diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
index 5182e28a36..12b9f07723 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -28,7 +28,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListener
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
-import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager;
 import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage;
@@ -192,7 +191,7 @@ public class SweeperTaskModel {
 
         @Override
         public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
-            if (null != routeList && routeList.getWayPointsList().size() > 0) {
+            if (null != routeList && routeList.getWayPointsList()!=null&&routeList.getWayPointsList().size() > 0) {
                 if (mCurrentSubTaskDetail.getLineId() != mLineId) {//判断是否同一条路线
                     mLineId = mCurrentSubTaskDetail.getLineId();
                     points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList()));
@@ -311,8 +310,6 @@ public class SweeperTaskModel {
             + ", mLatitude=" + gnssInfo.getLatitude() + ", mSubTaskType=" + mSubTaskType +", mIsSubTaskWorking=" + mIsSubTaskWorking
                     + ", isAutopilotSubTaskArriveEndSite=" + isAutopilotSubTaskArriveEndSite
             );
-            mLongitude = gnssInfo.getLongitude();
-            mLatitude = gnssInfo.getLatitude();
             if (mControllerStatusCallback != null) {
                 mControllerStatusCallback.onCarLocationChanged(gnssInfo);
             }
@@ -335,12 +332,10 @@ public class SweeperTaskModel {
     private void addCoordinates(MogoLocation mogoLatLng) {
         String tempLongitude = NumberFormatUtil.cutOutNumber(mogoLatLng.getLongitude(), 5);
         String tempLatitude = NumberFormatUtil.cutOutNumber(mogoLatLng.getLatitude(), 5);
-
-        String latitude = NumberFormatUtil.cutOutNumber(points.get(points.size()-1).latitude, 5);
-        String longitude = NumberFormatUtil.cutOutNumber(points.get(points.size()-1).longitude, 5);
-
         //用于过滤车是否停在原地，经纬度相同的情况
-        if (!tempLongitude.equals(longitude) && !tempLatitude.equals(latitude)) {
+        if (!tempLongitude.equals(mLongitude) && !tempLatitude.equals(mLatitude)) {
+            mLongitude = mogoLatLng.getLongitude();
+            mLatitude = mogoLatLng.getLatitude();
             SweeperRoutePlanningUpdateReqBean.Result result = new SweeperRoutePlanningUpdateReqBean.Result();
             result.latitude = mogoLatLng.getLatitude();
             result.longitude = mogoLatLng.getLongitude();