diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
index 1f2ead8..de6dceb 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
@@ -5,6 +5,7 @@
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.dto.SatelliteSignalDTO;
 import com.casic.missiles.modular.system.dto.ShelterPositionDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
@@ -64,7 +65,7 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history() {
-        List<Map<String, Object>> lastRouteMap = robotService.lastRoute();
+        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute();
         return ResponseData.success(lastRouteMap);
     }
 

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
index 1f2ead8..de6dceb 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
@@ -5,6 +5,7 @@
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.dto.SatelliteSignalDTO;
 import com.casic.missiles.modular.system.dto.ShelterPositionDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
@@ -64,7 +65,7 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history() {
-        List<Map<String, Object>> lastRouteMap = robotService.lastRoute();
+        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute();
         return ResponseData.success(lastRouteMap);
     }
 
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
index c2b8f81..52bb713 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
@@ -13,6 +13,13 @@
  */
 public interface RobotMapper extends BaseMapper<RobotInfo> {
     /**
+     * 获取数据库里机器人ID，去重
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 获取最新的卫星信号
      *
      * @param robotId 机器人ID

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
index 1f2ead8..de6dceb 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
@@ -5,6 +5,7 @@
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.dto.SatelliteSignalDTO;
 import com.casic.missiles.modular.system.dto.ShelterPositionDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
@@ -64,7 +65,7 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history() {
-        List<Map<String, Object>> lastRouteMap = robotService.lastRoute();
+        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute();
         return ResponseData.success(lastRouteMap);
     }
 
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
index c2b8f81..52bb713 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
@@ -13,6 +13,13 @@
  */
 public interface RobotMapper extends BaseMapper<RobotInfo> {
     /**
+     * 获取数据库里机器人ID，去重
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 获取最新的卫星信号
      *
      * @param robotId 机器人ID
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
index 0e2414b..a785d94 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
@@ -25,6 +25,11 @@
         TARGET_HERTZ AS targetHertz
     </sql>
 
+    <select id="selectRobotIds" resultType="Integer">
+        SELECT DISTINCT ri.ROBOT_ID AS robotId
+        FROM robot_info AS ri
+    </select>
+
     <select id="selectLastOne" resultType="com.casic.missiles.modular.system.model.RobotInfo">
         SELECT
         <include refid="Base_Column_List"/>

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
index 1f2ead8..de6dceb 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
@@ -5,6 +5,7 @@
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.dto.SatelliteSignalDTO;
 import com.casic.missiles.modular.system.dto.ShelterPositionDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
@@ -64,7 +65,7 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history() {
-        List<Map<String, Object>> lastRouteMap = robotService.lastRoute();
+        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute();
         return ResponseData.success(lastRouteMap);
     }
 
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
index c2b8f81..52bb713 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
@@ -13,6 +13,13 @@
  */
 public interface RobotMapper extends BaseMapper<RobotInfo> {
     /**
+     * 获取数据库里机器人ID，去重
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 获取最新的卫星信号
      *
      * @param robotId 机器人ID
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
index 0e2414b..a785d94 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
@@ -25,6 +25,11 @@
         TARGET_HERTZ AS targetHertz
     </sql>
 
+    <select id="selectRobotIds" resultType="Integer">
+        SELECT DISTINCT ri.ROBOT_ID AS robotId
+        FROM robot_info AS ri
+    </select>
+
     <select id="selectLastOne" resultType="com.casic.missiles.modular.system.model.RobotInfo">
         SELECT
         <include refid="Base_Column_List"/>
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
index 94a1c86..e20fcac 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
@@ -25,6 +25,11 @@
     private Integer typhoonPower;
 
     /**
+     * 台风风速
+     */
+    private String speed;
+
+    /**
      * 台风7级风力半径
      */
     private String radius7;
@@ -35,6 +40,11 @@
     private String radius10;
 
     /**
+     * 台风12级风力半径
+     */
+    private String radius12;
+
+    /**
      * 台风整体移动速度，单位【公里/小时】
      */
     private String moveSpeed;

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
index 1f2ead8..de6dceb 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
@@ -5,6 +5,7 @@
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.dto.SatelliteSignalDTO;
 import com.casic.missiles.modular.system.dto.ShelterPositionDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
@@ -64,7 +65,7 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history() {
-        List<Map<String, Object>> lastRouteMap = robotService.lastRoute();
+        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute();
         return ResponseData.success(lastRouteMap);
     }
 
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
index c2b8f81..52bb713 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
@@ -13,6 +13,13 @@
  */
 public interface RobotMapper extends BaseMapper<RobotInfo> {
     /**
+     * 获取数据库里机器人ID，去重
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 获取最新的卫星信号
      *
      * @param robotId 机器人ID
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
index 0e2414b..a785d94 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
@@ -25,6 +25,11 @@
         TARGET_HERTZ AS targetHertz
     </sql>
 
+    <select id="selectRobotIds" resultType="Integer">
+        SELECT DISTINCT ri.ROBOT_ID AS robotId
+        FROM robot_info AS ri
+    </select>
+
     <select id="selectLastOne" resultType="com.casic.missiles.modular.system.model.RobotInfo">
         SELECT
         <include refid="Base_Column_List"/>
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
index 94a1c86..e20fcac 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
@@ -25,6 +25,11 @@
     private Integer typhoonPower;
 
     /**
+     * 台风风速
+     */
+    private String speed;
+
+    /**
      * 台风7级风力半径
      */
     private String radius7;
@@ -35,6 +40,11 @@
     private String radius10;
 
     /**
+     * 台风12级风力半径
+     */
+    private String radius12;
+
+    /**
      * 台风整体移动速度，单位【公里/小时】
      */
     private String moveSpeed;
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
index 6189335..ee00285 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
@@ -12,6 +12,13 @@
  */
 public interface IRobotService extends IService<RobotInfo> {
     /**
+     * 查询机器人id
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 查询机器人列表
      *
      * @return {@link List<Map>}
@@ -31,5 +38,5 @@
      *
      * @return {@link List<Map>}
      */
-    List<Map<String, Object>> lastRoute();
+    List<List<RobotInfoDTO>> lastRoute();
 }

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
index 1f2ead8..de6dceb 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
@@ -5,6 +5,7 @@
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.dto.SatelliteSignalDTO;
 import com.casic.missiles.modular.system.dto.ShelterPositionDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
@@ -64,7 +65,7 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history() {
-        List<Map<String, Object>> lastRouteMap = robotService.lastRoute();
+        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute();
         return ResponseData.success(lastRouteMap);
     }
 
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
index c2b8f81..52bb713 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
@@ -13,6 +13,13 @@
  */
 public interface RobotMapper extends BaseMapper<RobotInfo> {
     /**
+     * 获取数据库里机器人ID，去重
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 获取最新的卫星信号
      *
      * @param robotId 机器人ID
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
index 0e2414b..a785d94 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
@@ -25,6 +25,11 @@
         TARGET_HERTZ AS targetHertz
     </sql>
 
+    <select id="selectRobotIds" resultType="Integer">
+        SELECT DISTINCT ri.ROBOT_ID AS robotId
+        FROM robot_info AS ri
+    </select>
+
     <select id="selectLastOne" resultType="com.casic.missiles.modular.system.model.RobotInfo">
         SELECT
         <include refid="Base_Column_List"/>
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
index 94a1c86..e20fcac 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
@@ -25,6 +25,11 @@
     private Integer typhoonPower;
 
     /**
+     * 台风风速
+     */
+    private String speed;
+
+    /**
      * 台风7级风力半径
      */
     private String radius7;
@@ -35,6 +40,11 @@
     private String radius10;
 
     /**
+     * 台风12级风力半径
+     */
+    private String radius12;
+
+    /**
      * 台风整体移动速度，单位【公里/小时】
      */
     private String moveSpeed;
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
index 6189335..ee00285 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
@@ -12,6 +12,13 @@
  */
 public interface IRobotService extends IService<RobotInfo> {
     /**
+     * 查询机器人id
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 查询机器人列表
      *
      * @return {@link List<Map>}
@@ -31,5 +38,5 @@
      *
      * @return {@link List<Map>}
      */
-    List<Map<String, Object>> lastRoute();
+    List<List<RobotInfoDTO>> lastRoute();
 }
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
index c7215ba..54164a0 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.system.service.impl;
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.system.dao.RobotMapper;
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
@@ -17,7 +18,6 @@
  *
  * @author a203
  */
-
 @Service
 public class RobotServiceImpl extends ServiceImpl<RobotMapper, RobotInfo> implements IRobotService {
 
@@ -25,23 +25,31 @@
 
     }
 
+    @Override
+    public List<Integer> selectRobotIds() {
+        return this.baseMapper.selectRobotIds();
+    }
+
     /**
-     * 查询机器人列表
+     * TODO - 查最新的数据
+     * 查询机器人列表-简单列表数据
      *
      * @return {@link List<Map>}
      */
     @Override
     public List<Map<String, String>> robotList() {
         List<Map<String, String>> maps = new ArrayList<>();
-        for (RobotInfo robot : list()) {
+        for (Integer robotId : selectRobotIds()) {
+            RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId));
+
             Map<String, String> robotMap = new HashMap<>(7);
-            robotMap.put("robotId", String.valueOf(robot.getRobotId()));
-            robotMap.put("lng", String.valueOf(robot.getLng()));
-            robotMap.put("lat", String.valueOf(robot.getLat()));
-            robotMap.put("navigateState", robot.getNavigateState());
-            robotMap.put("instrumentE", String.valueOf(robot.getInstrumentE()));
-            robotMap.put("powerE", String.valueOf(robot.getPowerE()));
-            robotMap.put("targetDistance", robot.getTargetDistance());
+            robotMap.put("robotId", String.valueOf(robotId));
+            robotMap.put("lng", String.valueOf(robotDetail.getLng()));
+            robotMap.put("lat", String.valueOf(robotDetail.getLat()));
+            robotMap.put("navigateState", robotDetail.getNavigateState());
+            robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE()));
+            robotMap.put("powerE", String.valueOf(robotDetail.getPowerE()));
+            robotMap.put("targetDistance", robotDetail.getTargetDistance());
 
             maps.add(robotMap);
         }
@@ -49,7 +57,7 @@
     }
 
     /**
-     * 查询水下机器人详情
+     * 根据robotId查最新的那条机器人数据
      *
      * @param robotId 机器人ID
      * @return {@link RobotInfoDTO}
@@ -64,15 +72,20 @@
     }
 
     @Override
-    public List<Map<String, Object>> lastRoute() {
-        List<Map<String, Object>> routeMap = new ArrayList<>();
+    public List<List<RobotInfoDTO>> lastRoute() {
+        List<List<RobotInfoDTO>> result = new ArrayList<>();
         //先查所有库里机器人的ID
-        List<Map<String, String>> robotList = robotList();
-        for (Map<String, String> map : robotList) {
-            String robotId = map.get("robotId");
+        for (Integer robotId : selectRobotIds()) {
+            QueryWrapper<RobotInfo> queryWrapper = new QueryWrapper<>();
+            queryWrapper.eq("ROBOT_ID", robotId);
 
+            List<RobotInfo> robotInfos = this.baseMapper.selectList(queryWrapper);
+            List<RobotInfoDTO> dtoList = new ArrayList<>();
+            for (RobotInfo robotInfo : robotInfos) {
+                dtoList.add(new RobotInfoDTO(robotInfo));
+            }
+            result.add(dtoList);
         }
-
-        return routeMap;
+        return result;
     }
 }

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
index 1f2ead8..de6dceb 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
@@ -5,6 +5,7 @@
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.dto.SatelliteSignalDTO;
 import com.casic.missiles.modular.system.dto.ShelterPositionDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
@@ -64,7 +65,7 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history() {
-        List<Map<String, Object>> lastRouteMap = robotService.lastRoute();
+        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute();
         return ResponseData.success(lastRouteMap);
     }
 
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
index c2b8f81..52bb713 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
@@ -13,6 +13,13 @@
  */
 public interface RobotMapper extends BaseMapper<RobotInfo> {
     /**
+     * 获取数据库里机器人ID，去重
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 获取最新的卫星信号
      *
      * @param robotId 机器人ID
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
index 0e2414b..a785d94 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
@@ -25,6 +25,11 @@
         TARGET_HERTZ AS targetHertz
     </sql>
 
+    <select id="selectRobotIds" resultType="Integer">
+        SELECT DISTINCT ri.ROBOT_ID AS robotId
+        FROM robot_info AS ri
+    </select>
+
     <select id="selectLastOne" resultType="com.casic.missiles.modular.system.model.RobotInfo">
         SELECT
         <include refid="Base_Column_List"/>
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
index 94a1c86..e20fcac 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
@@ -25,6 +25,11 @@
     private Integer typhoonPower;
 
     /**
+     * 台风风速
+     */
+    private String speed;
+
+    /**
      * 台风7级风力半径
      */
     private String radius7;
@@ -35,6 +40,11 @@
     private String radius10;
 
     /**
+     * 台风12级风力半径
+     */
+    private String radius12;
+
+    /**
      * 台风整体移动速度，单位【公里/小时】
      */
     private String moveSpeed;
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
index 6189335..ee00285 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
@@ -12,6 +12,13 @@
  */
 public interface IRobotService extends IService<RobotInfo> {
     /**
+     * 查询机器人id
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 查询机器人列表
      *
      * @return {@link List<Map>}
@@ -31,5 +38,5 @@
      *
      * @return {@link List<Map>}
      */
-    List<Map<String, Object>> lastRoute();
+    List<List<RobotInfoDTO>> lastRoute();
 }
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
index c7215ba..54164a0 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.system.service.impl;
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.system.dao.RobotMapper;
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
@@ -17,7 +18,6 @@
  *
  * @author a203
  */
-
 @Service
 public class RobotServiceImpl extends ServiceImpl<RobotMapper, RobotInfo> implements IRobotService {
 
@@ -25,23 +25,31 @@
 
     }
 
+    @Override
+    public List<Integer> selectRobotIds() {
+        return this.baseMapper.selectRobotIds();
+    }
+
     /**
-     * 查询机器人列表
+     * TODO - 查最新的数据
+     * 查询机器人列表-简单列表数据
      *
      * @return {@link List<Map>}
      */
     @Override
     public List<Map<String, String>> robotList() {
         List<Map<String, String>> maps = new ArrayList<>();
-        for (RobotInfo robot : list()) {
+        for (Integer robotId : selectRobotIds()) {
+            RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId));
+
             Map<String, String> robotMap = new HashMap<>(7);
-            robotMap.put("robotId", String.valueOf(robot.getRobotId()));
-            robotMap.put("lng", String.valueOf(robot.getLng()));
-            robotMap.put("lat", String.valueOf(robot.getLat()));
-            robotMap.put("navigateState", robot.getNavigateState());
-            robotMap.put("instrumentE", String.valueOf(robot.getInstrumentE()));
-            robotMap.put("powerE", String.valueOf(robot.getPowerE()));
-            robotMap.put("targetDistance", robot.getTargetDistance());
+            robotMap.put("robotId", String.valueOf(robotId));
+            robotMap.put("lng", String.valueOf(robotDetail.getLng()));
+            robotMap.put("lat", String.valueOf(robotDetail.getLat()));
+            robotMap.put("navigateState", robotDetail.getNavigateState());
+            robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE()));
+            robotMap.put("powerE", String.valueOf(robotDetail.getPowerE()));
+            robotMap.put("targetDistance", robotDetail.getTargetDistance());
 
             maps.add(robotMap);
         }
@@ -49,7 +57,7 @@
     }
 
     /**
-     * 查询水下机器人详情
+     * 根据robotId查最新的那条机器人数据
      *
      * @param robotId 机器人ID
      * @return {@link RobotInfoDTO}
@@ -64,15 +72,20 @@
     }
 
     @Override
-    public List<Map<String, Object>> lastRoute() {
-        List<Map<String, Object>> routeMap = new ArrayList<>();
+    public List<List<RobotInfoDTO>> lastRoute() {
+        List<List<RobotInfoDTO>> result = new ArrayList<>();
         //先查所有库里机器人的ID
-        List<Map<String, String>> robotList = robotList();
-        for (Map<String, String> map : robotList) {
-            String robotId = map.get("robotId");
+        for (Integer robotId : selectRobotIds()) {
+            QueryWrapper<RobotInfo> queryWrapper = new QueryWrapper<>();
+            queryWrapper.eq("ROBOT_ID", robotId);
 
+            List<RobotInfo> robotInfos = this.baseMapper.selectList(queryWrapper);
+            List<RobotInfoDTO> dtoList = new ArrayList<>();
+            for (RobotInfo robotInfo : robotInfos) {
+                dtoList.add(new RobotInfoDTO(robotInfo));
+            }
+            result.add(dtoList);
         }
-
-        return routeMap;
+        return result;
     }
 }
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/EncodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/EncodeData.java
index 94b3d79..2912534 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/EncodeData.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/EncodeData.java
@@ -27,23 +27,30 @@
      * 环境数据-已校验
      */
     public static Map<String, Object> encodeEnvironment(int robotId, double robotLng, double robotLat,
-                                                        TyphoonDTO typhoon, String date, String days, String hour) {
+                                                        TyphoonDetailDTO typhoon, String date, String days, String hour) {
         Map<String, Object> resultMap = createDataHead("AIS");
         resultMap.put("type", "Env");
         resultMap.put("robotID", robotId);
 
         EnvironmentDTO dto = new EnvironmentDTO();
         if (typhoon != null) {
-            double lng = typhoon.getLng();
-            double lat = typhoon.getLat();
+            double lng = typhoon.getCenterLng();
+            double lat = typhoon.getCenterLat();
 
             dto.setTyphoonLng(lng);
             dto.setTyphoonLat(lat);
-            dto.setTyphoonPower(typhoon.getPower());
-            dto.setRadius7(typhoon.getRadius7());
-            dto.setRadius10(typhoon.getRadius10());
-            dto.setMoveSpeed(typhoon.getMoveSpeed());
-            dto.setMoveDirection(typhoon.getMoveDirection());
+
+            //取路径点的最后一个点为最新台风详情
+            List<TyphoonDetailDTO.PointBean> points = typhoon.getPoints();
+            TyphoonDetailDTO.PointBean pointBean = points.get(points.size() - 1);
+            dto.setTyphoonPower(pointBean.getPower());
+            dto.setSpeed(pointBean.getSpeed());
+            dto.setRadius7(pointBean.getRadius7());
+            dto.setRadius10(pointBean.getRadius10());
+            dto.setRadius12(pointBean.getRadius12());
+            dto.setMoveSpeed(pointBean.getMoveSpeed());
+            //TODO 需要计算为角度
+            dto.setMoveDirection(pointBean.getMoveDirection());
 
             //机器人与台风中心距离
             double distance = distance(lng, lat, robotLng, robotLat);

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
index 1f2ead8..de6dceb 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java
@@ -5,6 +5,7 @@
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.dto.SatelliteSignalDTO;
 import com.casic.missiles.modular.system.dto.ShelterPositionDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
@@ -64,7 +65,7 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history() {
-        List<Map<String, Object>> lastRouteMap = robotService.lastRoute();
+        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute();
         return ResponseData.success(lastRouteMap);
     }
 
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
index c2b8f81..52bb713 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/RobotMapper.java
@@ -13,6 +13,13 @@
  */
 public interface RobotMapper extends BaseMapper<RobotInfo> {
     /**
+     * 获取数据库里机器人ID，去重
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 获取最新的卫星信号
      *
      * @param robotId 机器人ID
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
index 0e2414b..a785d94 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotMapper.xml
@@ -25,6 +25,11 @@
         TARGET_HERTZ AS targetHertz
     </sql>
 
+    <select id="selectRobotIds" resultType="Integer">
+        SELECT DISTINCT ri.ROBOT_ID AS robotId
+        FROM robot_info AS ri
+    </select>
+
     <select id="selectLastOne" resultType="com.casic.missiles.modular.system.model.RobotInfo">
         SELECT
         <include refid="Base_Column_List"/>
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
index 94a1c86..e20fcac 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/EnvironmentDTO.java
@@ -25,6 +25,11 @@
     private Integer typhoonPower;
 
     /**
+     * 台风风速
+     */
+    private String speed;
+
+    /**
      * 台风7级风力半径
      */
     private String radius7;
@@ -35,6 +40,11 @@
     private String radius10;
 
     /**
+     * 台风12级风力半径
+     */
+    private String radius12;
+
+    /**
      * 台风整体移动速度，单位【公里/小时】
      */
     private String moveSpeed;
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
index 6189335..ee00285 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java
@@ -12,6 +12,13 @@
  */
 public interface IRobotService extends IService<RobotInfo> {
     /**
+     * 查询机器人id
+     *
+     * @return {@link List<Integer>}
+     */
+    List<Integer> selectRobotIds();
+
+    /**
      * 查询机器人列表
      *
      * @return {@link List<Map>}
@@ -31,5 +38,5 @@
      *
      * @return {@link List<Map>}
      */
-    List<Map<String, Object>> lastRoute();
+    List<List<RobotInfoDTO>> lastRoute();
 }
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
index c7215ba..54164a0 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.system.service.impl;
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.system.dao.RobotMapper;
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
@@ -17,7 +18,6 @@
  *
  * @author a203
  */
-
 @Service
 public class RobotServiceImpl extends ServiceImpl<RobotMapper, RobotInfo> implements IRobotService {
 
@@ -25,23 +25,31 @@
 
     }
 
+    @Override
+    public List<Integer> selectRobotIds() {
+        return this.baseMapper.selectRobotIds();
+    }
+
     /**
-     * 查询机器人列表
+     * TODO - 查最新的数据
+     * 查询机器人列表-简单列表数据
      *
      * @return {@link List<Map>}
      */
     @Override
     public List<Map<String, String>> robotList() {
         List<Map<String, String>> maps = new ArrayList<>();
-        for (RobotInfo robot : list()) {
+        for (Integer robotId : selectRobotIds()) {
+            RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId));
+
             Map<String, String> robotMap = new HashMap<>(7);
-            robotMap.put("robotId", String.valueOf(robot.getRobotId()));
-            robotMap.put("lng", String.valueOf(robot.getLng()));
-            robotMap.put("lat", String.valueOf(robot.getLat()));
-            robotMap.put("navigateState", robot.getNavigateState());
-            robotMap.put("instrumentE", String.valueOf(robot.getInstrumentE()));
-            robotMap.put("powerE", String.valueOf(robot.getPowerE()));
-            robotMap.put("targetDistance", robot.getTargetDistance());
+            robotMap.put("robotId", String.valueOf(robotId));
+            robotMap.put("lng", String.valueOf(robotDetail.getLng()));
+            robotMap.put("lat", String.valueOf(robotDetail.getLat()));
+            robotMap.put("navigateState", robotDetail.getNavigateState());
+            robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE()));
+            robotMap.put("powerE", String.valueOf(robotDetail.getPowerE()));
+            robotMap.put("targetDistance", robotDetail.getTargetDistance());
 
             maps.add(robotMap);
         }
@@ -49,7 +57,7 @@
     }
 
     /**
-     * 查询水下机器人详情
+     * 根据robotId查最新的那条机器人数据
      *
      * @param robotId 机器人ID
      * @return {@link RobotInfoDTO}
@@ -64,15 +72,20 @@
     }
 
     @Override
-    public List<Map<String, Object>> lastRoute() {
-        List<Map<String, Object>> routeMap = new ArrayList<>();
+    public List<List<RobotInfoDTO>> lastRoute() {
+        List<List<RobotInfoDTO>> result = new ArrayList<>();
         //先查所有库里机器人的ID
-        List<Map<String, String>> robotList = robotList();
-        for (Map<String, String> map : robotList) {
-            String robotId = map.get("robotId");
+        for (Integer robotId : selectRobotIds()) {
+            QueryWrapper<RobotInfo> queryWrapper = new QueryWrapper<>();
+            queryWrapper.eq("ROBOT_ID", robotId);
 
+            List<RobotInfo> robotInfos = this.baseMapper.selectList(queryWrapper);
+            List<RobotInfoDTO> dtoList = new ArrayList<>();
+            for (RobotInfo robotInfo : robotInfos) {
+                dtoList.add(new RobotInfoDTO(robotInfo));
+            }
+            result.add(dtoList);
         }
-
-        return routeMap;
+        return result;
     }
 }
diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/EncodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/EncodeData.java
index 94b3d79..2912534 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/EncodeData.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/EncodeData.java
@@ -27,23 +27,30 @@
      * 环境数据-已校验
      */
     public static Map<String, Object> encodeEnvironment(int robotId, double robotLng, double robotLat,
-                                                        TyphoonDTO typhoon, String date, String days, String hour) {
+                                                        TyphoonDetailDTO typhoon, String date, String days, String hour) {
         Map<String, Object> resultMap = createDataHead("AIS");
         resultMap.put("type", "Env");
         resultMap.put("robotID", robotId);
 
         EnvironmentDTO dto = new EnvironmentDTO();
         if (typhoon != null) {
-            double lng = typhoon.getLng();
-            double lat = typhoon.getLat();
+            double lng = typhoon.getCenterLng();
+            double lat = typhoon.getCenterLat();
 
             dto.setTyphoonLng(lng);
             dto.setTyphoonLat(lat);
-            dto.setTyphoonPower(typhoon.getPower());
-            dto.setRadius7(typhoon.getRadius7());
-            dto.setRadius10(typhoon.getRadius10());
-            dto.setMoveSpeed(typhoon.getMoveSpeed());
-            dto.setMoveDirection(typhoon.getMoveDirection());
+
+            //取路径点的最后一个点为最新台风详情
+            List<TyphoonDetailDTO.PointBean> points = typhoon.getPoints();
+            TyphoonDetailDTO.PointBean pointBean = points.get(points.size() - 1);
+            dto.setTyphoonPower(pointBean.getPower());
+            dto.setSpeed(pointBean.getSpeed());
+            dto.setRadius7(pointBean.getRadius7());
+            dto.setRadius10(pointBean.getRadius10());
+            dto.setRadius12(pointBean.getRadius12());
+            dto.setMoveSpeed(pointBean.getMoveSpeed());
+            //TODO 需要计算为角度
+            dto.setMoveDirection(pointBean.getMoveDirection());
 
             //机器人与台风中心距离
             double distance = distance(lng, lat, robotLng, robotLat);
diff --git a/casic-shelter/src/main/java/com/casic/missiles/socket/service/impl/SocketServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/socket/service/impl/SocketServiceImpl.java
index 8d6fc5e..c663d82 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/socket/service/impl/SocketServiceImpl.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/socket/service/impl/SocketServiceImpl.java
@@ -4,6 +4,7 @@
 import com.alibaba.fastjson.JSONObject;
 import com.casic.missiles.modular.system.dto.ShipDTO;
 import com.casic.missiles.modular.system.dto.TyphoonDTO;
+import com.casic.missiles.modular.system.dto.TyphoonDetailDTO;
 import com.casic.missiles.modular.system.model.RegionPlan;
 import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.model.RoutePlan;
@@ -164,7 +165,8 @@
                     if (typhoonList.isEmpty()) {
                         objectMap = EncodeData.encodeEnvironment(robotId, envLng, envLat, null, date, "0", hour);
                     } else if (typhoonList.size() == 1) {
-                        objectMap = EncodeData.encodeEnvironment(robotId, envLng, envLat, typhoonList.get(0),
+                        TyphoonDetailDTO detailDTO = typhoonService.typhoonDetail(typhoonList.get(0).getTyphoonId());
+                        objectMap = EncodeData.encodeEnvironment(robotId, envLng, envLat, detailDTO,
                                 date, "0", hour);
                     } else {
                         /**
@@ -185,7 +187,9 @@
                                 pos = i;
                             }
                         }
-                        objectMap = EncodeData.encodeEnvironment(robotId, envLng, envLat, typhoonList.get(pos),
+
+                        TyphoonDetailDTO detailDTO = typhoonService.typhoonDetail(typhoonList.get(pos).getTyphoonId());
+                        objectMap = EncodeData.encodeEnvironment(robotId, envLng, envLat, detailDTO,
                                 date, "0", hour);
                     }
                     ctx.writeAndFlush(JSON.toJSONString(objectMap));