diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
index 78c3b76..cefb3ff 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
@@ -56,6 +56,11 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private var receptionDestination: String = ""
     private var patrolRoute: List<String> = emptyList()
     private var patrolIndex: Int = 0
+    private var patrolLoopsRemaining: Int = 1
+    private var patrolWaitingSeconds: Int = 3
+    private var patrolNonStop: Boolean = false
+    private var patrolMoveJob: Job? = null
+    private var isLeavingHomeBase: Boolean = false
 
     @SuppressLint("SetTextI18n")
     override fun onCreate(savedInstanceState: Bundle?) {
@@ -196,6 +201,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             return
         }
         if (isAbort) {
+            isLeavingHomeBase = false
             endNonSpecialTask("goTo aborted: $location, status=$status")
             return
         }
@@ -203,6 +209,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         if (lastArrivalLocation == location && now - lastArrivalAt < 5000L) {
             return
         }
+        isLeavingHomeBase = false
         lastArrivalLocation = location
         lastArrivalAt = now
         prefs.edit().putString("current_location", location).apply()
@@ -244,7 +251,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
 
         // Home Base logic
-        if (lastArrivalLocation?.lowercase() == "home base") {
+        if (currentTask == "" && lastArrivalLocation?.lowercase() == "home base" && !isLeavingHomeBase) {
             // Check if special task mode is enabled, if so, skip door logic
             if (isSpecialModeEnabled() && currentTask.isEmpty()) {
                 Log.i("MainActivity", "Special task mode: Door logic skipped at Home Base.")
@@ -331,15 +338,20 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         setCurrentTask("")
     }
 
-    fun startPatrolMode(route: List<String>) {
+    fun startPatrolMode(route: List<String>, times: Int = 1, waiting: Int = 3, nonStop: Boolean = false) {
         if (route.isEmpty()) {
             setCurrentTask("")
             return
         }
         patrolRoute = route
         patrolIndex = 0
+        patrolLoopsRemaining = times.coerceAtLeast(1)
+        patrolWaitingSeconds = waiting.coerceAtLeast(0)
+        patrolNonStop = nonStop
+        patrolMoveJob?.cancel()
         setCurrentTask("patrol")
         Log.i("MainActivity", "Patrol mode started: route=${route.joinToString()}")
+        moveToCurrentPatrolTarget()
     }
 
     private fun handlePatrolArrival(location: String) {
@@ -354,8 +366,50 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             patrolIndex = matchIndex + 1
         }
         if (patrolIndex >= patrolRoute.size) {
-            Log.i("MainActivity", "Patrol route completed: ${patrolRoute.joinToString()}")
-            setCurrentTask("")
+            patrolLoopsRemaining -= 1
+            if (patrolLoopsRemaining <= 0) {
+                Log.i("MainActivity", "Patrol route completed: ${patrolRoute.joinToString()}")
+                setCurrentTask("")
+                return
+            }
+            patrolIndex = 0
+        }
+        scheduleNextPatrolMove()
+    }
+
+    private fun moveToCurrentPatrolTarget() {
+        if (currentTask != "patrol") {
+            return
+        }
+        val target = patrolRoute.getOrNull(patrolIndex) ?: return
+        if (lastArrivalLocation?.equals(target, ignoreCase = true) == true) {
+            patrolIndex += 1
+            if (patrolIndex >= patrolRoute.size) {
+                Log.i("MainActivity", "Patrol route completed: ${patrolRoute.joinToString()}")
+                setCurrentTask("")
+                return
+            }
+            moveToCurrentPatrolTarget()
+            return
+        }
+        Log.i("MainActivity", "Patrol moving to next target: $target")
+        if (lastArrivalLocation?.equals("home base", ignoreCase = true) == true &&
+            !target.equals("home base", ignoreCase = true)
+        ) {
+            isLeavingHomeBase = true
+        }
+        navCon.goTo(target, false)
+    }
+
+    private fun scheduleNextPatrolMove() {
+        patrolMoveJob?.cancel()
+        if (patrolNonStop || patrolWaitingSeconds <= 0) {
+            moveToCurrentPatrolTarget()
+            return
+        }
+        patrolMoveJob = mainScope.launch {
+            delay(patrolWaitingSeconds * 1000L)
+            moveToCurrentPatrolTarget()
         }
     }
 
@@ -377,6 +431,11 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         if (finalTask != "patrol") {
             patrolRoute = emptyList()
             patrolIndex = 0
+            patrolLoopsRemaining = 1
+            patrolWaitingSeconds = 3
+            patrolNonStop = false
+            patrolMoveJob?.cancel()
+            patrolMoveJob = null
         }
     }
 
diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
index 6ffe1de..b89b1ef 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
@@ -229,6 +229,9 @@ class MqttManager(
             "patrol" -> {
                 speak("接到巡逻任务", "zh")
                 val flag = obj.optBoolean("flag", true)
+                val times = obj.optInt("times", 1)
+                val waiting = obj.optInt("waiting", obj.optInt("wait", 3))
+                val nonStop = obj.optBoolean("nonStop", obj.optBoolean("non_stop", false))
                 var patrolLocations: List<String> = emptyList()
                 if (flag) {
                     Log.d(TAG, "navController.randomPatrol() called.")
@@ -239,8 +242,8 @@ class MqttManager(
                         val locations = List(locationsArray.length()) {
                             locationsArray.getString(it)
                         }
-                        Log.d(TAG, "navController.NavPatrol() called with locations: $locations")
-                        navController.NavPatrol(locations)
+                        Log.d(TAG, "Patrol route received with locations: $locations")
+                        // navController.NavPatrol(locations)
                         patrolLocations = locations
                     } else {
                         Log.w(TAG, "Patrol command received without locations, falling back to random patrol.")
@@ -250,7 +253,7 @@ class MqttManager(
                 scope.launch(Dispatchers.Main) {
                     val activity = context as? MainActivity
                     if (patrolLocations.isNotEmpty()) {
-                        activity?.startPatrolMode(patrolLocations)
+                        activity?.startPatrolMode(patrolLocations, times, waiting, nonStop)
                     } else {
                         activity?.setCurrentTask("")
                     }
diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt
index 71e0065..f45a010 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt
@@ -50,7 +50,8 @@ class NavController(private val robot: Robot) {
         val patrolCount = (3..minOf(6, availablePatrolLocations.size)).random()
         val patrolLocations = availablePatrolLocations.shuffled().take(patrolCount)
         Log.i(TAG, "Starting random patrol with $patrolCount locations: ${patrolLocations.joinToString()}.")
-        NavPatrol(patrolLocations, false, 1, 5)
+        // 官方 patrol 调用保留（部分版本可能无效）
+        // NavPatrol(patrolLocations, false, 1, 5)
         return patrolLocations
     }
 }