diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
index 6e4e881a9..c093e4f72 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
@@ -147,7 +147,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             return;
         }
 
-        if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecutionState())
+        if (ObjectUtil.isNotEmpty(robotCompleteTaskDTO.getCommandStatus())
+                && RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getCommandStatus().getExecutionState())) {
+            log.info("任务未开始 :{}", robotCompleteTaskDTO.getOrderId());
+        }else if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecutionState())
                 || RobotExecutionStateConstant.STOP.equals(robotCompleteTaskDTO.getExecutionState())
                 || RobotExecutionStateConstant.CLOSE.equals(robotCompleteTaskDTO.getExecutionState())) {
             log.info("任务未开始/暂停/取消 :{}", robotCompleteTaskDTO.getOrderId());
@@ -571,6 +574,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
         Long taskStage = robotTaskDetailDO.getTaskStage();
+        log.info("任务 :{} , 当前阶段 :{}",robotCompleteTaskDTO.getOrderId(),taskStage);
 
         RobotTaskDO robotTask = robotTaskMapper.selectById(robotTaskDetailDO.getRobotTaskId());
 
@@ -579,7 +583,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
         if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
+            if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && (RobotTaskStageEnum.UN_START.getType().equals(taskStage)
+                    || RobotTaskStageEnum.GO_TAKE.getType().equals(taskStage)
+                    || RobotTaskStageEnum.TAKEING.getType().equals(taskStage))) {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
             } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java
index 3a6a07552..4229b0780 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java
@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.api.robot;
 
+import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotWorkStatusDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
@@ -47,6 +48,10 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
 
         TenantContextHolder.setTenantId(1L);
         RobotWorkStatusDTO data = JSON.parseObject(message, RobotWorkStatusDTO.class);
+        if (ObjectUtil.isEmpty(data.getOrderId())) {
+            log.info("任务id为空,不进行处理");
+            return;
+        }
         String robotNo = robotInformationService.getRobotNoByMac(data.getMac());
         RobotOperationLogSaveReqVO createReqVO = RobotOperationLogSaveReqVO.builder()
                 .orderId(Long.valueOf(data.getOrderId()))
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java
index 446ddd093..a0fff047e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java
@@ -72,9 +72,9 @@ public class MqttUtils {
         }
 
         if (message.length() > 510) {
-            log.info("发送的主题 :{}, 内容 :{}",topic, message.substring(0, 500));
+            log.info("111111发送的主题 :{}, 内容 :{}",topic, message.substring(0, 500));
         }else {
-            log.info("发送的主题 :{}, 内容 :{}",topic, message);
+            log.info("111111发送的主题 :{}, 内容 :{}",topic, message);
         }
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java
index 2ac2c62a6..0f1185a36 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java
@@ -36,4 +36,5 @@ public class ZnConfigConstant {
     private Boolean taskNotCheck;
     private Double checkShortestDistance;
     private Double checkLongestDistance;
+    private String mapCheckDistance;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
index ebc6f5b4b..ca9a2d18c 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
@@ -165,4 +165,12 @@ public class PositionMapItemController {
         map.put("LINE",lineList);
         return success(map);
     }
+
+    @GetMapping("/getCheckDistance")
+    @Operation(summary = "获取检测点距离")
+    @PreAuthorize("@ss.hasPermission('system:position-map-item:getCheckDistance')")
+    public CommonResult<String> getCheckDistance() {
+        String distance = positionMapItemService.getCheckDistance();
+        return success(distance);
+    }
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
index 98b8b29f6..7d99e6431 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
@@ -128,7 +128,6 @@ public class RobotInformationController {
     @Operation(summary = "获得车辆信息分页")
     @PreAuthorize("@ss.hasPermission('robot:information:list')")
     public CommonResult<PageResult<RobotInformationPageRespVO>> getRobotList(@Valid RobotInformationPageReqVO pageReqVO) {
-        pageReqVO.setPageSize(300);
         PageResult<RobotInformationPageRespVO> pageResult = informationService.getInformationPage(pageReqVO);
         return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class));
     }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java
index 776ee5b82..eadef3ca1 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java
@@ -42,7 +42,7 @@ public class ThreeDimensionalScheduled {
     private static final ExecutorService FIXED_THREAD_POOL = Executors.newFixedThreadPool(3);
 
     // 这个方法将每200毫秒执行一次
-//    @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
+    @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
     public void executeTask() {
         FIXED_THREAD_POOL.execute(this::sendData);
     }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
index ce2175bdf..2b08e3982 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
@@ -174,6 +174,12 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             assembleDataToPP(relatedPathNode, positionMapLineDOS);
         }
 
+        try {
+            Thread.sleep(2000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+
 //        commonApi.commonMethod(new PositionMapLineDTO(), PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE_END);
         mqttUtils.pub(PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE_END,JSON.toJSONString(new PositionMapLineDO()));
     }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java
index f0675a354..23af800d1 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java
@@ -151,4 +151,6 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
      * @param mapId
      */
     void checkHaveBindChangePoint(Long mapId);
+
+    String getCheckDistance();
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java
index e279d91c1..f6074e80f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java
@@ -7,6 +7,7 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 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.Pose2ds;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 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.positionmap.dto.PositionMapConditionDTO;
@@ -26,6 +27,7 @@ import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import org.apache.commons.lang3.StringUtils;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -66,6 +68,9 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
     @Resource
     private PositionChangePointBindingMapper positionChangePointBindingMapper;
 
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
+
     @Override
     public Long createPositionMapItem(PositionMapItemSaveReqVO createReqVO) {
         // 插入
@@ -267,4 +272,9 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
         throw exception(MAP_EXIST_BINDING_POINT);
     }
 
+    @Override
+    public String getCheckDistance() {
+        return znConfigConstant.getMapCheckDistance();
+    }
+
 }
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 1a4fa7b7e..674e433c3 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
@@ -698,6 +698,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         List<RobotCameraAddVO> cameraAddVOList = cameraService.getCameraByRobotNo(robotInformationDO.getRobotNo());
         bean.setCameraAddVOList(cameraAddVOList);
+
+        List<RobotMapStopDO> stopRobotNoByRobotNo = mapStopService.getStopRobotNoByRobotNo(robotInformationDO.getRobotNo());
+        if (ObjectUtil.isEmpty(stopRobotNoByRobotNo)) {
+            return bean;
+        } else if (RobotStatusEnum.STAND_BY.getType().equals(robotInformationDO.getRobotStatus())) {
+            robotInformationDO.setRobotStatus(RobotStatusEnum.STOP_FREE.getType());
+        } else {
+            robotInformationDO.setRobotStatus(RobotStatusEnum.STOP_DOING.getType());
+        }
+
         return bean;
     }
 
@@ -712,11 +722,19 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
     @Override
     public PageResult<RobotInformationPageRespVO> getInformationPage(RobotInformationPageReqVO pageReqVO) {
-        PageResult<RobotInformationDO> pageResult = informationMapper.selectPage(pageReqVO);
+        List<RobotInformationDO> list = informationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
+                .eqIfPresent(RobotInformationDO::getRobotModelId, pageReqVO.getRobotModelId())
+                .eqIfPresent(RobotInformationDO::getRobotModelNumber, pageReqVO.getRobotModelNumber())
+                .likeIfPresent(RobotInformationDO::getRobotNo, pageReqVO.getRobotNo())
+                .eqIfPresent(RobotInformationDO::getRobotTaskModel, pageReqVO.getRobotTaskModel())
+                .eqIfPresent(RobotInformationDO::getMacAddress, pageReqVO.getMacAddress())
+                .eqIfPresent(RobotInformationDO::getRobotStatus, pageReqVO.getRobotStatus())
+                .betweenIfPresent(RobotInformationDO::getCreateTime, pageReqVO.getCreateTime())
+                .orderByDesc(RobotInformationDO::getId));
 
         PageResult<RobotInformationPageRespVO> dataPage = new PageResult<>();
-        dataPage.setTotal(pageResult.getTotal());
-        List<RobotInformationDO> list = pageResult.getList();
+        Long total = ObjectUtil.isEmpty(list) ? 0L : list.size();
+        dataPage.setTotal(total);
         List<RobotInformationPageRespVO> targetList = BeanUtil.copyToList(list, RobotInformationPageRespVO.class);
 
         List<RobotMapStopDO> allRobotMapStops = mapStopService.getAllRobotMapStops(ZeroOneEnum.ONE.getType());
@@ -1772,6 +1790,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         TaskToPathPlanningDTO pathPlanning = JSONUtil.toBean((String) o, TaskToPathPlanningDTO.class);
 
+        robotInformationDO.setTaskDetailId(id);
+        robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
+        informationMapper.updateById(robotInformationDO);
+
         TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO =
                 robotPathPlanningService.getRobotNoLimitationArea(Collections.singletonList(robotInformationDO)).get(0);
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
index ffebb895e..f6611dac7 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
@@ -1687,6 +1687,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 case RELEASE:
                     msg = "放货点 " + robotTaskRespVO.getToLocationNo();
                     break;
+                case MOVE_TO_POINT:
+                    msg = "移动到点位 " + robotTaskRespVO.getToLocationNo();
+                    break;
                 default:
                     log.error("任务类型不存在");
             }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
index 58e0c6f09..b8fa770e1 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
@@ -80,11 +80,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
                 .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.CHARG_CONFIG.getType()));
 
-        Boolean needDoCharge = needDoCharge(commonConfigDO);
+        /*Boolean needDoCharge = needDoCharge(commonConfigDO);
         if (needDoCharge) {
             log.info("所有机器人都需要去执行充电任务");
             return pair;
-        }
+        }*/
 
         List<String> remoteRobotNos = controllerInformationMapper.getRemoteControllerRobotNos();
         log.info("远遥中的车辆 :{}",JSON.toJSONString(remoteRobotNos));
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 60bb7fb88..23a856126 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
@@ -120,7 +120,7 @@ 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.ZERO.getType())
+                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ONE.getType())
                 .eq(RobotMapStopDO::getPositionMapId, id));
         if (ObjectUtil.isEmpty(positionMapItems)) {
             return new ArrayList<>();
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml
index a3e289bf4..cd773d2ea 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml
@@ -214,6 +214,7 @@ zn:
   task_not_check: true # 创建任务不校验
   check_shortest_distance: 1.5 # 检测点最短距离
   check_longest_distance: 3.0 # 检测点最长距离
+  map_check_distance: 2.2 #检测点成成距离
 
 
 #海康威视的相关配置
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
index 4b826f168..8344a3a54 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
@@ -249,6 +249,7 @@ zn:
   task_not_check: true # 创建任务不校验
   check_shortest_distance: 1.5 # 检测点最短距离
   check_longest_distance: 3.0 # 检测点最长距离
+  map_check_distance: 2.2 #检测点成成距离
 
 logging:
   file:
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml
index 2fc976a48..cb433fc9f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml
@@ -242,6 +242,7 @@ zn:
   task_not_check: true # 创建任务不校验
   check_shortest_distance: 1.5 # 检测点最短距离
   check_longest_distance: 3.0 # 检测点最长距离
+  map_check_distance: 2.2 #检测点成成距离
 
 #海康威视的相关配置
 isc: