diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
index de26159ab3..92fc78aafb 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
@@ -25,7 +25,7 @@ interface ISweeperCloudTaskCallback {
     /**
      * 云端下发子任务请求pad确认
      */
-    fun onSweeperCloudTaskConfirm(taskId:String,subTaskId:String)
+    fun onSweeperCloudTaskConfirm(taskId:String,subTaskId:String,isPop:Boolean)
 
     /**
      * 云端下发子任务状态同步
@@ -35,7 +35,7 @@ interface ISweeperCloudTaskCallback {
     /**
      * 云端下发结束大任务指令
      */
-    fun onSweeperCloudTaskStop(taskId:String,stopTaskType: StopTaskType)
+    fun onSweeperCloudTaskStop(taskId:String,stopTaskType: StopTaskType,isPop:Boolean)
 
     /**
      * 挂起/恢复
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
index fcea1de7f4..35077b9338 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -5,6 +5,7 @@ import android.view.View
 import androidx.lifecycle.lifecycleScope
 import chassis.ChassisStatesOuterClass
 import com.amap.api.maps.model.LatLng
+import com.elegant.utils.UiThreadHandler
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_ENABLE
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -161,7 +162,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     private fun setEndStationMarker(position: Int) {
         lifecycleScope.launch(Dispatchers.IO) {
             mSubMutableList?.let { subList ->
-                val endPoint = subList[position-1].endLocation
+                val endPoint = subList[position - 1].endLocation
                 val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
                 super.mCurrentTaskEndStation = endLatLng
                 setCurrentTaskEndMarker(endLatLng)
@@ -186,7 +187,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             setShowCurrentTaskPanelView(true)
             addTaskData()
         } else {//云端下发的任务信息需要弹窗接取
-            receivedTaskInfoDialog()
+            if (taskInfo.isPop) {//是否需要弹窗确认
+                receivedTaskInfoDialog()
+            } else {
+                mPresenter?.sendSweeperStartTaskResp(taskInfo.taskId, SweeperTask.StartTaskCode.RECEIVED)
+                //延时2秒再上报确认接取任务，防止时间太短跟收到任务指令冲突
+                UiThreadHandler.postDelayed({ mPresenter?.sendSweeperStartTaskResp(taskInfo.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM) }, 2000)
+            }
             //设置任务进度
             this.mSubMutableList?.let {
                 setTaskProgress("0/${it.size}")
@@ -212,7 +219,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                         if (subTaskStatus == SweeperCommon.TaskStatus.RUNNING) {
                             mCurrentSubTaskInfo = subBuilder.build()
                             //更新当前正在执行的任务状态
-                            updateCurrentSubTaskInfo(index+1)
+                            updateCurrentSubTaskInfo(index + 1)
                         } else {
                             mCurrentSubTaskInfo = null
                         }
@@ -236,51 +243,62 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 云端请求结束大任务
      */
-    fun onSweeperCloudTaskStop(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType) {
-        mLoadingDialog.hideLoading()
+    fun onSweeperCloudTaskStop(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, isPop: Boolean) {
         mTaskInfo?.let {
             //如果云端要更新的任务和本地缓存任务不是同一个，在无法结束任务
             if (taskId != it.taskId) {
                 return
             }
-            val timeout: String = getTimeSpent(it.taskEndTime)
-            //数据重复导致连续弹窗
-            if (mDialog != null && mDialog!!.isShowing) {
-                return
-            }
-            if (stopTaskType == SweeperTaskStop.StopTaskType.NORMAL) {
-                mDialog = sweeperCloudTaskNormalEndDialog()
-                showNotice("任务已结束")
+            if (isPop) {
+                sweeperCloudTaskStopDialog(taskId, stopTaskType, it)
             } else {
-                mDialog = createSweeperTaskEndDialog(context, object : SweeperCloudDialogClickListener {
-                    override fun onConfirm() {
-                        mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
-                        mLoadingDialog.showLoading()
-                        //ToastUtils.showLong("确认")
-                    }
-
-                    override fun onRefuseOrEnd() {
-                        mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_REFUSE)
-                        mLoadingDialog.showLoading()
-                        //ToastUtils.showLong("拒绝")
-                    }
-
-                    override fun onCountDownStop() {
-                        mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.OVER_TIME)
-                        mLoadingDialog.showLoading()
-                        //ToastUtils.showLong("倒计时")
-                    }
-
-                    override fun onNext() {
-                    }
-
-                }, stopTaskType, timeout)
+                mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
             }
-            mDialog?.show()
         }
 
     }
 
+    /**
+     * 结束任务弹窗处理
+     */
+    private fun sweeperCloudTaskStopDialog(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, taskInfo: SweeperTask.TaskInfo) {
+        mLoadingDialog.hideLoading()
+        val timeout: String = getTimeSpent(taskInfo.taskEndTime)
+        //数据重复导致连续弹窗
+        if (mDialog != null && mDialog!!.isShowing) {
+            return
+        }
+        if (stopTaskType == SweeperTaskStop.StopTaskType.NORMAL) {
+            mDialog = sweeperCloudTaskNormalEndDialog()
+            showNotice("任务已结束")
+        } else {
+            mDialog = createSweeperTaskEndDialog(context, object : SweeperCloudDialogClickListener {
+                override fun onConfirm() {
+                    mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
+                    mLoadingDialog.showLoading()
+                    //ToastUtils.showLong("确认")
+                }
+
+                override fun onRefuseOrEnd() {
+                    mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_REFUSE)
+                    mLoadingDialog.showLoading()
+                    //ToastUtils.showLong("拒绝")
+                }
+
+                override fun onCountDownStop() {
+                    mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.OVER_TIME)
+                    mLoadingDialog.showLoading()
+                    //ToastUtils.showLong("倒计时")
+                }
+
+                override fun onNext() {
+                }
+
+            }, stopTaskType, timeout)
+        }
+        mDialog?.show()
+    }
+
     /**
      * 大任务/子任务正常结束弹窗
      */
@@ -380,7 +398,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             for (index in 0 until size) {
                 if (get(index).taskStatus == SweeperCommon.TaskStatus.RUNNING) {
                     mCurrentSubTaskInfo = get(index)
-                    updateCurrentSubTaskInfo(index+1)
+                    updateCurrentSubTaskInfo(index + 1)
                     return index
                 }
             }
@@ -427,50 +445,61 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 
     private fun getCurrentView(): SweeperCurrentTaskInfoView = sweeper_current_task_view
 
-    /**
-     * 云控下发子任务确认弹窗
-     */
-    fun showSubTaskInfoDialog(taskId: String, subTaskId: String) {
-        mLoadingDialog.hideLoading()
+
+    fun handleSubTaskInfoDialog(taskId: String, subTaskId: String, isPop: Boolean) {
         if (mTaskInfo == null) return
         if (mTaskInfo?.taskId != taskId) return
         val subInfo = bySubTaskIdFindSubTaskInfo(subTaskId)
         subInfo?.let {
-            //数据重复导致连续弹窗
-            if (mDialog != null && mDialog!!.isShowing) {
-                return
+            if (isPop) {
+                showSubTaskInfoDialog(taskId, subTaskId, it)
+            } else {
+                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
             }
-            mDialog = createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
-                override fun onConfirm() {
-                    //ToastUtils.showLong("确认")
-                    mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
-                    mLoadingDialog.showLoading()
-                }
-
-                override fun onRefuseOrEnd() {
-                    //ToastUtils.showLong("结束")
-                    mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_ALL)
-                    mLoadingDialog.showLoading()
-                }
-
-                override fun onCountDownStop() {
-                    //ToastUtils.showLong("倒计时结束")
-                    mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.OVER_TIME)
-                    mLoadingDialog.showLoading()
-                }
-
-                override fun onNext() {
-                    //ToastUtils.showLong("下一个")
-                    mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_SINGLE)
-                    mLoadingDialog.showLoading()
-                }
-
-            }, it)
-            mDialog?.show()
-            showNotice("请确认是否执行任务")
         }
     }
 
+    /**
+     * 云控下发子任务确认弹窗
+     */
+    private fun showSubTaskInfoDialog(taskId: String, subTaskId: String, subTaskInfo: SubTaskInfo) {
+        mLoadingDialog.hideLoading()
+        if (mTaskInfo == null) return
+        if (mTaskInfo?.taskId != taskId) return
+        //数据重复导致连续弹窗
+        if (mDialog != null && mDialog!!.isShowing) {
+            return
+        }
+        mDialog = createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
+            override fun onConfirm() {
+                //ToastUtils.showLong("确认")
+                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
+                mLoadingDialog.showLoading()
+            }
+
+            override fun onRefuseOrEnd() {
+                //ToastUtils.showLong("结束")
+                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_ALL)
+                mLoadingDialog.showLoading()
+            }
+
+            override fun onCountDownStop() {
+                //ToastUtils.showLong("倒计时结束")
+                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.OVER_TIME)
+                mLoadingDialog.showLoading()
+            }
+
+            override fun onNext() {
+                //ToastUtils.showLong("下一个")
+                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_SINGLE)
+                mLoadingDialog.showLoading()
+            }
+
+        }, subTaskInfo)
+        mDialog?.show()
+        showNotice("请确认是否执行任务")
+    }
+
     /**
      * 接取云端任务弹窗
      */
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
index 1f91d6bfee..366efd6f05 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -317,7 +317,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
                 "onSweeperFutianCloudTaskConfirm：" + printMessage(taskConfirm));
         if (mSweeperTaskCallback != null && taskConfirm != null) {
             msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
-            mSweeperTaskCallback.onSweeperCloudTaskConfirm(taskConfirm.getTaskId(), taskConfirm.getSubTaskId());
+            mSweeperTaskCallback.onSweeperCloudTaskConfirm(taskConfirm.getTaskId(), taskConfirm.getSubTaskId(),taskConfirm.getIsPop());
         }
     }
 
@@ -339,7 +339,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
                 "onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq));
         if (mSweeperTaskCallback != null && stopTaskReq != null) {
             msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
-            mSweeperTaskCallback.onSweeperCloudTaskStop(stopTaskReq.getTaskId(), stopTaskReq.getType());
+            mSweeperTaskCallback.onSweeperCloudTaskStop(stopTaskReq.getTaskId(), stopTaskReq.getType(),stopTaskReq.getIsPop());
         }
     }
 
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
index 370595df17..2fe3d90424 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
@@ -169,18 +169,17 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
 
     @Override
-    public void onSweeperCloudTaskConfirm(@NonNull String taskId, @NonNull String subTaskId) {
-        ThreadUtils.runOnUiThread(() -> mView.showSubTaskInfoDialog(taskId, subTaskId));
+    public void onSweeperCloudTaskConfirm(@NonNull String taskId, @NonNull String subTaskId, boolean isPop) {
+        ThreadUtils.runOnUiThread(() -> mView.handleSubTaskInfoDialog(taskId, subTaskId,isPop));
     }
-
     @Override
     public void onSweeperCloudTaskStatus(@NonNull String taskId, @NonNull String subTaskId, SweeperCommon.TaskStatus subTaskStatus) {
         ThreadUtils.runOnUiThread(() -> mView.onSweeperUpdateSubTaskStatus(taskId, subTaskId, subTaskStatus));
     }
 
     @Override
-    public void onSweeperCloudTaskStop(@NonNull String taskId, SweeperTaskStop.StopTaskType stopTaskType) {
-        ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudTaskStop(taskId, stopTaskType));
+    public void onSweeperCloudTaskStop(@NonNull String taskId, SweeperTaskStop.StopTaskType stopTaskType,boolean isPop) {
+        ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudTaskStop(taskId, stopTaskType,isPop));
     }
 
     @Override