diff --git a/CMakeLists.txt b/CMakeLists.txt
index 229ed37..e233d79 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,5 +17,7 @@
         src/slam_wrapper.cpp
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
+        src/utils.cpp
+        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 229ed37..e233d79 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,5 +17,7 @@
         src/slam_wrapper.cpp
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
+        src/utils.cpp
+        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 4b183d3..8a15d63 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -5,6 +5,7 @@
 #include "methane_serial_port.hpp"
 #include "tcp_service.hpp"
 #include "constant_config.hpp"
+#include "utils.hpp"
 
 #include <iomanip>
 #include <iostream>
@@ -67,8 +68,12 @@
     const auto w = buffer[5];
     const auto result = x * (1 << 24) + y * (1 << 16) + z * (1 << 8) + w;
     TcpService::getInstance().update_gas_value(result);
-    //TODO 上传服务器
-    // upload_to_server_async(result);
+    // 上传服务器
+    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+        upload_to_server_async(result);
+    } else {
+        std::cout << "网络异常，上传失败" << std::endl;
+    }
 }
 
 MethaneSerialPort::MethaneSerialPort(

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 229ed37..e233d79 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,5 +17,7 @@
         src/slam_wrapper.cpp
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
+        src/utils.cpp
+        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 4b183d3..8a15d63 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -5,6 +5,7 @@
 #include "methane_serial_port.hpp"
 #include "tcp_service.hpp"
 #include "constant_config.hpp"
+#include "utils.hpp"
 
 #include <iomanip>
 #include <iostream>
@@ -67,8 +68,12 @@
     const auto w = buffer[5];
     const auto result = x * (1 << 24) + y * (1 << 16) + z * (1 << 8) + w;
     TcpService::getInstance().update_gas_value(result);
-    //TODO 上传服务器
-    // upload_to_server_async(result);
+    // 上传服务器
+    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+        upload_to_server_async(result);
+    } else {
+        std::cout << "网络异常，上传失败" << std::endl;
+    }
 }
 
 MethaneSerialPort::MethaneSerialPort(
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index da1ae6e..7e01df9 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -5,6 +5,7 @@
 #include "slam_wrapper.hpp"
 #include "tcp_service.hpp"
 #include "constant_config.hpp"
+#include "utils.hpp"
 
 #include <cmath>
 #include <thread>
@@ -336,8 +337,12 @@
     send_msg.floor_index_().push_back(0); // Floor number，just give a fixed value of 0.
     send_msg.pcdmap_index_().push_back(0); // PCD Map number，just give a fixed value of 0.
     pubQtCommand->Write(send_msg);
-    //TODO 上传服务器
-    // upload_pcd_file();
+    //上传服务器
+    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+        upload_pcd_file();
+    } else {
+        std::cout << "网络异常，上传失败" << std::endl;
+    }
 }
 
 void SlamWrapper::start_relocation() {

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 229ed37..e233d79 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,5 +17,7 @@
         src/slam_wrapper.cpp
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
+        src/utils.cpp
+        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 4b183d3..8a15d63 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -5,6 +5,7 @@
 #include "methane_serial_port.hpp"
 #include "tcp_service.hpp"
 #include "constant_config.hpp"
+#include "utils.hpp"
 
 #include <iomanip>
 #include <iostream>
@@ -67,8 +68,12 @@
     const auto w = buffer[5];
     const auto result = x * (1 << 24) + y * (1 << 16) + z * (1 << 8) + w;
     TcpService::getInstance().update_gas_value(result);
-    //TODO 上传服务器
-    // upload_to_server_async(result);
+    // 上传服务器
+    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+        upload_to_server_async(result);
+    } else {
+        std::cout << "网络异常，上传失败" << std::endl;
+    }
 }
 
 MethaneSerialPort::MethaneSerialPort(
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index da1ae6e..7e01df9 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -5,6 +5,7 @@
 #include "slam_wrapper.hpp"
 #include "tcp_service.hpp"
 #include "constant_config.hpp"
+#include "utils.hpp"
 
 #include <cmath>
 #include <thread>
@@ -336,8 +337,12 @@
     send_msg.floor_index_().push_back(0); // Floor number，just give a fixed value of 0.
     send_msg.pcdmap_index_().push_back(0); // PCD Map number，just give a fixed value of 0.
     pubQtCommand->Write(send_msg);
-    //TODO 上传服务器
-    // upload_pcd_file();
+    //上传服务器
+    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+        upload_pcd_file();
+    } else {
+        std::cout << "网络异常，上传失败" << std::endl;
+    }
 }
 
 void SlamWrapper::start_relocation() {
diff --git a/src/utils.cpp b/src/utils.cpp
new file mode 100644
index 0000000..b795f3c
--- /dev/null
+++ b/src/utils.cpp
@@ -0,0 +1,21 @@
+//
+// Created by pengx on 2025/7/11.
+//
+
+#include "utils.hpp"
+
+bool Utils::is_network_reachable(const std::string &host, const std::string &service) {
+    try {
+        boost::asio::io_context io;
+        boost::asio::ip::tcp::resolver resolver(io);
+        boost::asio::ip::tcp::socket socket(io);
+
+        const auto endpoints = resolver.resolve(host, service);
+        boost::asio::connect(socket, endpoints);
+
+        return true;
+    } catch (std::exception &e) {
+        std::cerr << "Network error: " << e.what() << std::endl;
+        return false;
+    }
+}

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 229ed37..e233d79 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,5 +17,7 @@
         src/slam_wrapper.cpp
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
+        src/utils.cpp
+        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 4b183d3..8a15d63 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -5,6 +5,7 @@
 #include "methane_serial_port.hpp"
 #include "tcp_service.hpp"
 #include "constant_config.hpp"
+#include "utils.hpp"
 
 #include <iomanip>
 #include <iostream>
@@ -67,8 +68,12 @@
     const auto w = buffer[5];
     const auto result = x * (1 << 24) + y * (1 << 16) + z * (1 << 8) + w;
     TcpService::getInstance().update_gas_value(result);
-    //TODO 上传服务器
-    // upload_to_server_async(result);
+    // 上传服务器
+    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+        upload_to_server_async(result);
+    } else {
+        std::cout << "网络异常，上传失败" << std::endl;
+    }
 }
 
 MethaneSerialPort::MethaneSerialPort(
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index da1ae6e..7e01df9 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -5,6 +5,7 @@
 #include "slam_wrapper.hpp"
 #include "tcp_service.hpp"
 #include "constant_config.hpp"
+#include "utils.hpp"
 
 #include <cmath>
 #include <thread>
@@ -336,8 +337,12 @@
     send_msg.floor_index_().push_back(0); // Floor number，just give a fixed value of 0.
     send_msg.pcdmap_index_().push_back(0); // PCD Map number，just give a fixed value of 0.
     pubQtCommand->Write(send_msg);
-    //TODO 上传服务器
-    // upload_pcd_file();
+    //上传服务器
+    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+        upload_pcd_file();
+    } else {
+        std::cout << "网络异常，上传失败" << std::endl;
+    }
 }
 
 void SlamWrapper::start_relocation() {
diff --git a/src/utils.cpp b/src/utils.cpp
new file mode 100644
index 0000000..b795f3c
--- /dev/null
+++ b/src/utils.cpp
@@ -0,0 +1,21 @@
+//
+// Created by pengx on 2025/7/11.
+//
+
+#include "utils.hpp"
+
+bool Utils::is_network_reachable(const std::string &host, const std::string &service) {
+    try {
+        boost::asio::io_context io;
+        boost::asio::ip::tcp::resolver resolver(io);
+        boost::asio::ip::tcp::socket socket(io);
+
+        const auto endpoints = resolver.resolve(host, service);
+        boost::asio::connect(socket, endpoints);
+
+        return true;
+    } catch (std::exception &e) {
+        std::cerr << "Network error: " << e.what() << std::endl;
+        return false;
+    }
+}
diff --git a/src/utils.hpp b/src/utils.hpp
new file mode 100644
index 0000000..bb20489
--- /dev/null
+++ b/src/utils.hpp
@@ -0,0 +1,16 @@
+//
+// Created by pengx on 2025/7/11.
+//
+
+#ifndef UTILS_HPP
+#define UTILS_HPP
+
+#include <boost/asio.hpp>
+#include <iostream>
+
+class Utils {
+public:
+    static bool is_network_reachable(const std::string &host, const std::string &service);
+};
+
+#endif //UTILS_HPP