @@
     }
 
     @Override
+    public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+    }
+
+    @Override
     public Long readTaskId(Long robotId) {
         Long currId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         return currId;
@@ -95,5 +99,4 @@
         return currId;
     }
 
-
-}
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 6925932..c06b7fb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -14,10 +15,8 @@
 import com.casic.missiles.modular.robot.model.DeviceInfo;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.service.IDeviceInfoService;
-import com.casic.missiles.modular.robot.service.IRobotInfoService;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -28,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.Serializable;
+import java.net.URL;
+import java.net.URLEncoder;
 import java.util.List;
 
 
@@ -45,15 +46,17 @@
     private final AbstractDictService dictService;
     private final IRouteInfoService routeInfoService;
     private final IDeviceInfoService deviceInfoService;
+    private final IRobotPointInfoService pointInfoService;
 
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
+        this.pointInfoService = pointInfoService;
     }
 
     @Transactional
@@ -110,6 +113,22 @@
         }
     }
 
+    @Override
+    public void loadTrack(RouteInfo routeInfo) {
+        try {
+
+            RobotInfo info = getById(routeInfo.getRobotId());
+            String routeName = URLEncoder.encode( routeInfo.getRouteName(),"UTF-8");
+            String urlPath = info.getTrajectoryPath() +routeName + "/" + routeName + ".txt";
+            URL url = new URL(urlPath);
+            List<String> list = FileUtil.readLines(url, "UTF-8");
+            pointInfoService.saveList(list,routeInfo);
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
new file mode 100644
index 0000000..8fc00e6
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotPointInfoServiceImpl.java
@@ -0,0 +1,51 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RobotPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 路线点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Service
+public class RobotPointInfoServiceImpl extends ServiceImpl<RobotPointInfoMapper, RobotPointInfo> implements IRobotPointInfoService {
+    @Override
+    public List<RobotPointInfo> selectRobotPointInfoPage(Page<RobotPointInfo> page, QueryWrapper<RobotPointInfo> query) {
+        return this.baseMapper.selectRobotPointInfoPage(page, query);
+    }
+
+    @Override
+    public void saveList(List<String> list, RouteInfo routeInfo) {
+        LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+        query.eq(RobotPointInfo::getRouteId, routeInfo.getRobotId());
+        remove(query);
+
+        List<RobotPointInfo> robotPointInfos = new ArrayList<>();
+        for (String point : list) {
+            RobotPointInfo robotPointInfo = RobotPointInfo.parse(point);
+            if (robotPointInfo != null) {
+                robotPointInfo.setRobotId(routeInfo.getRobotId());
+                robotPointInfo.setRouteId(routeInfo.getId());
+                robotPointInfo.setCreateTime(new Date());
+                robotPointInfos.add(robotPointInfo);
+            }
+        }
+        saveBatch(robotPointInfos);
+    }
+}
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 609a4af..4646c2c 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
@@ -18,9 +18,11 @@
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
@@ -47,17 +49,19 @@
 public class RobotStatusInfoServiceImpl extends ServiceImpl<RobotStatusInfoMapper, RobotStatusInfo> implements IRobotStatusInfoService {
     private final AbstractDictService dictService;
     private final IRobotInfoService robotInfoService;
+    private final IRobotCacheService cacheService;
 
-    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService) {
+    public RobotStatusInfoServiceImpl(AbstractDictService dictService, @Lazy IRobotInfoService robotInfoService, @Lazy IRobotCacheService cacheService) {
         this.dictService = dictService;
         this.robotInfoService = robotInfoService;
+        this.cacheService = cacheService;
     }
 
     @Override
     public void updateConnStatus(String robotId, Integer status) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("conn_status" , status);
-        query.eq("robot_id" , robotId);
+        query.set("conn_status", status);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
@@ -71,29 +75,29 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType" , statusInfo.getDiscernType()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
-        statusInfo.setAppNavPauseName(getDictName("appNavPause" , statusInfo.getAppNavPause()));
+        statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        String statusName = getDictName("trackStatus" , statusInfo.getNavigationStatus());
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
         statusInfo.setNavigationStatusName(statusName);
-        statusInfo.setDataRecordName(getDictName("trackStatus" , statusInfo.getDataRecord()));
-        statusInfo.setTrackStatusName(getDictName("trackStatus" , statusInfo.getTrackStatus()));
-        statusInfo.setTrackName(getDictName("trackStatus" , statusInfo.getTrack()));
-        statusInfo.setInsStatusName(getDictName("trackStatus" , statusInfo.getInsStatus()));
-        statusInfo.setAppStopNavtrackName(getDictName("trackStatus" , statusInfo.getAppStopNavtrack()));
-        statusInfo.setTrackRecordName(getDictName("trackStatus" , statusInfo.getTrackRecord()));
+        statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
+        statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
+        statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
+        statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
+        statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
-        statusInfo.setLidarMsgName(getDictName("lidarMsg" , statusInfo.getLidarMsg()));
-        statusInfo.setImuMsgName(getDictName("lidarMsg" , statusInfo.getImuMsg()));
-        statusInfo.setChargeMsgName(getDictName("lidarMsg" , statusInfo.getChargeMsg()));
-        statusInfo.setGpsMsgName(getDictName("lidarMsg" , statusInfo.getGpsMsg()));
+        statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
+        statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
+        statusInfo.setChargeMsgName(getDictName("lidarMsg", statusInfo.getChargeMsg()));
+        statusInfo.setGpsMsgName(getDictName("lidarMsg", statusInfo.getGpsMsg()));
 
         //连接状态
-        statusInfo.setConnStatusName(getDictName("connStatus" , statusInfo.getConnStatus()));
+        statusInfo.setConnStatusName(getDictName("connStatus", statusInfo.getConnStatus()));
 
     }
 
@@ -125,11 +129,11 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg" , msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
-            query.set("imu_msg" , msg.getImuMsg() == null ? 0 : msg.getImuMsg());
-            query.set("charge_msg" , msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
-            query.set("gps_msg" , msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
-            query.eq("robot_id" , robotId);
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -148,8 +152,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
-            query.set("process_message" , msg.getP());
-            query.eq("robot_id" , robotId);
+            query.set("process_message", msg.getP());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -168,8 +172,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_nav_pause", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -182,8 +186,8 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack" , msg.getResult());
-            query.eq("robot_id" , robotId);
+            query.set("app_stop_navtrack", msg.getResult());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -191,16 +195,16 @@
     @Override
     public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-        query.set("curr_route_id" , currRouteId);
-        query.set("curr_task_id" , currTaskId);
-        query.eq("robot_id" , robotId);
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
         update(query);
     }
 
     @Override
     public RobotStatusInfo getStatusByRobotId(String robotId) {
         QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotId);
+        query.eq("robot_id", robotId);
         return getOne(query);
     }
 
@@ -210,11 +214,11 @@
         RobotResponseDTO<SpeedResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference<RobotResponseDTO<SpeedResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("速度信息保存：{}" , responseDTO.getMsg());
+            log.info("速度信息保存：{}", responseDTO.getMsg());
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
-            query.set("robot_v" , responseDTO.getMsg().getSpeed().getV());
-            query.set("robot_w" , responseDTO.getMsg().getSpeed().getW());
-            query.eq("robot_id" , robotId);
+            query.set("robot_v", responseDTO.getMsg().getSpeed().getV());
+            query.set("robot_w", responseDTO.getMsg().getSpeed().getW());
+            query.eq("robot_id", robotId);
             update(query);
         }
     }
@@ -224,7 +228,7 @@
         RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-            log.info("急停状态保存：{}" , responseDTO.getMsg());
+            log.info("急停状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
             query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
@@ -243,14 +247,14 @@
         //电压下限 45V  电压上限 58.8V  估算电量
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
-            log.info("电压状态保存：{}" , responseDTO.getMsg());
+            log.info("电压状态保存：{}", responseDTO.getMsg());
             LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
                 query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
-                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()),2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity*100);
+                Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
+                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
                 query.eq(RobotStatusInfo::getRobotId, robotId);
                 update(query);
             }
@@ -258,6 +262,16 @@
 
     }
 
+    @Override
+    public void saveCostMap(String robotId, MqttMessage message) {
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
+        if (responseDTO != null && responseDTO.getMsg() != null) {
+            cacheService.updateCostMap(robotId, responseDTO.getMsg());
+            log.info("----------------------------------------------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
+        }
+    }
+
     private <R> RobotResponseDTO<R> parseJson(MqttMessage message, TypeReference<RobotResponseDTO<R>> cls) {
         String json = new String(message.getPayload());
         if (json.startsWith("\"")) {
@@ -266,7 +280,7 @@
         if (json.endsWith("\"")) {
             json = json.substring(0, json.length() - 1);
         }
-        json = json.replaceAll("\\\\" , "");
+        json = json.replaceAll("\\\\", "");
         log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 59dc5cb..afbf972 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -1,6 +1,8 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@@ -8,13 +10,16 @@
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotPointInfoService;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import java.io.Serializable;
 import java.util.ArrayList;
@@ -35,11 +40,32 @@
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
     private final IBaseRobotService robotService;
+    private final IRobotPointInfoService robotPointInfoService;
 
-    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService, @Lazy IRobotPointInfoService robotPointInfoService) {
         this.robotService = robotService;
+        this.robotPointInfoService = robotPointInfoService;
     }
 
+    @Transactional
+    @Override
+    public List<RouteInfo> list(Wrapper<RouteInfo> queryWrapper) {
+        List<RouteInfo> routeInfos = super.list(queryWrapper);
+        routeInfos.forEach(this::wrapInfo);
+        return routeInfos;
+    }
+
+    private void wrapInfo(RouteInfo routeInfo) {
+        if (routeInfo != null) {
+            LambdaQueryWrapper<RobotPointInfo> query = new LambdaQueryWrapper<>();
+            query.eq(RobotPointInfo::getRouteId, routeInfo.getId());
+            query.orderByAsc(RobotPointInfo::getPointIndex);
+            List<RobotPointInfo> robotPointInfos = robotPointInfoService.list(query);
+            routeInfo.setPointInfos(robotPointInfos);
+        }
+    }
+
+
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
         return this.baseMapper.selectRouteInfoPage(page, query);
@@ -71,10 +97,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id" , robotInfo.getId());
+        query.eq("robot_id", robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id" , result);
+        rmQuery.notIn("target_id", result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -102,8 +128,8 @@
     @Override
     public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
         QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
-        queryWrapper.eq("robot_id" , robotInfo.getId());
-        queryWrapper.eq("target_id" , track_name);
+        queryWrapper.eq("robot_id", robotInfo.getId());
+        queryWrapper.eq("target_id", track_name);
         return list(queryWrapper);
     }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index f26904b..9b481ce 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
@@ -5,6 +5,7 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
@@ -18,13 +19,17 @@
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.modular.constants.RobotDictConstants;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
 import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.*;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.SoftwareStopRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TargetPointRequest;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.util.WordUtil;
 import lombok.SneakyThrows;
@@ -63,13 +68,15 @@
     private final ITaskHeatMapService taskHeatMapService;
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
+    private final IBaseRobotService baseRobotService;
+
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
     @Value("${casic.doc.temp}")
     private String docTemp;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -77,6 +84,7 @@
         this.taskHeatMapService = taskHeatMapService;
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
+        this.baseRobotService = baseRobotService;
     }
 
     /**
@@ -135,8 +143,11 @@
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
-
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
+        if (taskInfo != null) {
+            RobotInfo robotInfo = cacheService.getRobotInfo(taskInfo.getRobotId());
+            taskInfo.setRobotName(robotInfo.getRobotName());
+        }
     }
 
     @Transactional
@@ -172,6 +183,7 @@
         Long currTaskId = taskInfo.getId();
 
         statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -191,13 +203,22 @@
             update(updateWrapper);
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         }
-
         //清空任务缓存
+        robotCacheClean(robotId);
+        //清空机器当前任务
+        statusInfoService.updateCurrTask(robotId, null, null);
+
+    }
+
+    /**
+     * 关闭任务清空缓存信息
+     *
+     * @param robotId
+     */
+    private void robotCacheClean(String robotId) {
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ROUTE_ID + robotId);
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId);
-        //清空当前任务
-        statusInfoService.updateCurrTask(robotId, null, null);
     }
 
     /**
@@ -213,7 +234,7 @@
         Long taskId = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId);
         //缓存当前点位信息
 
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId,dto);
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
@@ -229,7 +250,7 @@
 
         Integer initValue = cacheService.readTaskInit(longId);
         //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize());
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
@@ -248,6 +269,7 @@
             GridPointDTO oldPointDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId);
             if (oldPointDTO == null || isChange(pointDTO, oldPointDTO)) {
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
+
                 //算法调用获取热力图
                 PathPlanDTO pathPlanDTO = createPlanDTO(robotInfo.getGridNumber() + "", pointDTO, taskId, robotId);
                 //TO-DO 障碍物判定信息
@@ -256,28 +278,78 @@
                 pathPlanDTO.setCount(cacheService.getNeutronCount(longId) + "");
                 log.debug("heat map -- robotId:{},taskId:{}", robotId, taskId);
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
-
-                //存储算法估算栅格信息
+                //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
+
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
                     log.debug("task planning-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人寻点指令下发
+                    sendTargetPoint(robotInfo, response);
                 }
+                //是否触发停止状态
                 if (bigCount.compareTo(robotInfo.getMaxThreshold()) > 0) {
                     log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
+                    //机器人停止指令下发
+                    SoftwareStopRequest request = new SoftwareStopRequest();
+                    request.setRobotId(robotInfo.getId());
+                    //设置为急停
+                    request.setControl(1);
+                    baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
+                    //循迹任务结束
+                    closeTask(null, robotId);
                 }
             }
         }
     }
 
+    /**
+     * 机器人目标栅格设定
+     *
+     * @param robotInfo 机器人信息
+     * @param response  算法输出数据
+     */
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response) {
+        //读取已设置巡点目标信息
+        PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
+        //巡点
+        if (response.getPointNextDTO() != null && !response.getPointNextDTO().equals(nextDTO)) {
+            GridPointDTO gridPointDTO = GridPointDTO.convertGridPoint(response.getPointNextDTO());
+            //得到寻源栅格数据,转换为栅格目标点位
+            GridPointDTO gridCenterPoint = algorithmService.convertGridCenterPoint(gridPointDTO, robotInfo.getGridNumber(), robotInfo.getGridSize(),robotInfo);
+            TargetPointRequest request = new TargetPointRequest();
+            request.setX(Convert.toStr(gridCenterPoint.getX()));
+            request.setY(Convert.toStr(gridCenterPoint.getY()));
+            request.setZ("0");
+
+            request.setRobotId(robotInfo.getId());
+            //执行巡点指令
+            baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+            //重设寻点点位
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId(), response.getPointNextDTO());
+        }
+
+    }
+
+    /**
+     * 任务相关图片保存
+     *
+     * @param imgDTO
+     */
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
         LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
-        updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
-        updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
-        updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
+            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
+            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+        }
+        if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
+            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+        }
         updateWrapper.set(TaskInfo::getHeatImg, path);
         updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
     }
@@ -287,6 +359,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
         response.setHeader("Content-disposition", "attachment;filename=report.docx");
@@ -319,7 +392,7 @@
         if (CollectionUtil.isNotEmpty(records)) {
             for (AlarmRecord record : records) {
                 //栅格信息转换
-                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize());
+                GridPointDTO pointDTO = algorithmService.convertSlamToGrid(record.getX(), record.getY(), info.getGridNumber(), info.getGridSize(),robotInfo);
                 record.setX(pointDTO.getX());
                 record.setY(pointDTO.getY());
                 record.setIndex(index);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
index dc6683f..2e62229 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/DetectorInfoVO.java
@@ -1,10 +1,10 @@
 package com.casic.missiles.modular.robot.vo;
 
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.DetectorInfo;
-import cn.hutool.core.util.StrUtil;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
 
 
 /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java
new file mode 100644
index 0000000..f09eece
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RobotPointInfoVO.java
@@ -0,0 +1,35 @@
+package com.casic.missiles.modular.robot.vo;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.RobotPointInfo;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 路线点位信息对象VO
+ *
+ * @author lwh
+ * @date 2023-12-14
+ */
+@Data
+public class RobotPointInfoVO {
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty(value = "机器人主键", dataType = "Long")
+    private Long robotId;
+
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    private Long routeId;
+
+    public QueryWrapper<RobotPointInfo> genQuery() {
+        QueryWrapper<RobotPointInfo> query = new QueryWrapper<>();
+        if (robotId != null) {
+            query.eq("robot_id", robotId);
+        }
+        if (routeId != null) {
+            query.eq("route_id", routeId);
+        }
+        return query;
+    }
+}
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index bf403dd..db10efc 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=GMT%2B8
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
 jms:
    pub-sub-domain: true
 # session:
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index b8e78ef..029c779 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -40,8 +40,8 @@
   session-invalidate-time: 86400 #session失效时间(只在单机环境下生效，,多机环境在SpringSessionConfig类中配置) 单位：秒
   session-validation-interval: 900 #多久检测一次失效的session(只在单机环境下生效) 单位：秒
   no-login-urls: /user/login,/kaptcha,/config/baseConfig
-  hikSdk: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\HCNetSDK.dll
-  hikPlay: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\PlayCtrl.dll
+  hikSdk: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\HCNetSDK.dll
+  hikPlay: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\PlayCtrl.dll
   algorithm:
     initPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning_init.exe
     planPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning.exe