diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index 251ac1e..16a463e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -3,7 +3,9 @@
 import cn.hutool.core.date.DateUnit;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
@@ -49,7 +51,12 @@
     private IAlarmRecordService iAlarmRecordService;
     @Autowired
     private IRobotCacheService iRobotCacheService;
-
+    @Autowired
+    private WebSocket webSocket;
+    //记录推送次数
+    private static volatile long times = 0;
+    //记录报警是否推送
+    private static volatile boolean flag = true;
 
     @Override
     public List<PsdDataDTO> dataList(Long taskId) {
@@ -125,7 +132,7 @@
 
     @Override
     public void insertPsdAlarms() {
-
+        times++;
         //先查询正在巡检任务信息
         List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
@@ -147,8 +154,8 @@
                     }
                 }
             }
+            double psdVal = count * 1.000 / 5;
             if (count > 0) {
-                double psdVal = count * 1.000 / 5;
                 if (psdVal >= 13) {
                     AlarmRecord alarmRecord = new AlarmRecord(robotId,
                             new BigDecimal(psdVal),
@@ -167,10 +174,37 @@
                         alarmRecord.setYGrid(new BigDecimal(pointNextDTo.getY()));
                     }
                     alarmRecordList.add(alarmRecord);
+                    if (flag) {
+                        //推送报警信息
+                        JSONObject headerJson = new JSONObject();
+                        headerJson.put("msgKey", "alarm");
+                        JSONObject jsonObject = new JSONObject();
+                        jsonObject.put("robotId", robotId);
+                        jsonObject.put("taskType", ObjectUtil.isNotEmpty(taskInfo.getTaskType()) ? dictService.getDictNameByCode("taskType", taskInfo.getTaskType() + "") : "");
+                        jsonObject.put("discernType", ObjectUtil.isNotEmpty(taskInfo.getDiscernType()) ? dictService.getDictNameByCode("discernType", taskInfo.getDiscernType() + "") : "");
+                        jsonObject.put("taskId", taskInfo.getId());
+                        jsonObject.put("psd", 13);
+                        jsonObject.put("x", alarmRecord.getXGrid());
+                        jsonObject.put("y", alarmRecord.getYGrid());
+                        jsonObject.put("alarmTime", new Date());
+                        headerJson.put("data", jsonObject);
+                        webSocket.sendAllMessage(headerJson.toJSONString());
+                        flag = false;
+                    }
                 }
                 //写入缓存
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PSD_DATA_ID + robotId, psdVal);
             }
+            //每隔5秒实时推送psd数据
+            JSONObject headerJson = new JSONObject();
+            headerJson.put("msgKey", "psd");
+            JSONObject jsonObject = new JSONObject();
+            jsonObject.put("robotId", robotId);
+            jsonObject.put("taskId", taskInfo.getId());
+            jsonObject.put("psd", psdVal);
+            jsonObject.put("time", times * 5);
+            headerJson.put("data", jsonObject);
+            webSocket.sendAllMessage(headerJson.toJSONString());
         }
         if (null != alarmRecordList && alarmRecordList.size() > 0) {
             iAlarmRecordService.saveBatch(alarmRecordList);

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index 251ac1e..16a463e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -3,7 +3,9 @@
 import cn.hutool.core.date.DateUnit;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.modular.constants.RobotDictConstants;
@@ -49,7 +51,12 @@
     private IAlarmRecordService iAlarmRecordService;
     @Autowired
     private IRobotCacheService iRobotCacheService;
-
+    @Autowired
+    private WebSocket webSocket;
+    //记录推送次数
+    private static volatile long times = 0;
+    //记录报警是否推送
+    private static volatile boolean flag = true;
 
     @Override
     public List<PsdDataDTO> dataList(Long taskId) {
@@ -125,7 +132,7 @@
 
     @Override
     public void insertPsdAlarms() {
-
+        times++;
         //先查询正在巡检任务信息
         List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
@@ -147,8 +154,8 @@
                     }
                 }
             }
+            double psdVal = count * 1.000 / 5;
             if (count > 0) {
-                double psdVal = count * 1.000 / 5;
                 if (psdVal >= 13) {
                     AlarmRecord alarmRecord = new AlarmRecord(robotId,
                             new BigDecimal(psdVal),
@@ -167,10 +174,37 @@
                         alarmRecord.setYGrid(new BigDecimal(pointNextDTo.getY()));
                     }
                     alarmRecordList.add(alarmRecord);
+                    if (flag) {
+                        //推送报警信息
+                        JSONObject headerJson = new JSONObject();
+                        headerJson.put("msgKey", "alarm");
+                        JSONObject jsonObject = new JSONObject();
+                        jsonObject.put("robotId", robotId);
+                        jsonObject.put("taskType", ObjectUtil.isNotEmpty(taskInfo.getTaskType()) ? dictService.getDictNameByCode("taskType", taskInfo.getTaskType() + "") : "");
+                        jsonObject.put("discernType", ObjectUtil.isNotEmpty(taskInfo.getDiscernType()) ? dictService.getDictNameByCode("discernType", taskInfo.getDiscernType() + "") : "");
+                        jsonObject.put("taskId", taskInfo.getId());
+                        jsonObject.put("psd", 13);
+                        jsonObject.put("x", alarmRecord.getXGrid());
+                        jsonObject.put("y", alarmRecord.getYGrid());
+                        jsonObject.put("alarmTime", new Date());
+                        headerJson.put("data", jsonObject);
+                        webSocket.sendAllMessage(headerJson.toJSONString());
+                        flag = false;
+                    }
                 }
                 //写入缓存
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PSD_DATA_ID + robotId, psdVal);
             }
+            //每隔5秒实时推送psd数据
+            JSONObject headerJson = new JSONObject();
+            headerJson.put("msgKey", "psd");
+            JSONObject jsonObject = new JSONObject();
+            jsonObject.put("robotId", robotId);
+            jsonObject.put("taskId", taskInfo.getId());
+            jsonObject.put("psd", psdVal);
+            jsonObject.put("time", times * 5);
+            headerJson.put("data", jsonObject);
+            webSocket.sendAllMessage(headerJson.toJSONString());
         }
         if (null != alarmRecordList && alarmRecordList.size() > 0) {
             iAlarmRecordService.saveBatch(alarmRecordList);
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 7e394c1..dc6683f 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
@@ -17,21 +17,25 @@
 public class DetectorInfoVO {
     private static final long serialVersionUID = 1L;
 
-                /** 机器人ID */
-   @ApiModelProperty(value = "机器人ID" , dataType = "Long")
-   private Long robotId;
-                /** 探测器名称 */
-   @ApiModelProperty(value = "探测器名称" , dataType = "String")
-   private String detectorName;
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    private Long robotId;
+    /**
+     * 探测器名称
+     */
+    @ApiModelProperty(value = "探测器名称", dataType = "String")
+    private String detectorName;
 
     public QueryWrapper<DetectorInfo> genQuery() {
         QueryWrapper<DetectorInfo> query = new QueryWrapper<>();
-if (robotId!=null) {
-        query.eq("robot_id",robotId);
-}
-if (StrUtil.isNotEmpty(detectorName)) {
-        query.like("detector_name",detectorName);
-}
+        if (robotId != null) {
+            query.eq("robot_id", robotId);
+        }
+        if (StrUtil.isNotEmpty(detectorName)) {
+            query.like("detector_name", detectorName);
+        }
         return query;
     }
 }