diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperTaskDataToFragmentCallback.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperTaskDataToFragmentCallback.kt
index a028dc42ce..2677042385 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperTaskDataToFragmentCallback.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperTaskDataToFragmentCallback.kt
@@ -11,4 +11,5 @@ interface ISweeperTaskDataToFragmentCallback {
     fun clearAllMarkerAndPolyline()
     fun setProgress(progress:String)
     fun setTaskListCoordinatesLatLng(coordinatesLatLng: ArrayList<LatLng>)
+    fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng)
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
index 7dffab403d..c6c6374cbd 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
@@ -92,6 +92,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     private DriverMsgBoxBubbleView mViewDriverMsgBoxBubble;
     private ArrayList<WeltDataBean> mWeltDataBeanList;//存储贴边数据
     private ArrayList<LatLng> mSubTaskCoordinates;//存储当前大任务的所有子任务起点和终点
+    // 当前子任务的终点坐标
+    protected LatLng mCurrentTaskEndStation;
     private ArrayList<SweeperRoutePlanningUpdateReqBean.Result> mRouteList;//存储任务的坐标轨迹
     private String mProgress;
     private ISweeperTaskDataToFragmentCallback mTaskDataToFragmentCallback;
@@ -415,8 +417,14 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         if (isShow) {
             mFlWeltMapOverView.setVisibility(View.VISIBLE);
             if (mWeltMapOverViewFragment == null) {
-                mWeltMapOverViewFragment = mWeltMapOverViewFragment.newInstance((IWeltMapSwitchToSmallCallback) this, mWeltDataBeanList,
-                        mSubTaskCoordinates, mRouteList, mProgress, (SweeperFragment) this);
+                mWeltMapOverViewFragment = mWeltMapOverViewFragment.newInstance(
+                        (IWeltMapSwitchToSmallCallback) this,
+                        mCurrentTaskEndStation,
+                        mWeltDataBeanList,
+                        mSubTaskCoordinates,
+                        mRouteList,
+                        mProgress,
+                        (SweeperFragment) this);
             }
             if (mWeltMapOverViewFragment.isHidden()) {
                 transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
@@ -476,6 +484,15 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         }
     }
 
+    public void setCurrentTaskEndMarker(LatLng subTaskCoordinate) {
+        if (mMapWeltView != null) {
+            mMapWeltView.setCurrentTaskCoordinatesLatLng(subTaskCoordinate);
+        }
+        if (mTaskDataToFragmentCallback != null) {
+            mTaskDataToFragmentCallback.setCurrentTaskCoordinatesLatLng(subTaskCoordinate);
+        }
+    }
+
     /**
      * 清除marker标记和任务路线数据
      */
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
index e1933fcce0..9c39b079a6 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
@@ -312,7 +312,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 }
             }
         }
-
+        setEndStationMarker()
     }
 
     /**
@@ -477,10 +477,27 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     dataList.add(index+1,endLatLng)
                 }
                 setTaskListCoordinatesLatLng(dataList)
+                setEndStationMarker()
             }
         }
     }
 
+    private fun setEndStationMarker(){
+        lifecycleScope.launch(Dispatchers.IO) {
+            mSubInfo?.let {
+                val endPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
+                    AbsMogoApplication.getApp(),
+                    it.endWgs84Lon,
+                    it.endWgs84Lat
+                )
+                super.mCurrentTaskEndStation = endPoint
+                setCurrentTaskEndMarker(endPoint)
+            }
+        }
+    }
+
+
+
     //模拟结束子任务
     override fun debugEndSubTask() {
         //mPresenter?.onArriveTaskEnd(null)
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
index 451041752b..1b160314b7 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
@@ -41,12 +41,16 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
         val bundle = arguments
         if (bundle != null) {
             val latLngs = bundle.getSerializable("subTaskCoordinates") as? ArrayList<LatLng>
+            val latLng = bundle.getParcelable<LatLng>("subTaskEndCoordinates")
             val weltDataList = bundle.getSerializable("weltDataList") as? ArrayList<WeltDataBean>
             val routeList = bundle.getSerializable("routeList") as? ArrayList<SweeperRoutePlanningUpdateReqBean.Result>
             val progress = bundle.getString("progress")
             routeList?.let {
                 weltMapOverView.setRouteList(it)
             }
+            latLng?.let {
+                setCurrentTaskCoordinatesLatLng(it)
+            }
             latLngs?.let {
                 setTaskListCoordinatesLatLng(it)
             }
@@ -64,6 +68,7 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
         @JvmStatic
         fun newInstance(
             mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback,
+            mCurrentTaskEndStation:LatLng?,
             weltDataList: ArrayList<WeltDataBean>?,
             latLngs: ArrayList<LatLng>?,
             routeList: ArrayList<SweeperRoutePlanningUpdateReqBean.Result>?,
@@ -73,6 +78,7 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
             val args = Bundle()
             args.putSerializable("weltDataList", weltDataList)
             args.putSerializable("subTaskCoordinates", latLngs)
+            args.putParcelable("subTaskEndCoordinates", mCurrentTaskEndStation)
             args.putSerializable("routeList", routeList)
             args.putString("progress", progress)
             val fragment = WeltMapOverViewFragment()
@@ -101,6 +107,10 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
         weltMapOverView.setTaskListCoordinatesLatLng(coordinatesLatLng)
     }
 
+    override fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+        weltMapOverView.setCurrentTaskCoordinatesLatLng(coordinatesLatLng)
+    }
+
     override fun clearAllMarkerAndPolyline() {
         weltMapOverView.clearAllMarkerAndPolyline()
     }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
index c981c53244..22e0e73042 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
@@ -34,7 +34,8 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     private var mAMap: AMap? = null
     private var mWeltPolylines: Polyline? = null
     private var mRoutePolylines: Polyline?=null
-    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+//    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+    private var mEndStationMarker: Marker? = null
     private var mFirst: Boolean = false
 
     //清扫车任务地图
@@ -192,25 +193,32 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
      * 绘制起点和终点的marker
      */
     private fun drawStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
-        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_start_maker_icon)))
-        startMarker?.position = startPoint
-        mLineMarkers.add(startMarker)
-        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_end_maker_icon)))
-        endMarker?.position = endPoint
-        mLineMarkers.add(endMarker)
+//        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_start_maker_icon)))
+//        startMarker?.position = startPoint
+//        mLineMarkers.add(startMarker)
+//        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_end_maker_icon)))
+//        endMarker?.position = endPoint
+//        mLineMarkers.add(endMarker)
+    }
+
+    private fun drawEndMarker(endPoint: LatLng){
+        mEndStationMarker?.remove()
+        mEndStationMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_end_maker_icon)))
+        mEndStationMarker?.position = endPoint
     }
 
     /**
      * 清除所有标记和路线
      */
     fun clearAllMarkerAndPolyline() {
-        for (i in mLineMarkers.indices) {
-            mLineMarkers[i]?.isVisible = false
-            mLineMarkers[i]?.remove()
-        }
+//        for (i in mLineMarkers.indices) {
+//            mLineMarkers[i]?.isVisible = false
+//            mLineMarkers[i]?.remove()
+//        }
+        mEndStationMarker?.remove()
         mWeltPolylines?.remove()
         mRoutePolylines?.remove()
-        mLineMarkers.clear()
+//        mLineMarkers.clear()
         //mFirst = false
         //showOrHiddenLegendData(false)
     }
@@ -265,6 +273,14 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
             }
         }
     }
+    /**
+     * 设置当前大任务的所有子任务起终点集合
+     */
+    fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+        ThreadUtils.runOnUiThread {
+            drawEndMarker(coordinatesLatLng)
+        }
+    }
 
     /**
      * 设置图例数据
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
index 21a7c955a5..bf9b0a4309 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
@@ -35,7 +35,8 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     private var mAMap: AMap? = null
     private var mWeltPolylines: Polyline? = null
     private var mRoutePolylines: Polyline?=null
-    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+//    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
+    private var endStationMarker:Marker? = null
 
     //清扫车任务地图
     private val TAG = "WeltMapView"
@@ -199,17 +200,17 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
      * 添加起点和终点的marker
      */
     private fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
-        for (i in mLineMarkers.indices) {
-            mLineMarkers[i]?.isVisible = false
-            mLineMarkers[i]?.remove()
-        }
-        mLineMarkers.clear()
-        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_start_marker_icon)))
-        startMarker?.position = startPoint
-        mLineMarkers.add(startMarker)
-        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
-        endMarker?.position = endPoint
-        mLineMarkers.add(endMarker)
+//        for (i in mLineMarkers.indices) {
+//            mLineMarkers[i]?.isVisible = false
+//            mLineMarkers[i]?.remove()
+//        }
+//        mLineMarkers.clear()
+//        val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_start_marker_icon)))
+//        startMarker?.position = startPoint
+//        mLineMarkers.add(startMarker)
+//        val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
+//        endMarker?.position = endPoint
+//        mLineMarkers.add(endMarker)
     }
 
     /**
@@ -217,25 +218,35 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
      */
     fun setTaskListCoordinatesLatLng(coordinatesLatLng: MutableList<LatLng>) {
         this.mTaskCoordinatesLatLng = coordinatesLatLng
-        if (mTaskCoordinatesLatLng.size > 0) {
-            d(
-                SceneConstant.M_SWEEPER + TAG,
-                "startPoint：${mTaskCoordinatesLatLng[0]} endPoint：${mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1]}"
-            )
-            addStartAndEndMarker(mTaskCoordinatesLatLng[0], mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1])
-        }
+//        if (mTaskCoordinatesLatLng.size > 0) {
+//            d(
+//                SceneConstant.M_SWEEPER + TAG,
+//                "startPoint：${mTaskCoordinatesLatLng[0]} endPoint：${mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1]}"
+//            )
+//            addStartAndEndMarker(mTaskCoordinatesLatLng[0], mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1])
+//        }
+    }
+
+    /**
+     * 设置当前大任务的所有子任务起终点集合
+     */
+    fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+        endStationMarker?.remove()
+        endStationMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
+        endStationMarker?.position = coordinatesLatLng
     }
 
     /**
      * 清除所有标记和路线
      */
     fun clearAllMarkerAndPolyline() {
-        for (i in mLineMarkers.indices) {
-            mLineMarkers[i]?.isVisible = false
-            mLineMarkers[i]?.remove()
-        }
+//        for (i in mLineMarkers.indices) {
+//            mLineMarkers[i]?.isVisible = false
+//            mLineMarkers[i]?.remove()
+//        }
+        endStationMarker?.remove()
         mWeltPolylines?.remove()
-        mLineMarkers.clear()
+//        mLineMarkers.clear()
         mRoutePolylines?.remove()
         //mFirst = false
         //showOrHiddenWelt(false)