diff --git a/src/assets/js/websocketProtocol.ts b/src/assets/js/websocketProtocol.ts
index 05b20f7..ec353c6 100644
--- a/src/assets/js/websocketProtocol.ts
+++ b/src/assets/js/websocketProtocol.ts
@@ -37,6 +37,7 @@ function dataProcess(websocketDataCC:any): UavDynamicInfo|null {
  * @return UavDynamicInfo
  */
 function dataProcess_fromQT(websocketDataQT:any): UavDynamicInfo|null {
+
     let data:UavDynamicInfo = {
         alt: 0, groundSpeed: 0, heading: 0, pitch: 0, lat: 0, lon: 0, uavId: "", uavType: ""
     }
diff --git a/src/components/CollisionDetection.vue b/src/components/CollisionDetection.vue
index 6c050d2..715a399 100644
--- a/src/components/CollisionDetection.vue
+++ b/src/components/CollisionDetection.vue
@@ -5,7 +5,7 @@ import {
   profileAnalyse
 } from "@/utils/map/SpatialAnalysis.ts";
 import {Cartesian3} from "cesium";
-import {onMounted} from "vue";
+import {defineEmits, onMounted} from "vue";
 import * as echarts from "echarts";
 import {EChartsType} from "echarts";
 import {useLayerStore} from "@/store/layerManagerStore.ts";
@@ -15,11 +15,15 @@ let myChart1: EChartsType = undefined
 let uavDisArr: number[] = []
 let uavHeightArr: number[] = []
 let terrainArr: number[] = []
+defineEmits(['shutdown']);
 onMounted(()=>{
   myChart = echarts.init(document.getElementById('detection-chart'))
   myChart1 = echarts.init(document.getElementById('terrain-chart'))
 })
-
+window.addEventListener('resize',function(){
+  myChart.resize()
+  myChart1.resize()
+})
 const props = defineProps(['groundHeight'])
 /**
  * 绘制地形碰撞检测折线图，差值间隔为1km
@@ -29,8 +33,8 @@ const props = defineProps(['groundHeight'])
  * @param max_dis 预先探测距离 m
  */
 const drawTerrain = (height: number, currentPos:Cartesian3, nextPos: Cartesian3, max_dis: number) => {
-  // 计算地形剖面
-  let res = profileAnalyse(window.viewer, [currentPos, nextPos], max_dis/1000)
+  // 计算地形剖面，默认采样间隔为1km
+  let res = profileAnalyse(window.viewer, [currentPos, nextPos],1000)
   // 弹出图表窗口
   drawEcharts_CollisionDetection(myChart1, res.distanceArray, res.elevationArray, height, max_dis)
 }
@@ -67,20 +71,12 @@ defineExpose({
 <template>
   <div class="chart" id="detection-chart"></div>
   <div class="chart" id="terrain-chart"></div>
-<!--  <n-grid x-gap="12" :cols="2">-->
-<!--    <n-gi class="chart">-->
-<!--      <div id="detection-chart"></div>-->
-<!--    </n-gi>-->
-<!--    <n-gi class="chart">-->
-<!--      <div id="terrain-chart"></div>-->
-<!--    </n-gi>-->
-<!--  </n-grid>-->
 </template>
 
 <style scoped>
 .chart{
-  height: 15rem;
+  height: 25vh;
   width: 33rem;
-  margin: 1rem 0 -4rem 0;
+  margin: 0 0 0 0;
 }
 </style>
\ No newline at end of file
diff --git a/src/components/HomePage.vue b/src/components/HomePage.vue
index 4a1963e..472e21e 100644
--- a/src/components/HomePage.vue
+++ b/src/components/HomePage.vue
@@ -3,33 +3,59 @@ import {defineComponent} from 'vue'
 import SceneViewer from "@/components/map/SceneViewer.vue";
 import BottomBar from "@/components/map/BottomBar.vue";
 import Toolbar from "@/components/toolbar.vue";
+import CollisionDetection from "@/components/CollisionDetection.vue";
+import {useMessage} from 'naive-ui'
 
 export default defineComponent({
   name: "HomePage",
-  components: {Toolbar, BottomBar, SceneViewer}
+  components: {CollisionDetection, Toolbar, BottomBar, SceneViewer},
+  data(){
+    return {
+      showDetection: false,
+      graphHeight: 0,
+      message: useMessage()
+    }
+  },
+  computed: {
+    setPageStyle: function () {
+      return this.showDetection? 100 - this.graphHeight : 100
+      }
+  },
+  methods: {
+    // 显示地形碰撞检测面板，resize地图窗口
+    resizeMap(height: number) {
+      if(height<0)
+        this.showDetection = false
+      else{
+        this.graphHeight = height
+        this.showDetection = true
+      }
+    },
+  }
 })
 </script>
 
 <template>
-  <div id="map">
+  <div id="map" :style="{height: setPageStyle+'vh'}">
     <SceneViewer id="scene-viewer"></SceneViewer>
     <BottomBar></BottomBar>
-    <toolbar></toolbar>
+    <toolbar ref="ToolBar" @resizeMap="resizeMap"></toolbar>
   </div>
+
 </template>
 
 <style>
 @import '../styles/cesium-compass.css';
 #map {
   width: 100vw;
-  height: 100vh;
   position: relative;
-  /* overflow: hidden; */
 }
 #scene-viewer {
   width: 100vw;
-  height: 100vh;
+  height: 100%;
   position: absolute;
   overflow: hidden;
 }
+
+
 </style>
\ No newline at end of file
diff --git a/src/components/toolbar.vue b/src/components/toolbar.vue
index 9441678..c7d351a 100644
--- a/src/components/toolbar.vue
+++ b/src/components/toolbar.vue
@@ -4,29 +4,32 @@
   创建人：Zhaipeixiu
 -->
 <script setup>
-import {ChevronBack, CreateOutline, DuplicateSharp, EyeSharp, Layers, Settings} from '@vicons/ionicons5'
+import {ChevronBack,ChevronForward, CreateOutline, DuplicateSharp, EyeSharp, Layers, Settings} from '@vicons/ionicons5'
 import {RulerAlt} from '@vicons/carbon'
 import {TerrainSharp} from '@vicons/material'
 import {DrawPolygon} from '@vicons/fa'
 import {useMessage} from 'naive-ui'
-import {ref} from "vue";
+import {ref, defineEmits} from "vue";
 import {useStaticStore} from "@/store/staticOptions.js";
 import {dataProcess_fromQT, dataProcess_fromQT_route} from "@/assets/js/websocketProtocol.ts";
 import SpatialAnalysis from "@/components/SpatialAnalysis.vue";
 import LayerManager from "@/components/map/LayerManager.vue";
-import CollisionDetection from "@/components/CollisionDetection.vue";
+import CollisionDetection from "./CollisionDetection.vue"
 import {useLayerStore} from "@/store/layerManagerStore.ts";
 import {Cartesian3} from "cesium";
 import {ByDirectionAndLen, getDistance, getElevation} from "@/utils/map/geocomputation.ts";
 
+
+const emit = defineEmits(['resizeMap'])
 const message = useMessage();
 let SceneValue;
 let showModal = ref(false);
-let showDetection = ref(false);
 let hasPlane = ref(false);
+let showDetection = ref(false);
 let store = useStaticStore();
 let lStore = useLayerStore();
 let groundHeight = ref(-1)
+let detectDivHeight = ref(25)
 const spatialAnalyse = ref(null)
 const layerManager = ref(null)
 const collisionDetection = ref(null)
@@ -44,9 +47,19 @@ function handleSceneSelect(key){
 }
 let layerValue = ref('layer1');
 let barIsOpen = ref(true);
-
+function openCloseBar() {
+  // 获取元素
+  let toolbar = document.querySelector('.panel-toolbar989834y34');
+  if(toolbar?.classList.contains('open')){  //关闭
+    toolbar?.classList.remove('open');
+  }
+  else {         // 打开
+    toolbar?.classList.add('open');
+  }
+  barIsOpen.value = !barIsOpen.value
+}
 function handleEditSelect(key) {
-  if(key === 'requestLine') {
+  if(key === 'createLine') {
 
   }
   else{
@@ -152,7 +165,7 @@ function measureArea() {
 async function connectWebSocket() {
   store.webskt.ws = new WebSocket('ws://'+store.webskt.ws_config.address+':'+store.webskt.ws_config.port);
   store.webskt.ws.onopen = function(event){
-    console.log("Connection open ...");
+    console.log("Connection open ...")
     store.webskt.ws.send("hello QT!")
   }
 
@@ -166,6 +179,7 @@ async function connectWebSocket() {
       if (ycData != null) {
         // 更新遥测数据（飞机位置）
         window.measureViewer.updateDynamicData(ycData)
+        lStore.validYCData = true
         // 添加飞机三维图标
         if(!hasPlane.value){
           window.measureViewer.addAirplaneEntity(store.models.fp98, ycData.uavId + ycData.uavType)
@@ -173,7 +187,8 @@ async function connectWebSocket() {
           hasPlane.value = true;
         }
         // 加载和更新碰撞检测图(50帧更新一次)
-        if(frameCount>50){
+        if(frameCount>50 && lStore.openDetect){
+          emit('resizeMap', detectDivHeight.value)
           showDetection.value = true
           frameCount = 0
           let currentPos = Cartesian3.fromDegrees(ycData.lon, ycData.lat,ycData.alt)
@@ -194,16 +209,17 @@ async function connectWebSocket() {
           // 当前飞机高度（折线图） 和飞机前方10公里处的地形高度（以飞机当前航向推算）
           let max_dis = 5000
           new Promise(resolve => {
-            // 计算前方10公里处的坐标点
+            // 计算前方5公里处的坐标点
             let detectPos = ByDirectionAndLen(currentPos, ycData.heading, max_dis)
             // 计算地形剖面
             collisionDetection.value.drawTerrain(ycData.alt, currentPos, detectPos, max_dis)
             resolve(detectPos)
-          }).then(res=>{
-            window.measureViewer.addPointEntity(res)
           })
         }
       }
+      else{ //遥测解析错误或无数据
+        lStore.validYCData = false
+      }
     }
     if(sktData.type === 1){
       let routeData = dataProcess_fromQT_route(sktData)
@@ -218,6 +234,17 @@ async function connectWebSocket() {
   };
 }
 
+//关闭动态碰撞检测功能
+function shutDownDetec() {
+  if(lStore.openDetect){
+    emit('resizeMap', -1)
+  }else{
+    emit('resizeMap', detectDivHeight.value)
+  }
+  showDetection.value = !showDetection.value;
+  lStore.openDetect = !lStore.openDetect
+
+}
 /**
  * 关闭websocket连接
  */
@@ -234,7 +261,7 @@ function manageLayer(){
 </script>
 
 <template>
-  <n-space id="panel">
+  <n-space class="panel-toolbar989834y34">
     <n-row justify-content="space-between">
     <n-tooltip placement="bottom" trigger="hover" >
       <template #trigger>
@@ -265,6 +292,7 @@ function manageLayer(){
     </n-dropdown>
     <n-dropdown :options="store.menuOptions.EditOptions" @select="handleEditSelect">
     <n-button tertiary circle type="warning">
+    <!--航线绘制-->
       <template #icon>
         <n-icon><CreateOutline/></n-icon>
       </template>
@@ -296,25 +324,32 @@ function manageLayer(){
     </n-tooltip>
     <n-popselect v-model:value="SceneValue" :options="store.menuOptions.sceneOptions"
                  @update:value="handleSceneSelect" size="medium">
-<!--                 :disabled="!hasPlane" -->
-
       <n-button tertiary circle type="warning">
         <template #icon>
           <n-icon><EyeSharp/></n-icon>
         </template>
       </n-button>
     </n-popselect>
-    <n-button tertiary circle type="warning">
+    <n-button tertiary circle type="warning" @click="openCloseBar">
       <template #icon>
-<!--        ChevronBack,ChevronForward,-->
-        <n-icon><ChevronBack/></n-icon>
+        <n-icon v-if="barIsOpen"><ChevronBack/></n-icon>
+        <n-icon v-else><ChevronForward/></n-icon>
       </template>
     </n-button>
     </n-row>
   </n-space>
-  <n-flex id="detectionGraph" justify="center" v-show="showDetection">
-    <CollisionDetection ref="collisionDetection" :groundHeight="groundHeight"></CollisionDetection>
-  </n-flex>
+  <n-button id="bt_switch" size="small" :type="showDetection? 'error': 'success'" v-if="lStore.validYCData"
+            @click="shutDownDetec" :style="{bottom:'0vh'}">
+    {{showDetection? '关闭图表': '显示图表'}}
+  </n-button>
+
+  <n-collapse-transition v-show="showDetection">
+    <n-flex id="detectionGraph" justify="center"
+            :style="{height: detectDivHeight +'vh'}">
+      <CollisionDetection ref="collisionDetection" ></CollisionDetection>
+    </n-flex>
+  </n-collapse-transition>
+
 
   <n-modal v-model:show="showModal"
         style="width: 30%"
@@ -350,21 +385,31 @@ function manageLayer(){
   <LayerManager ref="layerManager"></LayerManager>
 </template>
 
-<style scoped>
-#panel{
+<style>
+.panel-toolbar989834y34{
   position: absolute;
   top: 10px;
   left: 2px;
   border-radius: 7px;
   background: rgba(21, 21, 21, 0.94);
+  transition: left 0.3s;
 }
 
+.panel-toolbar989834y34.open{
+  position: absolute;
+  left: -20rem;
+}
+
+#bt_switch{
+  position: absolute;
+  z-index: 2;
+}
 #detectionGraph{
   position: absolute;
-  bottom: 2rem;
-  width: 100%;
-  height: 15rem;
+  bottom: -25vh;
+  width: 100vW;
   border-radius: 7px;
   background: rgba(255, 255, 255, 0.8);
 }
+
 </style>
diff --git a/src/store/layerManagerStore.ts b/src/store/layerManagerStore.ts
index 54534f9..032cb9f 100644
--- a/src/store/layerManagerStore.ts
+++ b/src/store/layerManagerStore.ts
@@ -12,6 +12,8 @@ export const useLayerStore = defineStore('LayerStore', {
     state: ()=>{
         return {
             Layers: [] as layer[],
+            openDetect: true,
+            validYCData: false,
             navi: {
                 airlines: [] as Airline[],
                 currentRouteID: -1,  //当前航线号
diff --git a/src/store/staticOptions.js b/src/store/staticOptions.js
index c7b88ab..cba902c 100644
--- a/src/store/staticOptions.js
+++ b/src/store/staticOptions.js
@@ -13,7 +13,7 @@ export const useStaticStore = defineStore('staticOptions',{
             },
             menuOptions:{
                 EditOptions: [
-                    {label: '查询航线', key: 'requestLine'},
+                    {label: '绘制航线', key: 'createLine'},
                     {label: '航线管理', key: 'manage'}
                 ],
                 sceneOptions:[
diff --git a/src/styles/cesium-compass.css b/src/styles/cesium-compass.css
index 6fc10ee..7c71e39 100644
--- a/src/styles/cesium-compass.css
+++ b/src/styles/cesium-compass.css
@@ -49,7 +49,7 @@ screen and (max-height: 420px) {
 .navigation-controls {
     position: absolute;
     right: 1.8rem;
-    top: 65vh;
+    top: 55vh;
     width: 2rem;
     border: 1px solid rgba(255, 255, 255, 0.8);
     border-radius: .3rem .3rem .3rem .3rem;
@@ -107,7 +107,7 @@ screen and (max-height: 420px) {
     pointer-events: auto;
     position: absolute;
     right: 0;
-    top: 50vh;
+    top: 41vh;
     width: 6rem;
     height: 6rem;
     overflow: hidden;
diff --git a/src/utils/map/SpatialAnalysis.ts b/src/utils/map/SpatialAnalysis.ts
index 257da0e..d198ab2 100644
--- a/src/utils/map/SpatialAnalysis.ts
+++ b/src/utils/map/SpatialAnalysis.ts
@@ -8,7 +8,7 @@ import {getDistance, getElevation} from "@/utils/map/geocomputation.ts";
 import {Cartesian3, Viewer} from "cesium";
 import * as echarts from "echarts";
 import {EChartsType} from "echarts";
-import {Airline, AirlinePoint} from "@/types/entityoptions.ts";
+import {Airline} from "@/types/entityoptions.ts";
 type ProfileResult = {
  distanceArray:number[],
  elevationArray:number[],
@@ -84,7 +84,7 @@ export function profileAnalyse(viewer: Viewer, polyline:Cartesian3[], interval:
  * @return 从折线起点至终点剖面线的海拔高度数组
  */
 export function profileAnalyse_promise(viewer: Viewer, route: Airline, interval: number){
- return new Promise((resolve, reject) => {
+ return new Promise((resolve) => {
   let result: ProfileResult = { distanceArray:[], elevationArray:[] }
   let polyline = []
   //航线转为坐标点数组
@@ -288,6 +288,13 @@ export function drawEchartsProfileAnalyse(xData:number[], yData:number[]) {
 export function drawEcharts_CollisionDetection(myChart: EChartsType, xData:number[], yData:number[], height:number,max_distance:number) {
  // 绘制图表
  myChart.setOption({
+  /** 配置图标离容器上下左右的距离 */
+  grid: {
+   top: "20%",
+   right: "5%",
+   left:"10%",
+   bottom: "12%",
+  },
   legend: {
    show: true,
    type: 'plain',
@@ -320,12 +327,11 @@ export function drawEcharts_CollisionDetection(myChart: EChartsType, xData:numbe
    formatter:'地表高度: {c0}'
   },
   xAxis: {
-   max: max_distance,
+   max: Math.ceil(max_distance).toString(),
    data: xData,
    nameTextStyle: {
     fontWeight:'bolder',
     fontSize: 14,
-    padding:[0,0,-520,0]
    },
    nameLocation: 'bottom',
    axisLine:{
@@ -427,6 +433,13 @@ export function drawEcharts_CollisionDetection(myChart: EChartsType, xData:numbe
 export function drawEcharts_CollisionDetection2(myChart: EChartsType, xData:number[], yData:number[], yData2: number[]) {
  // 绘制图表
  myChart.setOption({
+  /** 配置图标离容器上下左右的距离 */
+  grid: {
+   top: "20%",
+   right: "5%",
+   left:"10%",
+   bottom: "12%",
+  },
   legend: {
    show: true,
    type: 'plain',