diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
index cab6f35..45b108f 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
@@ -10,6 +10,7 @@
         TYPHOON_SPEED AS typhoonSpeed,
         SHIP_DIS AS shipDistance,
         ROBOT_BATTERY AS robotBattery,
+        METER_BATTERY AS meterBattery,
         ROBOT_DIS AS robotDistance,
         SATELLITE_SIGNAL AS satelliteSignal
     </sql>

diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
index cab6f35..45b108f 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
@@ -10,6 +10,7 @@
         TYPHOON_SPEED AS typhoonSpeed,
         SHIP_DIS AS shipDistance,
         ROBOT_BATTERY AS robotBattery,
+        METER_BATTERY AS meterBattery,
         ROBOT_DIS AS robotDistance,
         SATELLITE_SIGNAL AS satelliteSignal
     </sql>
diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
index 7183bb7..bc020d7 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
@@ -24,9 +24,14 @@
     private Double shipDistance;
 
     /**
-     * 机器人电量
+     * 机器人动力电量
      */
-    private Double robotBattery;
+    private Double robotPowerBattery;
+
+    /**
+     * 机器人仪表电量
+     */
+    private Double robotMeterBattery;
 
     /**
      * 机器人与方舱之间的距离
@@ -42,7 +47,8 @@
         this.typhoonDistance = threshold.getTyphoonDistance();
         this.typhoonSpeed = threshold.getTyphoonSpeed();
         this.shipDistance = threshold.getShipDistance();
-        this.robotBattery = threshold.getRobotBattery();
+        this.robotPowerBattery = threshold.getRobotBattery();
+        this.robotMeterBattery = threshold.getMeterBattery();
         this.robotDistance = threshold.getRobotDistance();
         this.satelliteSignal = threshold.getSatelliteSignal();
     }

diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
index cab6f35..45b108f 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
@@ -10,6 +10,7 @@
         TYPHOON_SPEED AS typhoonSpeed,
         SHIP_DIS AS shipDistance,
         ROBOT_BATTERY AS robotBattery,
+        METER_BATTERY AS meterBattery,
         ROBOT_DIS AS robotDistance,
         SATELLITE_SIGNAL AS satelliteSignal
     </sql>
diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
index 7183bb7..bc020d7 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
@@ -24,9 +24,14 @@
     private Double shipDistance;
 
     /**
-     * 机器人电量
+     * 机器人动力电量
      */
-    private Double robotBattery;
+    private Double robotPowerBattery;
+
+    /**
+     * 机器人仪表电量
+     */
+    private Double robotMeterBattery;
 
     /**
      * 机器人与方舱之间的距离
@@ -42,7 +47,8 @@
         this.typhoonDistance = threshold.getTyphoonDistance();
         this.typhoonSpeed = threshold.getTyphoonSpeed();
         this.shipDistance = threshold.getShipDistance();
-        this.robotBattery = threshold.getRobotBattery();
+        this.robotPowerBattery = threshold.getRobotBattery();
+        this.robotMeterBattery = threshold.getMeterBattery();
         this.robotDistance = threshold.getRobotDistance();
         this.satelliteSignal = threshold.getSatelliteSignal();
     }
diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java b/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
index edbea33..6fdb8cc 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
@@ -33,10 +33,7 @@
     private final ISatelliteService satelliteService;
     private final WebSocketServerEndpoint webSocket;
 
-    public AlarmServiceImpl(AbstractDictService dictService, IAlarmThresholdService thresholdService,
-                            ITyphoonService typhoonService, IShipService shipService,
-                            IRobotService robotService, IShelterPositionService shelterPositionService,
-                            ISatelliteService satelliteService, WebSocketServerEndpoint webSocket) {
+    public AlarmServiceImpl(AbstractDictService dictService, IAlarmThresholdService thresholdService, ITyphoonService typhoonService, IShipService shipService, IRobotService robotService, IShelterPositionService shelterPositionService, ISatelliteService satelliteService, WebSocketServerEndpoint webSocket) {
         this.dictService = dictService;
         this.thresholdService = thresholdService;
         this.typhoonService = typhoonService;
@@ -60,14 +57,14 @@
             int robotId = (int) robotMap.get("robotId");
             float instrumentE = (float) robotMap.get("instrumentE");
             float powerE = (float) robotMap.get("powerE");
-            if (instrumentE < thresholdDTO.getRobotBattery()) {
-                //存库
-                save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "仪表电量低", instrumentE));
-            }
-            if (powerE < thresholdDTO.getRobotBattery()) {
+            if (powerE < thresholdDTO.getRobotPowerBattery()) {
                 //存库
                 save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "动力电量低", powerE));
             }
+            if (instrumentE < thresholdDTO.getRobotMeterBattery()) {
+                //存库
+                save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "仪表电量低", instrumentE));
+            }
         }
 
         /**

diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
index cab6f35..45b108f 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
@@ -10,6 +10,7 @@
         TYPHOON_SPEED AS typhoonSpeed,
         SHIP_DIS AS shipDistance,
         ROBOT_BATTERY AS robotBattery,
+        METER_BATTERY AS meterBattery,
         ROBOT_DIS AS robotDistance,
         SATELLITE_SIGNAL AS satelliteSignal
     </sql>
diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
index 7183bb7..bc020d7 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
@@ -24,9 +24,14 @@
     private Double shipDistance;
 
     /**
-     * 机器人电量
+     * 机器人动力电量
      */
-    private Double robotBattery;
+    private Double robotPowerBattery;
+
+    /**
+     * 机器人仪表电量
+     */
+    private Double robotMeterBattery;
 
     /**
      * 机器人与方舱之间的距离
@@ -42,7 +47,8 @@
         this.typhoonDistance = threshold.getTyphoonDistance();
         this.typhoonSpeed = threshold.getTyphoonSpeed();
         this.shipDistance = threshold.getShipDistance();
-        this.robotBattery = threshold.getRobotBattery();
+        this.robotPowerBattery = threshold.getRobotBattery();
+        this.robotMeterBattery = threshold.getMeterBattery();
         this.robotDistance = threshold.getRobotDistance();
         this.satelliteSignal = threshold.getSatelliteSignal();
     }
diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java b/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
index edbea33..6fdb8cc 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
@@ -33,10 +33,7 @@
     private final ISatelliteService satelliteService;
     private final WebSocketServerEndpoint webSocket;
 
-    public AlarmServiceImpl(AbstractDictService dictService, IAlarmThresholdService thresholdService,
-                            ITyphoonService typhoonService, IShipService shipService,
-                            IRobotService robotService, IShelterPositionService shelterPositionService,
-                            ISatelliteService satelliteService, WebSocketServerEndpoint webSocket) {
+    public AlarmServiceImpl(AbstractDictService dictService, IAlarmThresholdService thresholdService, ITyphoonService typhoonService, IShipService shipService, IRobotService robotService, IShelterPositionService shelterPositionService, ISatelliteService satelliteService, WebSocketServerEndpoint webSocket) {
         this.dictService = dictService;
         this.thresholdService = thresholdService;
         this.typhoonService = typhoonService;
@@ -60,14 +57,14 @@
             int robotId = (int) robotMap.get("robotId");
             float instrumentE = (float) robotMap.get("instrumentE");
             float powerE = (float) robotMap.get("powerE");
-            if (instrumentE < thresholdDTO.getRobotBattery()) {
-                //存库
-                save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "仪表电量低", instrumentE));
-            }
-            if (powerE < thresholdDTO.getRobotBattery()) {
+            if (powerE < thresholdDTO.getRobotPowerBattery()) {
                 //存库
                 save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "动力电量低", powerE));
             }
+            if (instrumentE < thresholdDTO.getRobotMeterBattery()) {
+                //存库
+                save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "仪表电量低", instrumentE));
+            }
         }
 
         /**
diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/AlarmThreshold.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/AlarmThreshold.java
index d43d55d..a8d5d88 100644
--- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/AlarmThreshold.java
+++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/AlarmThreshold.java
@@ -48,12 +48,18 @@
     private Double shipDistance;
 
     /**
-     * 机器人电量
+     * 机器人动力电量
      */
     @TableField("ROBOT_BATTERY")
     private Double robotBattery;
 
     /**
+     * 机器人仪表电量
+     */
+    @TableField("METER_BATTERY")
+    private Double meterBattery;
+
+    /**
      * 机器人与方舱之间的距离
      */
     @TableField("ROBOT_DIS")

diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
index cab6f35..45b108f 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dao/mapping/AlarmThresholdMapper.xml
@@ -10,6 +10,7 @@
         TYPHOON_SPEED AS typhoonSpeed,
         SHIP_DIS AS shipDistance,
         ROBOT_BATTERY AS robotBattery,
+        METER_BATTERY AS meterBattery,
         ROBOT_DIS AS robotDistance,
         SATELLITE_SIGNAL AS satelliteSignal
     </sql>
diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
index 7183bb7..bc020d7 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/dto/AlarmThresholdDTO.java
@@ -24,9 +24,14 @@
     private Double shipDistance;
 
     /**
-     * 机器人电量
+     * 机器人动力电量
      */
-    private Double robotBattery;
+    private Double robotPowerBattery;
+
+    /**
+     * 机器人仪表电量
+     */
+    private Double robotMeterBattery;
 
     /**
      * 机器人与方舱之间的距离
@@ -42,7 +47,8 @@
         this.typhoonDistance = threshold.getTyphoonDistance();
         this.typhoonSpeed = threshold.getTyphoonSpeed();
         this.shipDistance = threshold.getShipDistance();
-        this.robotBattery = threshold.getRobotBattery();
+        this.robotPowerBattery = threshold.getRobotBattery();
+        this.robotMeterBattery = threshold.getMeterBattery();
         this.robotDistance = threshold.getRobotDistance();
         this.satelliteSignal = threshold.getSatelliteSignal();
     }
diff --git a/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java b/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
index edbea33..6fdb8cc 100644
--- a/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
+++ b/casic-alarm/src/main/java/com/casic/missiles/modular/system/service/impl/AlarmServiceImpl.java
@@ -33,10 +33,7 @@
     private final ISatelliteService satelliteService;
     private final WebSocketServerEndpoint webSocket;
 
-    public AlarmServiceImpl(AbstractDictService dictService, IAlarmThresholdService thresholdService,
-                            ITyphoonService typhoonService, IShipService shipService,
-                            IRobotService robotService, IShelterPositionService shelterPositionService,
-                            ISatelliteService satelliteService, WebSocketServerEndpoint webSocket) {
+    public AlarmServiceImpl(AbstractDictService dictService, IAlarmThresholdService thresholdService, ITyphoonService typhoonService, IShipService shipService, IRobotService robotService, IShelterPositionService shelterPositionService, ISatelliteService satelliteService, WebSocketServerEndpoint webSocket) {
         this.dictService = dictService;
         this.thresholdService = thresholdService;
         this.typhoonService = typhoonService;
@@ -60,14 +57,14 @@
             int robotId = (int) robotMap.get("robotId");
             float instrumentE = (float) robotMap.get("instrumentE");
             float powerE = (float) robotMap.get("powerE");
-            if (instrumentE < thresholdDTO.getRobotBattery()) {
-                //存库
-                save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "仪表电量低", instrumentE));
-            }
-            if (powerE < thresholdDTO.getRobotBattery()) {
+            if (powerE < thresholdDTO.getRobotPowerBattery()) {
                 //存库
                 save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "动力电量低", powerE));
             }
+            if (instrumentE < thresholdDTO.getRobotMeterBattery()) {
+                //存库
+                save(creatAlarm(String.valueOf(robotId), "1", "机器人" + robotId + "仪表电量低", instrumentE));
+            }
         }
 
         /**
diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/AlarmThreshold.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/AlarmThreshold.java
index d43d55d..a8d5d88 100644
--- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/AlarmThreshold.java
+++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/AlarmThreshold.java
@@ -48,12 +48,18 @@
     private Double shipDistance;
 
     /**
-     * 机器人电量
+     * 机器人动力电量
      */
     @TableField("ROBOT_BATTERY")
     private Double robotBattery;
 
     /**
+     * 机器人仪表电量
+     */
+    @TableField("METER_BATTERY")
+    private Double meterBattery;
+
+    /**
      * 机器人与方舱之间的距离
      */
     @TableField("ROBOT_DIS")
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 d4e441a..36446c5 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
@@ -28,7 +28,7 @@
     /**
      * 经纬度相差0.0006，实际距离相差50米
      */
-    private static final double delta = 0.0006;
+    private static final double DELTA = 0.0006;
 
     private final AbstractDictService dictService;
     private final ITaskService taskService;
@@ -124,7 +124,7 @@
         for (int i = 0; i < robotInfos.size() - 1; i++) {
             RobotInfo aRobot = robotInfos.get(i);
             RobotInfo bRobot = robotInfos.get(i + 1);
-            if (Math.abs((bRobot.getLng() - aRobot.getLng())) >= delta || Math.abs((bRobot.getLat() - aRobot.getLat())) >= delta) {
+            if (Math.abs((bRobot.getLng() - aRobot.getLng())) >= DELTA || Math.abs((bRobot.getLat() - aRobot.getLat())) >= DELTA) {
                 String modelType = bRobot.getModelType();
                 dtoList.add(new RobotInfoDTO(bRobot, getRobotType(modelType)));
             }