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 d31ca4b710..fcea1de7f4 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
@@ -10,6 +10,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.C
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.voice.VoiceNotice.showNotice
 import com.mogo.och.sweepercloud.R
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
 import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
@@ -160,7 +161,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     private fun setEndStationMarker(position: Int) {
         lifecycleScope.launch(Dispatchers.IO) {
             mSubMutableList?.let { subList ->
-                val endPoint = subList[position].endLocation
+                val endPoint = subList[position-1].endLocation
                 val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
                 super.mCurrentTaskEndStation = endLatLng
                 setCurrentTaskEndMarker(endLatLng)
@@ -211,7 +212,7 @@ 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)
+                            updateCurrentSubTaskInfo(index+1)
                         } else {
                             mCurrentSubTaskInfo = null
                         }
@@ -219,6 +220,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                         if (subTaskStatus == SweeperCommon.TaskStatus.FINISHED) {
                             //已完成的计入任务进度，未完成的不计入
                             ToastUtils.showLong("任务完成")
+                            showNotice("任务完成")
                         }
                         val builder = it.toBuilder()
                         builder.setSubList(index, subBuilder.build())
@@ -248,6 +250,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             }
             if (stopTaskType == SweeperTaskStop.StopTaskType.NORMAL) {
                 mDialog = sweeperCloudTaskNormalEndDialog()
+                showNotice("任务已结束")
             } else {
                 mDialog = createSweeperTaskEndDialog(context, object : SweeperCloudDialogClickListener {
                     override fun onConfirm() {
@@ -323,6 +326,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 }
                 mDialog = sweeperCloudTaskNormalEndDialog()
                 mDialog?.show()
+                showNotice("任务已结束")
             }
         }
     }
@@ -376,7 +380,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             for (index in 0 until size) {
                 if (get(index).taskStatus == SweeperCommon.TaskStatus.RUNNING) {
                     mCurrentSubTaskInfo = get(index)
-                    updateCurrentSubTaskInfo(index)
+                    updateCurrentSubTaskInfo(index+1)
                     return index
                 }
             }
@@ -463,6 +467,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 
             }, it)
             mDialog?.show()
+            showNotice("请确认是否执行任务")
         }
     }
 
@@ -506,6 +511,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 
             }, it)
             mDialog?.show()
+            showNotice("请确认是否接取任务")
         }
 
     }
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 9204dd5333..1f91d6bfee 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
@@ -387,7 +387,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
             return;
         }
         mVehicleStateCurrentTimeMillis = current;
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + printMessage(cleanSystemState));
+       // CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + printMessage(cleanSystemState));
         if (mSweeperTaskCallback != null) {
             mSweeperTaskCallback.onSweeperFutianCleanSystemState(cleanSystemState);
         }
@@ -403,7 +403,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
             return;
         }
         mWeltDataCurrentTimeMillis = current;
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
+        //CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
         handleWeltData(roboSweeperTaskIndex);
 
     }
@@ -600,7 +600,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
 
     @Override
     public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusRespByQuery status:" + status.getSysState().getNumber());
+       // CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusRespByQuery status:" + status.getSysState().getNumber());
     }
 
     @Override
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
index a1895fc2ee..f173ee2582 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
@@ -8,6 +8,7 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.common.module.utils.DateTimeUtil
+import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
 import com.mogo.och.sweepercloud.model.SweeperTaskModel
 import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
@@ -299,6 +300,7 @@ object SweeperCloudTaskUtils {
                 builder.leftStr = "确认"
                 builder.middleStr = ""
                 builder.rightStr = "拒绝"
+                VoiceNotice.showNotice("云端请求终止任务，请确认")
             }
             //任务超时结束
             SweeperTaskStop.StopTaskType.TIMEOUT -> {
@@ -307,6 +309,7 @@ object SweeperCloudTaskUtils {
                 builder.leftStr = "确认"
                 builder.middleStr = ""
                 builder.rightStr = "拒绝"
+                VoiceNotice.showNotice("任务已超时${timeoutStr},请确认是否结束")
             }
         }
         builder.countDownTime = 15