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 1251526..3444c3e 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
@@ -8,6 +8,7 @@
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
@@ -22,6 +23,7 @@
  *
  * @author a203
  */
+@Slf4j
 @Controller
 @RequestMapping("/shelter")
 public class ShelterController extends BaseController {
@@ -64,8 +66,18 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history(String taskId, String startDate, String endDate) {
-        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute(taskId, startDate, endDate);
-        return ResponseData.success(lastRouteMap);
+        List<List<RobotInfoDTO>> lastRoute = robotService.lastRoute(taskId, startDate, endDate);
+        return ResponseData.success(lastRoute);
+    }
+
+    /**
+     * 根据taskId查询机器人历史路线
+     */
+    @GetMapping(value = "/routeByTaskId")
+    @ResponseBody
+    public Object routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> route = robotService.routeByTaskId(taskId);
+        return ResponseData.success(route);
     }
 
     /**

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 1251526..3444c3e 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
@@ -8,6 +8,7 @@
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
@@ -22,6 +23,7 @@
  *
  * @author a203
  */
+@Slf4j
 @Controller
 @RequestMapping("/shelter")
 public class ShelterController extends BaseController {
@@ -64,8 +66,18 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history(String taskId, String startDate, String endDate) {
-        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute(taskId, startDate, endDate);
-        return ResponseData.success(lastRouteMap);
+        List<List<RobotInfoDTO>> lastRoute = robotService.lastRoute(taskId, startDate, endDate);
+        return ResponseData.success(lastRoute);
+    }
+
+    /**
+     * 根据taskId查询机器人历史路线
+     */
+    @GetMapping(value = "/routeByTaskId")
+    @ResponseBody
+    public Object routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> route = robotService.routeByTaskId(taskId);
+        return ResponseData.success(route);
     }
 
     /**
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 a3339aa..0b6c66e 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
@@ -31,11 +31,23 @@
      * 根据时间获取数据库里机器人数据
      *
      * @param robotId   机器人ID
-     * @param startDate 开始时间
-     * @param endDate   结束时间
+     * @param startDate 开始日期
+     * @param endDate   结束日期
      * @return {@link List<RobotInfo>}
      */
     List<RobotInfo> selectRobotInfos(@Param("robotId") Integer robotId,
                                      @Param("startDate") String startDate,
                                      @Param("endDate") String endDate);
+
+    /**
+     * 根据时间获取数据库里机器人数据
+     *
+     * @param robotId    机器人ID
+     * @param createTime 开始时间
+     * @param endTime    结束时间
+     * @return {@link List<RobotInfo>}
+     */
+    List<RobotInfo> selectRobotInfoByTime(@Param("robotId") Integer robotId,
+                                          @Param("createTime") String createTime,
+                                          @Param("endTime") String endTime);
 }

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 1251526..3444c3e 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
@@ -8,6 +8,7 @@
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
@@ -22,6 +23,7 @@
  *
  * @author a203
  */
+@Slf4j
 @Controller
 @RequestMapping("/shelter")
 public class ShelterController extends BaseController {
@@ -64,8 +66,18 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history(String taskId, String startDate, String endDate) {
-        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute(taskId, startDate, endDate);
-        return ResponseData.success(lastRouteMap);
+        List<List<RobotInfoDTO>> lastRoute = robotService.lastRoute(taskId, startDate, endDate);
+        return ResponseData.success(lastRoute);
+    }
+
+    /**
+     * 根据taskId查询机器人历史路线
+     */
+    @GetMapping(value = "/routeByTaskId")
+    @ResponseBody
+    public Object routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> route = robotService.routeByTaskId(taskId);
+        return ResponseData.success(route);
     }
 
     /**
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 a3339aa..0b6c66e 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
@@ -31,11 +31,23 @@
      * 根据时间获取数据库里机器人数据
      *
      * @param robotId   机器人ID
-     * @param startDate 开始时间
-     * @param endDate   结束时间
+     * @param startDate 开始日期
+     * @param endDate   结束日期
      * @return {@link List<RobotInfo>}
      */
     List<RobotInfo> selectRobotInfos(@Param("robotId") Integer robotId,
                                      @Param("startDate") String startDate,
                                      @Param("endDate") String endDate);
+
+    /**
+     * 根据时间获取数据库里机器人数据
+     *
+     * @param robotId    机器人ID
+     * @param createTime 开始时间
+     * @param endTime    结束时间
+     * @return {@link List<RobotInfo>}
+     */
+    List<RobotInfo> selectRobotInfoByTime(@Param("robotId") Integer robotId,
+                                          @Param("createTime") String createTime,
+                                          @Param("endTime") String endTime);
 }
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 4635ee0..06fc82f 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
@@ -56,4 +56,19 @@
             </if>
         </where>
     </select>
+
+    <select id="selectRobotInfoByTime" resultType="com.casic.missiles.modular.system.model.RobotInfo">
+        SELECT
+        <include refid="Base_Column_List"/>
+        FROM robot_info AS ri
+        <where>
+            ri.ROBOT_ID= #{robotId}
+            <if test="createTime != null and createTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ >= ]]> #{createTime}
+            </if>
+            <if test="endTime!= null and endTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ <= ]]> #{endTime}
+            </if>
+        </where>
+    </select>
 </mapper>
\ No newline at end of file

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 1251526..3444c3e 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
@@ -8,6 +8,7 @@
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
@@ -22,6 +23,7 @@
  *
  * @author a203
  */
+@Slf4j
 @Controller
 @RequestMapping("/shelter")
 public class ShelterController extends BaseController {
@@ -64,8 +66,18 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history(String taskId, String startDate, String endDate) {
-        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute(taskId, startDate, endDate);
-        return ResponseData.success(lastRouteMap);
+        List<List<RobotInfoDTO>> lastRoute = robotService.lastRoute(taskId, startDate, endDate);
+        return ResponseData.success(lastRoute);
+    }
+
+    /**
+     * 根据taskId查询机器人历史路线
+     */
+    @GetMapping(value = "/routeByTaskId")
+    @ResponseBody
+    public Object routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> route = robotService.routeByTaskId(taskId);
+        return ResponseData.success(route);
     }
 
     /**
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 a3339aa..0b6c66e 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
@@ -31,11 +31,23 @@
      * 根据时间获取数据库里机器人数据
      *
      * @param robotId   机器人ID
-     * @param startDate 开始时间
-     * @param endDate   结束时间
+     * @param startDate 开始日期
+     * @param endDate   结束日期
      * @return {@link List<RobotInfo>}
      */
     List<RobotInfo> selectRobotInfos(@Param("robotId") Integer robotId,
                                      @Param("startDate") String startDate,
                                      @Param("endDate") String endDate);
+
+    /**
+     * 根据时间获取数据库里机器人数据
+     *
+     * @param robotId    机器人ID
+     * @param createTime 开始时间
+     * @param endTime    结束时间
+     * @return {@link List<RobotInfo>}
+     */
+    List<RobotInfo> selectRobotInfoByTime(@Param("robotId") Integer robotId,
+                                          @Param("createTime") String createTime,
+                                          @Param("endTime") String endTime);
 }
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 4635ee0..06fc82f 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
@@ -56,4 +56,19 @@
             </if>
         </where>
     </select>
+
+    <select id="selectRobotInfoByTime" resultType="com.casic.missiles.modular.system.model.RobotInfo">
+        SELECT
+        <include refid="Base_Column_List"/>
+        FROM robot_info AS ri
+        <where>
+            ri.ROBOT_ID= #{robotId}
+            <if test="createTime != null and createTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ >= ]]> #{createTime}
+            </if>
+            <if test="endTime!= null and endTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ <= ]]> #{endTime}
+            </if>
+        </where>
+    </select>
 </mapper>
\ No newline at end of file
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 d376d37..fd63faa 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
@@ -38,5 +38,12 @@
      *
      * @return {@link List<Map>}
      */
-    List<List<RobotInfoDTO>> lastRoute(String taskId, String startDate,String endDate);
+    List<List<RobotInfoDTO>> lastRoute(String taskId, String startDate, String endDate);
+
+    /**
+     * 根据taskId查询机器人历史路线
+     *
+     * @return {@link List<Map>}
+     */
+    List<List<RobotInfoDTO>> routeByTaskId(String taskId);
 }

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 1251526..3444c3e 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
@@ -8,6 +8,7 @@
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
@@ -22,6 +23,7 @@
  *
  * @author a203
  */
+@Slf4j
 @Controller
 @RequestMapping("/shelter")
 public class ShelterController extends BaseController {
@@ -64,8 +66,18 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history(String taskId, String startDate, String endDate) {
-        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute(taskId, startDate, endDate);
-        return ResponseData.success(lastRouteMap);
+        List<List<RobotInfoDTO>> lastRoute = robotService.lastRoute(taskId, startDate, endDate);
+        return ResponseData.success(lastRoute);
+    }
+
+    /**
+     * 根据taskId查询机器人历史路线
+     */
+    @GetMapping(value = "/routeByTaskId")
+    @ResponseBody
+    public Object routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> route = robotService.routeByTaskId(taskId);
+        return ResponseData.success(route);
     }
 
     /**
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 a3339aa..0b6c66e 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
@@ -31,11 +31,23 @@
      * 根据时间获取数据库里机器人数据
      *
      * @param robotId   机器人ID
-     * @param startDate 开始时间
-     * @param endDate   结束时间
+     * @param startDate 开始日期
+     * @param endDate   结束日期
      * @return {@link List<RobotInfo>}
      */
     List<RobotInfo> selectRobotInfos(@Param("robotId") Integer robotId,
                                      @Param("startDate") String startDate,
                                      @Param("endDate") String endDate);
+
+    /**
+     * 根据时间获取数据库里机器人数据
+     *
+     * @param robotId    机器人ID
+     * @param createTime 开始时间
+     * @param endTime    结束时间
+     * @return {@link List<RobotInfo>}
+     */
+    List<RobotInfo> selectRobotInfoByTime(@Param("robotId") Integer robotId,
+                                          @Param("createTime") String createTime,
+                                          @Param("endTime") String endTime);
 }
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 4635ee0..06fc82f 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
@@ -56,4 +56,19 @@
             </if>
         </where>
     </select>
+
+    <select id="selectRobotInfoByTime" resultType="com.casic.missiles.modular.system.model.RobotInfo">
+        SELECT
+        <include refid="Base_Column_List"/>
+        FROM robot_info AS ri
+        <where>
+            ri.ROBOT_ID= #{robotId}
+            <if test="createTime != null and createTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ >= ]]> #{createTime}
+            </if>
+            <if test="endTime!= null and endTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ <= ]]> #{endTime}
+            </if>
+        </where>
+    </select>
 </mapper>
\ No newline at end of file
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 d376d37..fd63faa 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
@@ -38,5 +38,12 @@
      *
      * @return {@link List<Map>}
      */
-    List<List<RobotInfoDTO>> lastRoute(String taskId, String startDate,String endDate);
+    List<List<RobotInfoDTO>> lastRoute(String taskId, String startDate, String endDate);
+
+    /**
+     * 根据taskId查询机器人历史路线
+     *
+     * @return {@link List<Map>}
+     */
+    List<List<RobotInfoDTO>> routeByTaskId(String taskId);
 }
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 a3e6adf..7c8bbeb 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
@@ -5,7 +5,10 @@
 import com.casic.missiles.modular.system.dao.RobotMapper;
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.model.RobotInfo;
+import com.casic.missiles.modular.system.model.Task;
 import com.casic.missiles.modular.system.service.IRobotService;
+import com.casic.missiles.modular.system.service.ITaskService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
 import java.util.ArrayList;
@@ -18,13 +21,16 @@
  *
  * @author a203
  */
+@Slf4j
 @Service
 public class RobotServiceImpl extends ServiceImpl<RobotMapper, RobotInfo> implements IRobotService {
 
     private final AbstractDictService dictService;
+    private final ITaskService taskService;
 
-    public RobotServiceImpl(AbstractDictService dictService) {
+    public RobotServiceImpl(AbstractDictService dictService, ITaskService taskService) {
         this.dictService = dictService;
+        this.taskService = taskService;
     }
 
     @Override
@@ -85,7 +91,27 @@
                 String modelType = robotInfo.getModelType();
                 dtoList.add(new RobotInfoDTO(robotInfo, getRobotType(modelType)));
             }
-            if (dtoList.size() != 0) {
+            if (robotInfos.size() != 0) {
+                result.add(dtoList);
+            }
+        }
+        return result;
+    }
+
+    @Override
+    public List<List<RobotInfoDTO>> routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> result = new ArrayList<>();
+        //先根据taskId查询Task库，得到此次任务的起始时间
+        Task task = taskService.selectTaskById(taskId);
+        if (task != null) {
+            List<RobotInfo> robotInfos = this.baseMapper
+                    .selectRobotInfoByTime(task.getRobotId(), task.getCreateTime(), task.getEndTime());
+            List<RobotInfoDTO> dtoList = new ArrayList<>();
+            for (RobotInfo robotInfo : robotInfos) {
+                String modelType = robotInfo.getModelType();
+                dtoList.add(new RobotInfoDTO(robotInfo, getRobotType(modelType)));
+            }
+            if (robotInfos.size() != 0) {
                 result.add(dtoList);
             }
         }

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 1251526..3444c3e 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
@@ -8,6 +8,7 @@
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
@@ -22,6 +23,7 @@
  *
  * @author a203
  */
+@Slf4j
 @Controller
 @RequestMapping("/shelter")
 public class ShelterController extends BaseController {
@@ -64,8 +66,18 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history(String taskId, String startDate, String endDate) {
-        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute(taskId, startDate, endDate);
-        return ResponseData.success(lastRouteMap);
+        List<List<RobotInfoDTO>> lastRoute = robotService.lastRoute(taskId, startDate, endDate);
+        return ResponseData.success(lastRoute);
+    }
+
+    /**
+     * 根据taskId查询机器人历史路线
+     */
+    @GetMapping(value = "/routeByTaskId")
+    @ResponseBody
+    public Object routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> route = robotService.routeByTaskId(taskId);
+        return ResponseData.success(route);
     }
 
     /**
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 a3339aa..0b6c66e 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
@@ -31,11 +31,23 @@
      * 根据时间获取数据库里机器人数据
      *
      * @param robotId   机器人ID
-     * @param startDate 开始时间
-     * @param endDate   结束时间
+     * @param startDate 开始日期
+     * @param endDate   结束日期
      * @return {@link List<RobotInfo>}
      */
     List<RobotInfo> selectRobotInfos(@Param("robotId") Integer robotId,
                                      @Param("startDate") String startDate,
                                      @Param("endDate") String endDate);
+
+    /**
+     * 根据时间获取数据库里机器人数据
+     *
+     * @param robotId    机器人ID
+     * @param createTime 开始时间
+     * @param endTime    结束时间
+     * @return {@link List<RobotInfo>}
+     */
+    List<RobotInfo> selectRobotInfoByTime(@Param("robotId") Integer robotId,
+                                          @Param("createTime") String createTime,
+                                          @Param("endTime") String endTime);
 }
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 4635ee0..06fc82f 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
@@ -56,4 +56,19 @@
             </if>
         </where>
     </select>
+
+    <select id="selectRobotInfoByTime" resultType="com.casic.missiles.modular.system.model.RobotInfo">
+        SELECT
+        <include refid="Base_Column_List"/>
+        FROM robot_info AS ri
+        <where>
+            ri.ROBOT_ID= #{robotId}
+            <if test="createTime != null and createTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ >= ]]> #{createTime}
+            </if>
+            <if test="endTime!= null and endTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ <= ]]> #{endTime}
+            </if>
+        </where>
+    </select>
 </mapper>
\ No newline at end of file
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 d376d37..fd63faa 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
@@ -38,5 +38,12 @@
      *
      * @return {@link List<Map>}
      */
-    List<List<RobotInfoDTO>> lastRoute(String taskId, String startDate,String endDate);
+    List<List<RobotInfoDTO>> lastRoute(String taskId, String startDate, String endDate);
+
+    /**
+     * 根据taskId查询机器人历史路线
+     *
+     * @return {@link List<Map>}
+     */
+    List<List<RobotInfoDTO>> routeByTaskId(String taskId);
 }
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 a3e6adf..7c8bbeb 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
@@ -5,7 +5,10 @@
 import com.casic.missiles.modular.system.dao.RobotMapper;
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.model.RobotInfo;
+import com.casic.missiles.modular.system.model.Task;
 import com.casic.missiles.modular.system.service.IRobotService;
+import com.casic.missiles.modular.system.service.ITaskService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
 import java.util.ArrayList;
@@ -18,13 +21,16 @@
  *
  * @author a203
  */
+@Slf4j
 @Service
 public class RobotServiceImpl extends ServiceImpl<RobotMapper, RobotInfo> implements IRobotService {
 
     private final AbstractDictService dictService;
+    private final ITaskService taskService;
 
-    public RobotServiceImpl(AbstractDictService dictService) {
+    public RobotServiceImpl(AbstractDictService dictService, ITaskService taskService) {
         this.dictService = dictService;
+        this.taskService = taskService;
     }
 
     @Override
@@ -85,7 +91,27 @@
                 String modelType = robotInfo.getModelType();
                 dtoList.add(new RobotInfoDTO(robotInfo, getRobotType(modelType)));
             }
-            if (dtoList.size() != 0) {
+            if (robotInfos.size() != 0) {
+                result.add(dtoList);
+            }
+        }
+        return result;
+    }
+
+    @Override
+    public List<List<RobotInfoDTO>> routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> result = new ArrayList<>();
+        //先根据taskId查询Task库，得到此次任务的起始时间
+        Task task = taskService.selectTaskById(taskId);
+        if (task != null) {
+            List<RobotInfo> robotInfos = this.baseMapper
+                    .selectRobotInfoByTime(task.getRobotId(), task.getCreateTime(), task.getEndTime());
+            List<RobotInfoDTO> dtoList = new ArrayList<>();
+            for (RobotInfo robotInfo : robotInfos) {
+                String modelType = robotInfo.getModelType();
+                dtoList.add(new RobotInfoDTO(robotInfo, getRobotType(modelType)));
+            }
+            if (robotInfos.size() != 0) {
                 result.add(dtoList);
             }
         }
diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/service/ITaskService.java b/casic-task/src/main/java/com/casic/missiles/modular/system/service/ITaskService.java
index fa3f4d3..06141ac 100644
--- a/casic-task/src/main/java/com/casic/missiles/modular/system/service/ITaskService.java
+++ b/casic-task/src/main/java/com/casic/missiles/modular/system/service/ITaskService.java
@@ -21,9 +21,16 @@
     void updateTaskById(int robotId);
 
     /**
+     * 根据taskId查询Task
+     *
+     * @param taskId
+     */
+    Task selectTaskById(String taskId);
+
+    /**
      * 获取所有路线时间的列表
      *
-     * @return {@link List< Map >}
+     * @return {@link List}
      */
     List<Map<String, Object>> selectTimeList();
 

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 1251526..3444c3e 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
@@ -8,6 +8,7 @@
 import com.casic.missiles.modular.system.service.IRobotService;
 import com.casic.missiles.modular.system.service.ISatelliteService;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
@@ -22,6 +23,7 @@
  *
  * @author a203
  */
+@Slf4j
 @Controller
 @RequestMapping("/shelter")
 public class ShelterController extends BaseController {
@@ -64,8 +66,18 @@
     @GetMapping(value = "/routeHistory")
     @ResponseBody
     public Object history(String taskId, String startDate, String endDate) {
-        List<List<RobotInfoDTO>> lastRouteMap = robotService.lastRoute(taskId, startDate, endDate);
-        return ResponseData.success(lastRouteMap);
+        List<List<RobotInfoDTO>> lastRoute = robotService.lastRoute(taskId, startDate, endDate);
+        return ResponseData.success(lastRoute);
+    }
+
+    /**
+     * 根据taskId查询机器人历史路线
+     */
+    @GetMapping(value = "/routeByTaskId")
+    @ResponseBody
+    public Object routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> route = robotService.routeByTaskId(taskId);
+        return ResponseData.success(route);
     }
 
     /**
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 a3339aa..0b6c66e 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
@@ -31,11 +31,23 @@
      * 根据时间获取数据库里机器人数据
      *
      * @param robotId   机器人ID
-     * @param startDate 开始时间
-     * @param endDate   结束时间
+     * @param startDate 开始日期
+     * @param endDate   结束日期
      * @return {@link List<RobotInfo>}
      */
     List<RobotInfo> selectRobotInfos(@Param("robotId") Integer robotId,
                                      @Param("startDate") String startDate,
                                      @Param("endDate") String endDate);
+
+    /**
+     * 根据时间获取数据库里机器人数据
+     *
+     * @param robotId    机器人ID
+     * @param createTime 开始时间
+     * @param endTime    结束时间
+     * @return {@link List<RobotInfo>}
+     */
+    List<RobotInfo> selectRobotInfoByTime(@Param("robotId") Integer robotId,
+                                          @Param("createTime") String createTime,
+                                          @Param("endTime") String endTime);
 }
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 4635ee0..06fc82f 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
@@ -56,4 +56,19 @@
             </if>
         </where>
     </select>
+
+    <select id="selectRobotInfoByTime" resultType="com.casic.missiles.modular.system.model.RobotInfo">
+        SELECT
+        <include refid="Base_Column_List"/>
+        FROM robot_info AS ri
+        <where>
+            ri.ROBOT_ID= #{robotId}
+            <if test="createTime != null and createTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ >= ]]> #{createTime}
+            </if>
+            <if test="endTime!= null and endTime !=''">
+                AND DATE_FORMAT(ri.RECEIVE_TIME,'%Y-%m-%d %H:%i:%s') <![CDATA[ <= ]]> #{endTime}
+            </if>
+        </where>
+    </select>
 </mapper>
\ No newline at end of file
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 d376d37..fd63faa 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
@@ -38,5 +38,12 @@
      *
      * @return {@link List<Map>}
      */
-    List<List<RobotInfoDTO>> lastRoute(String taskId, String startDate,String endDate);
+    List<List<RobotInfoDTO>> lastRoute(String taskId, String startDate, String endDate);
+
+    /**
+     * 根据taskId查询机器人历史路线
+     *
+     * @return {@link List<Map>}
+     */
+    List<List<RobotInfoDTO>> routeByTaskId(String taskId);
 }
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 a3e6adf..7c8bbeb 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
@@ -5,7 +5,10 @@
 import com.casic.missiles.modular.system.dao.RobotMapper;
 import com.casic.missiles.modular.system.dto.RobotInfoDTO;
 import com.casic.missiles.modular.system.model.RobotInfo;
+import com.casic.missiles.modular.system.model.Task;
 import com.casic.missiles.modular.system.service.IRobotService;
+import com.casic.missiles.modular.system.service.ITaskService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
 import java.util.ArrayList;
@@ -18,13 +21,16 @@
  *
  * @author a203
  */
+@Slf4j
 @Service
 public class RobotServiceImpl extends ServiceImpl<RobotMapper, RobotInfo> implements IRobotService {
 
     private final AbstractDictService dictService;
+    private final ITaskService taskService;
 
-    public RobotServiceImpl(AbstractDictService dictService) {
+    public RobotServiceImpl(AbstractDictService dictService, ITaskService taskService) {
         this.dictService = dictService;
+        this.taskService = taskService;
     }
 
     @Override
@@ -85,7 +91,27 @@
                 String modelType = robotInfo.getModelType();
                 dtoList.add(new RobotInfoDTO(robotInfo, getRobotType(modelType)));
             }
-            if (dtoList.size() != 0) {
+            if (robotInfos.size() != 0) {
+                result.add(dtoList);
+            }
+        }
+        return result;
+    }
+
+    @Override
+    public List<List<RobotInfoDTO>> routeByTaskId(String taskId) {
+        List<List<RobotInfoDTO>> result = new ArrayList<>();
+        //先根据taskId查询Task库，得到此次任务的起始时间
+        Task task = taskService.selectTaskById(taskId);
+        if (task != null) {
+            List<RobotInfo> robotInfos = this.baseMapper
+                    .selectRobotInfoByTime(task.getRobotId(), task.getCreateTime(), task.getEndTime());
+            List<RobotInfoDTO> dtoList = new ArrayList<>();
+            for (RobotInfo robotInfo : robotInfos) {
+                String modelType = robotInfo.getModelType();
+                dtoList.add(new RobotInfoDTO(robotInfo, getRobotType(modelType)));
+            }
+            if (robotInfos.size() != 0) {
                 result.add(dtoList);
             }
         }
diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/service/ITaskService.java b/casic-task/src/main/java/com/casic/missiles/modular/system/service/ITaskService.java
index fa3f4d3..06141ac 100644
--- a/casic-task/src/main/java/com/casic/missiles/modular/system/service/ITaskService.java
+++ b/casic-task/src/main/java/com/casic/missiles/modular/system/service/ITaskService.java
@@ -21,9 +21,16 @@
     void updateTaskById(int robotId);
 
     /**
+     * 根据taskId查询Task
+     *
+     * @param taskId
+     */
+    Task selectTaskById(String taskId);
+
+    /**
      * 获取所有路线时间的列表
      *
-     * @return {@link List< Map >}
+     * @return {@link List}
      */
     List<Map<String, Object>> selectTimeList();
 
diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/service/impl/TaskServiceImpl.java b/casic-task/src/main/java/com/casic/missiles/modular/system/service/impl/TaskServiceImpl.java
index 347c63d..09ef4cd 100644
--- a/casic-task/src/main/java/com/casic/missiles/modular/system/service/impl/TaskServiceImpl.java
+++ b/casic-task/src/main/java/com/casic/missiles/modular/system/service/impl/TaskServiceImpl.java
@@ -50,6 +50,16 @@
     }
 
     @Override
+    public Task selectTaskById(String taskId) {
+        QueryWrapper<Task> query = new QueryWrapper<>();
+        query.eq("ID", taskId);
+        if (this.count(query) != 0) {
+            return this.baseMapper.selectOne(query);
+        }
+        return null;
+    }
+
+    @Override
     public List<Map<String, Object>> selectTimeList() {
         List<TaskTimeModel> timeModels = new ArrayList<>();
         for (RegionPlan plan : regionPlanService.list()) {