diff --git a/component/component_proto/psd.pb.go b/component/component_proto/psd.pb.go
index 21dc2e6..9fd808f 100644
--- a/component/component_proto/psd.pb.go
+++ b/component/component_proto/psd.pb.go
@@ -170,6 +170,7 @@ type AsdState struct {
 	Gmdw bool `protobuf:"varint,1,opt,name=gmdw,proto3" json:"gmdw,omitempty"` //关门到位（实际位置）
 	Kmdw bool `protobuf:"varint,2,opt,name=kmdw,proto3" json:"kmdw,omitempty"` //开门到位（实际位置）
 	Mgj  bool `protobuf:"varint,3,opt,name=mgj,proto3" json:"mgj,omitempty"`   //门关继电器
+	Zaw  bool `protobuf:"varint,4,opt,name=zaw,proto3" json:"zaw,omitempty"`   //有障碍物
 }
 
 func (x *AsdState) Reset() {
@@ -225,6 +226,13 @@ func (x *AsdState) GetMgj() bool {
 	return false
 }
 
+func (x *AsdState) GetZaw() bool {
+	if x != nil {
+		return x.Zaw
+	}
+	return false
+}
+
 var File_component_psd_proto protoreflect.FileDescriptor
 
 var file_component_psd_proto_rawDesc = []byte{
@@ -238,14 +246,15 @@ var file_component_psd_proto_rawDesc = []byte{
 	0x0a, 0x09, 0x55, 0x6e, 0x64, 0x65, 0x66, 0x69, 0x6e, 0x65, 0x64, 0x10, 0x00, 0x12, 0x12, 0x0a,
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-	0x33,
+	0x03, 0x20, 0x01, 0x28, 0x08, 0x52, 0x03, 0x6d, 0x67, 0x6a, 0x12, 0x10, 0x0a, 0x03, 0x7a, 0x61,
+	0x77, 0x18, 0x04, 0x20, 0x01, 0x28, 0x08, 0x52, 0x03, 0x7a, 0x61, 0x77, 0x42, 0x1d, 0x5a, 0x1b,
+	0x2e, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x63, 0x6f, 0x6d, 0x70,
+	0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f,
+	0x74, 0x6f, 0x33,
 }
 
 var (
diff --git a/proto/src/component/psd.proto b/proto/src/component/psd.proto
index ce4bb1f..4c4a519 100644
--- a/proto/src/component/psd.proto
+++ b/proto/src/component/psd.proto
@@ -22,4 +22,5 @@ message AsdState {
   bool kmdw = 2; //开门到位（实际位置）
 
   bool mgj = 3; //门关继电器
+  bool zaw = 4; //有障碍物
 }
\ No newline at end of file
diff --git a/sys/device_sys/asd.go b/sys/device_sys/asd.go
index f0ec2a4..b99e31f 100644
--- a/sys/device_sys/asd.go
+++ b/sys/device_sys/asd.go
@@ -69,5 +69,11 @@ func (s *AsdSys) Update(world ecs.World) {
 			asdState.Kmdw = false
 			asdState.Gmdw = false
 		}
+		//障碍物
+		if entry.HasComponent(component.AsdHasObstacleTag) {
+			asdState.Zaw = true
+		} else {
+			asdState.Zaw = false
+		}
 	})
 }