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 0208ac0..5d48b74 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
@@ -334,12 +334,14 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         val isMoving = normalized in setOf("start", "starting", "going", "moving", "navigating", "calculating", "recalculating")
         if (isMoving) {
             cancelAutoRecharge("movement_started:$location/$status")
+            taskController.cancelTaskWaitTimeout()
         }
         if (normalized != "complete" && !isAbort) {
             return
         }
         if (isAbort) {
             cancelAutoRecharge("movement_aborted:$location/$status")
+            taskController.cancelTaskWaitTimeout()
             taskController.clearLeavingHomeBase()
             taskController.endNonSpecialTask("goTo aborted: $location, status=$status")
             return
@@ -362,6 +364,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             location.equals(taskController.getReceptionLocation(), ignoreCase = true)
         ) {
             captureReceptionAnchorYawIfNeeded()
+            taskController.startTaskWaitTimeout()
         }
         if (taskController.currentTask != "reception") {
             receptionAnchorYaw = null
diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/TaskController.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/TaskController.kt
index e0f3d14..ed17fa1 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/TaskController.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/TaskController.kt
@@ -33,6 +33,24 @@ class TaskController(
     private var patrolWaitingSeconds: Int = 3
     private var patrolNonStop: Boolean = false
     private var patrolMoveJob: Job? = null
+    private var taskWaitTimeoutJob: Job? = null
+
+    fun startTaskWaitTimeout() {
+        taskWaitTimeoutJob?.cancel()
+        taskWaitTimeoutJob = scope.launch {
+            delay(15 * 60 * 1000L) // 15 minutes
+            if (currentTask.isNotEmpty()) {
+                speak("任务超时了，任务被取消，我先回充电桩了")
+                setCurrentTask("")
+                navController.recharge()
+            }
+        }
+    }
+
+    fun cancelTaskWaitTimeout() {
+        taskWaitTimeoutJob?.cancel()
+        taskWaitTimeoutJob = null
+    }
 
     fun restoreState(
         task: String,
@@ -65,6 +83,7 @@ class TaskController(
         if (currentTask == finalTask) {
             return
         }
+        cancelTaskWaitTimeout()
         currentTask = finalTask
         if (finalTask == "patrol") {
             setEmoji(AnimatedEmojiView.Expression.ANGRY)
@@ -109,6 +128,8 @@ class TaskController(
         setReceptionButtonVisible(false)
         if (getLastArrivalLocation() != location) {
             navController.goTo(location, false)
+        } else {
+            startTaskWaitTimeout()
         }
     }
 
@@ -161,6 +182,7 @@ class TaskController(
         ) {
             when (state) {
                 DETECTED -> {
+                    startTaskWaitTimeout()
                     if (!isReceptionPromptVisible) {
                         isReceptionPromptVisible = true
                         setReceptionButtonVisible(true)