diff --git a/Vision/tool/utils.py b/Vision/tool/utils.py
index f6d86fd..c23661a 100644
--- a/Vision/tool/utils.py
+++ b/Vision/tool/utils.py
@@ -15,21 +15,22 @@ from psutil._common import bytes2human
 
 
 def out_bounds_dete(pm_y, pm_x, piont_y, piont_x):
-    if piont_y>pm_y:
-        piont_y = pm_y
+    if piont_y>=pm_y:
+        piont_y = pm_y-1
         print('四坐标点超出点云大小')
     if piont_y<0:
         piont_y=0
         print('四坐标点超出点云大小')
-    if piont_x>pm_x:
-        piont_x = pm_x
+    if piont_x>=pm_x:
+        piont_x = pm_x-1
         print('四坐标点超出点云大小')
     if piont_x<0:
         piont_x=0
         print('四坐标点超出点云大小')
     return piont_y, piont_x
 
-def remove_nan_mean_value(pm, y, x, iter_max=15):
+def remove_nan_mean_value(pm, y, x, iter_max=50):
+    y, x = out_bounds_dete(pm.shape[0], pm.shape[1], y, x)
     point_x, point_y, point_z = pm[y, x]
     if np.isnan(point_x):
         print('Nan值去除')
@@ -66,7 +67,7 @@ def remove_nan_mean_value(pm, y, x, iter_max=15):
                         point_z_list.append(pm[y_current, x_current][2])
 
             len_point_x = len(point_x_list)
-            if len_point_x>0:
+            if len_point_x > 0:
                 point_x = sum(point_x_list)/len_point_x
                 point_y = sum(point_y_list)/len_point_x
                 point_z = sum(point_z_list)/len_point_x
@@ -78,7 +79,7 @@ def remove_nan_mean_value(pm, y, x, iter_max=15):
     if remove_nan_isok == True:
         return point_x, point_y, point_z
     else:
-        print('在15*15范围中未找到有效值，所有点云值为无效值')
+        print(f'在{iter_max}*{iter_max}范围中未找到有效值，所有点云值为无效值')
         return np.nan, np.nan, np.nan
 
 def remove_nan(pm, y, x):