diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/RemoteRobotController.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/RemoteRobotController.java
index ca5b61603..d09555a85 100644
--- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/RemoteRobotController.java
+++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/RemoteRobotController.java
@@ -4,15 +4,16 @@ import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.PositionMapRespDTO;
 import cn.iocoder.yudao.module.remote.service.robot.RemoteRobotService;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
 import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
 
+import javax.servlet.http.HttpServletRequest;
 import java.util.List;
 
 import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
@@ -33,5 +34,38 @@ public class RemoteRobotController {
         return success(list);
     }
 
+    @GetMapping("/emergencyStopOrRecovery")
+    @Operation(summary = "一键急停or一键恢复地图上所有AGV")
+    @Parameter(name = "type", description = "类型(1:停止， 0:恢复)", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('system:position-map:emergencyStopOrRecovery')")
+    public CommonResult<Boolean> remoteEmergencyStopOrRecovery(@RequestParam("id") Long id, @RequestParam("type") Integer type) {
+        remoteRobotService.remoteEmergencyStopOrRecovery(id,type);
+        return success(true);
+    }
+
+    @PostMapping("/getRobotRemoteStatus")
+    @Operation(summary = "获取机器人远遥模式/急停/协控状态")
+    public CommonResult<RemoteRobotStatusDTO> getRobotRemoteStatus(HttpServletRequest request) {
+        return success(remoteRobotService.getRemoteRobotStatus(request));
+    }
+
+
+    @GetMapping("/stop")
+    @Operation(summary = "暂停车辆")
+    public CommonResult<Boolean> robotStop(@RequestParam("robotNo") String robotNo) {
+        remoteRobotService.robotStop(robotNo);
+        return success(true);
+    }
+
+
+    @GetMapping("/recovery")
+    @Operation(summary = "恢复车辆")
+    public CommonResult<Boolean> recovery(@RequestParam("robotNo") String robotNo) {
+        remoteRobotService.recovery(robotNo);
+        return success(true);
+    }
+
+
+
 
 }
diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotService.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotService.java
index ba86c1205..300238eeb 100644
--- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotService.java
+++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotService.java
@@ -2,9 +2,43 @@ package cn.iocoder.yudao.module.remote.service.robot;
 
 import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.PositionMapRespDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
 
+import javax.servlet.http.HttpServletRequest;
 import java.util.List;
 
 public interface RemoteRobotService {
+    /**
+     * 获取地图区域对应的机器人信息
+     * @param positionMapRespDTO
+     * @return
+     */
     List<RemoteRobotDTO> remoteGetAreaRobot(PositionMapRespDTO positionMapRespDTO);
+
+    /**
+     * 键急停or一键恢复地图上所有AGV
+     * @param id
+     * @param type
+     */
+    void remoteEmergencyStopOrRecovery(Long id, Integer type);
+
+    /**
+     * 获取机器人远遥模式/急停/协控状态
+     * @param request
+     * @return
+     */
+    RemoteRobotStatusDTO getRemoteRobotStatus(HttpServletRequest request);
+
+    /**
+     * 暂停车辆
+     * @param robotNo
+     * @return
+     */
+    void robotStop(String robotNo);
+
+    /**
+     * 恢复车辆
+     * @param robotNo
+     */
+    void recovery(String robotNo);
 }
diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java
index 0d5ad0781..a5b932324 100644
--- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java
+++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java
@@ -1,14 +1,22 @@
 package cn.iocoder.yudao.module.remote.service.robot;
 
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.PositionMapRespDTO;
+import cn.iocoder.yudao.module.remote.util.IpUtils;
 import cn.iocoder.yudao.module.system.api.remote.RemoteRobotApi;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
+import javax.servlet.http.HttpServletRequest;
 import java.util.List;
 
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.PATH_PLANNING_NOT_EXISTS;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_COMMONG_FAIL;
+
 @Slf4j
 @Service
 public class RemoteRobotServiceImpl implements RemoteRobotService{
@@ -16,8 +24,62 @@ public class RemoteRobotServiceImpl implements RemoteRobotService{
     @Resource
     private RemoteRobotApi remoteRobotApi;
 
+    /**
+     * 获取地图区域对应的机器人信息
+     * @param positionMapRespDTO
+     * @return
+     */
     @Override
     public List<RemoteRobotDTO> remoteGetAreaRobot(PositionMapRespDTO positionMapRespDTO) {
         return remoteRobotApi.remoteGetAreaRobot(positionMapRespDTO.getId());
     }
+
+    /**
+     * 一键急停or一键恢复地图上所有AGV
+     * @param id
+     * @param type
+     */
+    @Override
+    public void remoteEmergencyStopOrRecovery(Long id, Integer type) {
+        CommonResult<Boolean> result = remoteRobotApi.remoteEmergencyStopOrRecovery(id,type);
+        if (!result.isSuccess()){
+            throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg());
+        }
+    }
+
+    /**
+     * 获取机器人远遥模式/急停/协控状态
+     * @param request
+     * @return
+     */
+    @Override
+    public RemoteRobotStatusDTO getRemoteRobotStatus(HttpServletRequest request) {
+        String ip = IpUtils.getIp(request);
+        return remoteRobotApi.getRemoteRobotStatus(ip);
+    }
+
+    /**
+     * 暂停机器人
+     * @param robotNo
+     * @return
+     */
+    @Override
+    public void robotStop(String robotNo) {
+        CommonResult<Boolean> result = remoteRobotApi.robotStop(robotNo);
+        if (!result.isSuccess()){
+            throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg());
+        }
+    }
+
+    /**
+     * 恢复车辆
+     * @param robotNo
+     */
+    @Override
+    public void recovery(String robotNo) {
+        CommonResult<Boolean> result = remoteRobotApi.recovery(robotNo);
+        if (!result.isSuccess()){
+            throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg());
+        }
+    }
 }
diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/IpUtils.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/IpUtils.java
index dc87a5713..5fc4e90f8 100644
--- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/IpUtils.java
+++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/IpUtils.java
@@ -30,7 +30,7 @@ public class IpUtils
             ip = request.getRemoteAddr();
         }
         if (ip.equals("0:0:0:0:0:0:0:1")) {
-            ip = "localhost";
+            ip = "127.0.0.1";
         }
         return ip;
     }
diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java
index 3117a33f3..d25b354c3 100644
--- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java
@@ -1,6 +1,8 @@
 package cn.iocoder.yudao.module.system.api.remote;
 
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
 import cn.iocoder.yudao.module.system.enums.ApiConstants;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -19,4 +21,20 @@ public interface RemoteRobotApi {
     @PostMapping(PREFIX + "/remoteGetAreaRobot")
     @Operation(summary = "获取地图区域对应的机器人信息")
     List<RemoteRobotDTO> remoteGetAreaRobot(@RequestParam(value = "mapId",defaultValue = "-1") Long mapId);
+
+    @PostMapping(PREFIX + "/remoteEmergencyStopOrRecovery")
+    @Operation(summary = "一键急停or一键恢复地图上所有AGV")
+    CommonResult<Boolean> remoteEmergencyStopOrRecovery(@RequestParam(value = "mapId") Long mapId, @RequestParam(value = "type")  Integer type);
+
+    @PostMapping(PREFIX + "/getRemoteRobotStatus")
+    @Operation(summary = "获取机器人远遥模式/急停/协控状态")
+    RemoteRobotStatusDTO getRemoteRobotStatus(@RequestParam(value = "ip") String ip);
+
+    @PostMapping(PREFIX + "/robotStop")
+    @Operation(summary = "暂停机器人")
+    CommonResult<Boolean> robotStop(@RequestParam(value = "robotNo") String robotNo);
+
+    @PostMapping(PREFIX + "/recovery")
+    @Operation(summary = "恢复机器人")
+    CommonResult<Boolean> recovery(@RequestParam(value = "robotNo") String robotNo);
 }
diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotStatusDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotStatusDTO.java
new file mode 100644
index 000000000..e82254d7c
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotStatusDTO.java
@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.api.remote.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@NoArgsConstructor
+public class RemoteRobotStatusDTO {
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "车辆是否暂停(0:已经暂停, 1:没暂停)")
+    private Integer isStop = 1;
+
+    @Schema(description = "远遥模式(0:自动模式, 1:手动模式, 2:自由模式)")
+    private Integer remoteMode = 0;
+
+    @Schema(description = "协控(0:关闭协控, 1:开启协控)")
+    private Integer collaborativeControl = 0;
+
+    @Schema(description = "是否可以点击: 任务完成(0:可以点, 1:不能点任务完成)")
+    private Integer clickTaskDone = 1;
+}
diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
index d6c70d066..06f82c6dd 100644
--- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
@@ -195,6 +195,7 @@ public interface ErrorCodeConstants {
     ErrorCode ROBOT_NOT_FOUND_FREE_CHARGING_STATION = new ErrorCode(1-002-034-007, "没有空闲的充电桩");
     ErrorCode ROBOT_HAVE_DOING_TASK = new ErrorCode(1-002-034-010, "车辆有处理中的任务,不允许修改/删除车辆编号和Mac地址");
     ErrorCode ROBOT_REJECTION = new ErrorCode(1-002-034-011, "车辆已锁定");
+    ErrorCode ROBOT_DOING_REMOTE = new ErrorCode(1-002-034-012, "车辆目前远遥控制中,不能修改车辆信息");
 
     // ========== 机器人任务主表 1-002-035-000 ==========
     ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "车辆任务主表不存在");
@@ -216,6 +217,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_RELEASE_LOCATION_HAVE_OTHER_TASK = new ErrorCode(1-002-035-109, "放货库位已经分配了其他任务");
     ErrorCode TASK_CREATE_FAIL = new ErrorCode(1-002-035-110, "任务创建失败:");
     ErrorCode ROBOT_DO_TASK_FAIL = new ErrorCode(1-002-035-112, "车机反馈不能接任务");
+    ErrorCode TASK_COMMONG_FAIL = new ErrorCode(1-002-035-113, "下发失败");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "车辆任务明细不存在");
@@ -271,6 +273,8 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_PROCEED_NOT_EXISTS = new ErrorCode(1_002_051_001, "车辆衔接任务不存在");
     // ========== 车辆(地图)急停记录 1_002_052_001  ==========
     ErrorCode MAP_STOP_NOT_EXISTS = new ErrorCode(1_002_052_001, "车辆(地图)急停记录不存在");
+    ErrorCode ROBOT_ALREADY_STOP = new ErrorCode(1_002_052_002, "车辆已经暂停");
+    ErrorCode ROBOT_ALREADY_RECOVERY = new ErrorCode(1_002_052_003, "车辆已经恢复");
     // ========== 远遥设备信息 1_002_053_001 ==========
     ErrorCode CONTROLLER_INFORMATION_NOT_EXISTS = new ErrorCode(1_002_053_001, "远遥设备信息不存在");
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java
index 4ce122549..410fea160 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java
@@ -1,7 +1,11 @@
 package cn.iocoder.yudao.module.system.api.remote;
 
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
+import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
+import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.RestController;
@@ -14,9 +18,15 @@ import java.util.List;
 @Validated
 public class RemoteRobotApiImpl implements RemoteRobotApi{
 
+    @Resource
+    private RobotMapStopService mapStopService;
+
     @Resource
     private PositionMapService positionMapService;
 
+    @Resource
+    private RemoteControllerInformationService controllerInformationService;
+
     /**
      * 远遥获取地图和车辆信息
      * @param mapId
@@ -27,5 +37,48 @@ public class RemoteRobotApiImpl implements RemoteRobotApi{
         return positionMapService.getRemoteAreaRobotByMapId(mapId);
     }
 
+    /**
+     * 远遥车辆暂停
+     * @param mapId
+     * @param type
+     */
+    @Override
+    public CommonResult<Boolean> remoteEmergencyStopOrRecovery(Long mapId, Integer type) {
+        positionMapService.emergencyStopOrRecovery(mapId,type,true);
+        return CommonResult.success(true);
+    }
+
+    /**
+     * 获取机器人远遥模式/急停/协控状态
+     * @param ip
+     * @return
+     */
+    @Override
+    public RemoteRobotStatusDTO getRemoteRobotStatus(String remoteIp) {
+        return controllerInformationService.getRemoteRobotStatus(remoteIp);
+    }
+
+    /**
+     * 远遥暂停车辆
+     * @param robotNo
+     * @return
+     */
+    @Override
+    public CommonResult<Boolean> robotStop(String robotNo) {
+         mapStopService.remoteStopRobot(robotNo);
+        return CommonResult.success(true);
+    }
+
+    /**
+     * 远遥恢复车辆
+     * @param robotNo
+     * @return
+     */
+    @Override
+    public CommonResult<Boolean> recovery(String robotNo) {
+        mapStopService.remoteRecoveryRobot(robotNo);
+        return CommonResult.success(true);
+    }
+
 
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java
index f0e4fb20e..44ed7188d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java
@@ -58,7 +58,7 @@ public class PositionMapController {
     @Parameter(name = "type", description = "类型(1:停止， 0:恢复)", required = true, example = "1024")
     @PreAuthorize("@ss.hasPermission('system:position-map:emergencyStopOrRecovery')")
     public CommonResult<Boolean> emergencyStopOrRecovery(@RequestParam("id") Long id, @RequestParam("type") Integer type) {
-        positionMapService.emergencyStopOrRecovery(id,type);
+        positionMapService.emergencyStopOrRecovery(id,type,false);
         return success(true);
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/UserOperationLogDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/UserOperationLogDO.java
index 0d9d0a394..d6d799533 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/UserOperationLogDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/UserOperationLogDO.java
@@ -25,7 +25,7 @@ public class UserOperationLogDO extends BaseDO {
     /**
      * 主键ID
      */
-    @TableId
+    @TableId(type = IdType.ASSIGN_ID)
     private Long id;
     /**
      * 操作人员
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotMapStopMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotMapStopMapper.java
index eedae2b12..5f862fa00 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotMapStopMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotMapStopMapper.java
@@ -32,4 +32,10 @@ public interface RobotMapStopMapper extends BaseMapperX<RobotMapStopDO> {
      * @param mapId
      */
     void deleteRobotMapStopByMapId(@Param("mapId") Long mapId);
+
+    /**
+     * 根据车辆编号删除
+     * @param robotNos
+     */
+    void deleteRobotMapStopByRobotNos(@Param("robotNos") List<String> robotNos);
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java
index ca0e6fe24..6ab979ec8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java
@@ -97,7 +97,7 @@ public interface PositionMapService extends IService<PositionMapDO> {
      *
      * @param id
      */
-    void emergencyStopOrRecovery(Long id,Integer type);
+    void emergencyStopOrRecovery(Long id,Integer type,Boolean isRemote);
 
     /**
      * 获取所有地图
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
index 496a2c73b..e5e5b9540 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
@@ -344,7 +344,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public void emergencyStopOrRecovery(Long id, Integer type) {
+    public void emergencyStopOrRecovery(Long id, Integer type,Boolean isRemote) {
         // 先获取当前地图上的所有AGV信息
         PositionMapDO positionMapDO = positionMapMapper.selectById(id);
 
@@ -358,14 +358,26 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
             robotNos = informationService.getRobotByFloorAndArea(String.valueOf(positionMapDO.getFloor()), positionMapDO.getArea());
             robotSimulationPose.setCommandType(RobotCommandTypeEnum.EMERGENCY_STOP.getType());
             str = RobotCommandTypeEnum.EMERGENCY_STOP.getMsg();
-            mapStr = "一键暂停 " + mapStr;
+            if (isRemote) {
+                mapStr = "远遥一键暂停 " + mapStr;
+            }else {
+                mapStr = "一键暂停 " + mapStr;
+            }
+
         } else {
             //恢复
             robotNos = robotMapStopService.getStopRobotNoByMapIds(id);
             robotSimulationPose.setCommandType(RobotCommandTypeEnum.RECOVERY.getType());
             str = RobotCommandTypeEnum.RECOVERY.getMsg();
-            mapStr = "一键恢复 " + mapStr;
+            if (isRemote) {
+                mapStr = "远遥一键恢复 " + mapStr;
+            }else {
+                mapStr = "一键恢复 " + mapStr;
+            }
             robotMapStopService.deleteRobotMapStopByMapId(id);
+            if (ObjectUtil.isNotEmpty(robotNos)) {
+                robotMapStopService.deleteRobotMapStopByRobotNos(robotNos);
+            }
         }
 
         if (ObjectUtil.isEmpty(robotNos)) {
@@ -380,23 +392,14 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
             robotMapStopService.createMapStop(robotMapStopSave);
         }
 
-        sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, robotNos, str);
+        informationService.sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, robotNos, str);
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction(mapStr)
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
     }
 
-    public void sendEmergencyStopOrRecoveryToRobot(RobotSimulationPoseDTO robotSimulationPose, List<String> robotNos, String str) {
-        for (String robotNo : robotNos) {
-            String mac = informationService.getMacByRobotNo(robotNo);
-            commonApi.commonMethod(robotSimulationPose, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
-            UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                    .operateAction(str + robotNo)
-                    .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
-            userOperationLogService.createUserOperationLog(operationLog);
-        }
-    }
+
 
     @Override
     public List<PositionMapDO> getAllMap() {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java
index 77139e161..93f85657f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java
@@ -4,6 +4,7 @@ import java.util.*;
 import javax.validation.*;
 
 import cn.iocoder.yudao.module.system.api.remote.dto.LoginCheckDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
@@ -74,4 +75,17 @@ public interface RemoteControllerInformationService extends IService<RemoteContr
      */
     List<RemoteControllerInformationDO> getAllRemoteController();
 
+    /**
+     * 获取机器人远遥模式/急停/协控状态
+     * @param ip
+     * @return
+     */
+    RemoteRobotStatusDTO getRemoteRobotStatus(String ip);
+
+    /**
+     * 根据机器人编号查询
+     * @param robotNo
+     * @return
+     */
+    RemoteControllerInformationDO getRemoteControllerByRobotNo(String robotNo);
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
index 9d6a20fb4..962a0fdd8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
@@ -4,13 +4,21 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.util.servlet.ServletUtils;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.system.api.remote.dto.LoginCheckDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
 import cn.iocoder.yudao.module.system.dal.mysql.remote.RemoteControllerInformationMapper;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
+import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
+import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
+import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import org.springframework.stereotype.Service;
 
@@ -45,6 +53,12 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
     @Resource
     private UserOperationLogService userOperationLogService;
 
+    @Resource
+    private RobotMapStopService mapStopService;
+
+    @Resource
+    private RobotTaskDetailActionLogService taskDetailActionLogService;
+
     @Override
     public Long createControllerInformation(RemoteControllerInformationSaveReqVO createReqVO) {
         // 插入
@@ -147,5 +161,47 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
                 .ne(RemoteControllerInformationDO::getRobotNo, ""));
     }
 
+    /**
+     * 获取机器人远遥模式/急停/协控状态
+     * @param remoteIp
+     * @return
+     */
+    @Override
+    public RemoteRobotStatusDTO getRemoteRobotStatus(String remoteIp) {
+        RemoteControllerInformationDO information = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
+                .eq(RemoteControllerInformationDO::getRemoteIp, remoteIp)
+                .last("limit 1"));
+        if (ObjectUtil.isEmpty(information) || ObjectUtil.isEmpty(information.getRobotNo())) {
+            return null;
+        }
+        RemoteRobotStatusDTO remoteRobotStatus = BeanUtils.toBean(information, RemoteRobotStatusDTO.class);
+        List<RobotMapStopDO> robotMapStops = mapStopService.getStopRobotNoByRobotNo(information.getRobotNo());
+        if (ObjectUtil.isNotEmpty(robotMapStops)) {
+            remoteRobotStatus.setIsStop(ZeroOneEnum.ZERO.getType());
+        }
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(information.getRobotNo());
+        if (ObjectUtil.isNotEmpty(actionLog)  && !actionLog.getActionStatus().equals(ActionStatusEnum.DONE.getType())
+            && (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(actionLog.getCommandType())
+                || PathTaskTypeEnum.TAKE.getType().equals(actionLog.getCommandType())
+                || PathTaskTypeEnum.RELEASE.getType().equals(actionLog.getCommandType())) ) {
+            remoteRobotStatus.setClickTaskDone(ZeroOneEnum.ZERO.getType());
+        }
+
+        return remoteRobotStatus;
+    }
+
+    /**
+     * 根据车辆编号查询
+     * @param robotNo
+     * @return
+     */
+    @Override
+    public RemoteControllerInformationDO getRemoteControllerByRobotNo(String robotNo) {
+        RemoteControllerInformationDO information = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
+                .eq(RemoteControllerInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+        return information;
+    }
+
 
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java
index 2adc06c92..aa36b1689 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java
@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
@@ -166,4 +167,12 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * @return
      */
     List<String> getRobotByFloorAndArea(String floor, String area);
+
+    /**
+     * 车辆一键暂停或启动
+     * @param robotSimulationPose
+     * @param robotNos
+     * @param str
+     */
+    void sendEmergencyStopOrRecoveryToRobot(RobotSimulationPoseDTO robotSimulationPose, List<String> robotNos, String str);
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
index 003776b37..560197d3f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
@@ -18,6 +18,7 @@ import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
 import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
@@ -41,6 +42,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.informationmapassociation.I
 import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
@@ -50,6 +52,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationM
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.remote.RemoteControllerInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotModelMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
@@ -71,6 +74,7 @@ import cn.iocoder.yudao.module.system.service.informationmapassociation.Informat
 import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
+import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
 import cn.iocoder.yudao.module.system.service.robot.camera.RobotCameraService;
 import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
 import cn.iocoder.yudao.module.system.service.robot.proceed.RobotTaskProceedService;
@@ -174,6 +178,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Resource
     private RobotCameraService cameraService;
 
+
+    @Resource
+    private RemoteControllerInformationMapper controllerInformationMapper;
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createInformation(RobotInformationSaveReqVO createReqVO) {
@@ -246,6 +254,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         validateInformationExists(updateReqVO.getId());
         RobotInformationDO robotInformationDO = informationMapper.selectById(updateReqVO.getId());
 
+        RemoteControllerInformationDO remoteControllerInformation = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
+                .eq(RemoteControllerInformationDO::getRobotNo, robotInformationDO.getRobotNo())
+                .last("limit 1"));
+        if (ObjectUtil.isNotEmpty(remoteControllerInformation)) {
+            throw exception(ROBOT_DOING_REMOTE);
+        }
+
         cameraService.deleteCameraByRobotNo(robotInformationDO.getRobotNo());
 
         if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())
@@ -1229,5 +1244,23 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         return list;
     }
 
+    /**
+     * 车辆一键暂停或启动
+     * @param robotSimulationPose
+     * @param robotNos
+     * @param str
+     */
+    @Override
+    public void sendEmergencyStopOrRecoveryToRobot(RobotSimulationPoseDTO robotSimulationPose, List<String> robotNos, String str) {
+        for (String robotNo : robotNos) {
+            String mac = getMacByRobotNo(robotNo);
+            commonApi.commonMethod(robotSimulationPose, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
+            UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
+                    .operateAction(str + robotNo)
+                    .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+            userOperationLogService.createUserOperationLog(operationLog);
+        }
+    }
+
 
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java
index 365a52109..4e56427fd 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java
@@ -94,4 +94,30 @@ public interface RobotMapStopService extends IService<RobotMapStopDO> {
      * @return
      */
     List<RobotMapStopDO> getAllRobotMapStops(Integer type);
+
+    /**
+     * 根据车辆编号查询暂停信息
+     * @param robotNo
+     * @return
+     */
+    List<RobotMapStopDO> getStopRobotNoByRobotNo(String robotNo);
+
+    /**
+     * 远遥暂停车辆
+     * @param robotNo
+     * @return
+     */
+    void remoteStopRobot(String robotNo);
+
+    /**
+     * 根据车辆编号删除
+     * @param robotNos
+     */
+    void deleteRobotMapStopByRobotNos(List<String> robotNos);
+
+    /**
+     * 远遥恢复车辆
+     * @param robotNo
+     */
+    void remoteRecoveryRobot(String robotNo);
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java
index b58ac7cf0..90be69260 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java
@@ -2,15 +2,27 @@ package cn.iocoder.yudao.module.system.service.robot.mapstop;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
+import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopSaveReqVO;
-import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
+import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotMapStopMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
-import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
+import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
+import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import com.alibaba.fastjson.JSON;
 import org.springframework.stereotype.Service;
+
 import javax.annotation.Resource;
+
 import org.springframework.validation.annotation.Validated;
 import org.springframework.transaction.annotation.Transactional;
 
@@ -18,13 +30,12 @@ import java.util.*;
 import java.util.stream.Collectors;
 
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
-import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.MAP_STOP_NOT_EXISTS;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
 
 /**
  * 车辆(地图)急停记录 Service 实现类
@@ -38,6 +49,18 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
     @Resource
     private RobotMapStopMapper mapStopMapper;
 
+    @Resource
+    private RobotInformationService informationService;
+
+    @Resource
+    private PositionMapMapper positionMapMapper;
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Resource
+    private UserOperationLogService userOperationLogService;
+
     @Override
     public Long createMapStop(RobotMapStopSaveReqVO createReqVO) {
         // 插入
@@ -96,7 +119,7 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
     @Override
     public List<String> getStopRobotNoByMapIds(Long id) {
         List<RobotMapStopDO> positionMapItems = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
-                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ONE.getType())
+                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ZERO.getType())
                 .eq(RobotMapStopDO::getPositionMapId, id));
         if (ObjectUtil.isEmpty(positionMapItems)) {
             return new ArrayList<>();
@@ -108,7 +131,6 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
     }
 
     /**
-     *
      * @param id
      * @param robotNos
      */
@@ -144,4 +166,93 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
                 .eq(RobotMapStopDO::getStopType, type));
     }
 
+    @Override
+    public List<RobotMapStopDO> getStopRobotNoByRobotNo(String robotNo) {
+        return mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
+                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ONE.getType())
+                .eq(RobotMapStopDO::getRobotNo, robotNo));
+    }
+
+    /**
+     * 远遥暂停车辆
+     *
+     * @param robotNo
+     * @return
+     */
+    @Override
+    public void remoteStopRobot(String robotNo) {
+        List<RobotMapStopDO> stopRobotNoByRobotNo = getStopRobotNoByRobotNo(robotNo);
+        if (ObjectUtil.isNotEmpty(stopRobotNoByRobotNo)) {
+            throw exception(ROBOT_ALREADY_STOP);
+        }
+
+        RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
+        robotSimulationPose.setCommandType(RobotCommandTypeEnum.EMERGENCY_STOP.getType());
+        List<String> list = Arrays.asList(robotNo);
+        informationService.sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, list, "远遥暂停车辆");
+
+        String mac = informationService.getMacByRobotNo(robotNo);
+        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
+        Object o = redisUtil.get(floorAreaKey);
+
+        Long id = -1l;
+        if (ObjectUtil.isNotEmpty(o)) {
+            FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
+            PositionMapDO positionMap = positionMapMapper.selectOne(new LambdaQueryWrapperX<PositionMapDO>()
+                    .eq(PositionMapDO::getFloor, floorZone.getFloor())
+                    .eq(PositionMapDO::getArea, floorZone.getArea()));
+            if (ObjectUtil.isNotEmpty(positionMap)) {
+                id = positionMap.getId();
+            }
+        }
+
+        createRobotMapStop(id, list);
+
+    }
+
+    /**
+     * 根据车辆编号删除
+     *
+     * @param robotNos
+     */
+    @Override
+    public void deleteRobotMapStopByRobotNos(List<String> robotNos) {
+        mapStopMapper.deleteRobotMapStopByRobotNos(robotNos);
+    }
+
+    /**
+     * 远遥恢复车辆
+     *
+     * @param robotNo
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void remoteRecoveryRobot(String robotNo) {
+        List<RobotMapStopDO> stopRobotNoByRobotNo = getStopRobotNoByRobotNo(robotNo);
+        if (ObjectUtil.isEmpty(stopRobotNoByRobotNo)) {
+            throw exception(ROBOT_ALREADY_RECOVERY);
+        }
+
+        RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
+        robotSimulationPose.setCommandType(RobotCommandTypeEnum.RECOVERY.getType());
+        List<String> list = Arrays.asList(robotNo);
+        informationService.sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, list, "远遥恢复车辆");
+
+        deleteRobotMapStopByRobotNos(list);
+
+        List<RobotMapStopDO> mapStopDOList = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
+                .eq(RobotMapStopDO::getPositionMapId, stopRobotNoByRobotNo.get(0).getPositionMapId()));
+        //说明此时地图上没有其他被暂停的车辆了
+        if (ObjectUtil.isNotEmpty(mapStopDOList) && mapStopDOList.size() == 1) {
+            PositionMapDO positionMapDO = positionMapMapper.selectById(mapStopDOList.get(0).getPositionMapId());
+            deleteRobotMapStopByMapId(mapStopDOList.get(0).getPositionMapId());
+            UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
+                    .operateAction(positionMapDO.getFloor() + "层" + positionMapDO.getArea() + " 地图上所有车辆已经恢复,所以把地图也设置为恢复")
+                    .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+            userOperationLogService.createUserOperationLog(operationLog);
+
+        }
+    }
+
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotMapStopMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotMapStopMapper.xml
index 803cf4289..e2f0b7028 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotMapStopMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotMapStopMapper.xml
@@ -16,4 +16,16 @@
         where
             position_map_id = #{mapId}
     </delete>
+
+    <delete id="deleteRobotMapStopByRobotNos">
+        delete
+        from
+            robot_map_stop
+        where
+            robot_no in
+        <foreach collection="robotNos" item="robotNo" index="index" open="(" close=")"
+                 separator=",">
+            #{robotNo}
+        </foreach>
+    </delete>
 </mapper>
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