diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
index 476bf5cd6..23ea4d49e 100644
--- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
@@ -338,4 +338,7 @@ public interface ErrorCodeConstants {
 
     //========== 车辆行走路线耗时记录 1_002_061_001 ==========
     ErrorCode TASK_LINE_TIME_CONSUMING_NOT_EXISTS = new ErrorCode(1_002_061_001, "车辆行走路线耗时记录不存在");
+
+    // ========== 取货点位 1_002_062_001 ==========
+    ErrorCode HOUSE_TAKE_POINT_NOT_EXISTS = new ErrorCode(1_002_062_001, "取货点位不存在");
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
index 3ed805f86..8f9853772 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
@@ -6,7 +6,6 @@ import cn.iocoder.yudao.framework.common.util.date.DateUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
-import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotCommandStateDTO;
@@ -16,7 +15,6 @@ import cn.iocoder.yudao.module.system.api.robot.websocket.WsWareHouseLocationDTO
 import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
 import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.CommonConstant;
-import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
@@ -38,7 +36,7 @@ import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
-import cn.iocoder.yudao.module.system.enums.robot.task.event.RobotTaskEventTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
 import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
 import cn.iocoder.yudao.module.system.mq.producer.task.TaskDistributionProducer;
 import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
@@ -52,7 +50,6 @@ import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
 import org.slf4j.MDC;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
 import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -63,8 +60,6 @@ import java.time.LocalDateTime;
 import java.util.List;
 import java.util.UUID;
 
-import static cn.iocoder.yudao.module.system.service.robot.RobotInformationServiceImpl.key;
-
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
 @Validated
@@ -286,7 +281,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         addTaskDetailActionDoneLog(robotCompleteTaskDTO, robotTaskDetail);
 
         TaskDistributionMessage mess = new TaskDistributionMessage(this, robotCompleteTaskDTO.getOrderId() + "",
-                RobotTaskEventTypeEnum.DONE.getType());
+                EventTypeEnum.TASK_DONE.getType());
         taskDistributionProducer.sendSmsSendMessage(mess);
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java
index f4ac31311..9a2404aa4 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java
@@ -7,20 +7,18 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
-import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
 import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.WorkProgressEnum;
-import cn.iocoder.yudao.module.system.enums.robot.task.event.RobotTaskEventTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
 import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
 import cn.iocoder.yudao.module.system.mq.producer.task.TaskDistributionProducer;
 import cn.iocoder.yudao.module.system.service.log.RobotOperationLogService;
 import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
-import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -71,7 +69,7 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
         operationLogService.createOperationLog(createReqVO);
 
         TaskDistributionMessage mess  = new TaskDistributionMessage(this,message,
-                RobotTaskEventTypeEnum.TIME.getType());
+                EventTypeEnum.TASK_TIME.getType());
         taskDistributionProducer.sendSmsSendMessage(mess);
 
         if ((CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(data.getCommandType())
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java
new file mode 100644
index 000000000..9dcff8ede
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java
@@ -0,0 +1,105 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
+import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
+import org.springframework.web.bind.annotation.*;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.security.access.prepost.PreAuthorize;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Operation;
+
+import javax.validation.constraints.*;
+import javax.validation.*;
+import javax.servlet.http.*;
+import java.util.*;
+import java.io.IOException;
+
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
+
+import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
+import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
+
+
+@Tag(name = "管理后台 - 取货点位")
+@RestController
+@RequestMapping("/system/ware/house-take-point")
+@Validated
+public class WareHouseTakePointController {
+
+    @Resource
+    private WareHouseTakePointService houseTakePointService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建取货点位")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point:create')")
+    public CommonResult<Long> createHouseTakePoint(@Valid @RequestBody WareHouseTakePointSaveReqVO createReqVO) {
+        return success(houseTakePointService.createHouseTakePoint(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新取货点位")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point:update')")
+    public CommonResult<Boolean> updateHouseTakePoint(@Valid @RequestBody WareHouseTakePointSaveReqVO updateReqVO) {
+        houseTakePointService.updateHouseTakePoint(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除取货点位")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point:delete')")
+    public CommonResult<Boolean> deleteHouseTakePoint(@RequestParam("id") Long id) {
+        houseTakePointService.deleteHouseTakePoint(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得取货点位")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point:query')")
+    public CommonResult<WareHouseTakePointRespVO> getHouseTakePoint(@RequestParam("id") Long id) {
+        WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(id);
+        return success(BeanUtils.toBean(houseTakePoint, WareHouseTakePointRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得取货点位分页")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point:query')")
+    public CommonResult<PageResult<WareHouseTakePointRespVO>> getHouseTakePointPage(@Valid WareHouseTakePointPageReqVO pageReqVO) {
+        PageResult<WareHouseTakePointDO> pageResult = houseTakePointService.getHouseTakePointPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, WareHouseTakePointRespVO.class));
+    }
+
+    @GetMapping("/list")
+    @Operation(summary = "获得取货点位集合")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point:list')")
+    public CommonResult<List<WareHouseTakePointRespVO>> getHouseTakePointList() {
+        List<WareHouseTakePointDO> list = houseTakePointService.getHouseTakePointList();
+        return success(BeanUtils.toBean(list, WareHouseTakePointRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出取货点位 Excel")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportHouseTakePointExcel(@Valid WareHouseTakePointPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<WareHouseTakePointDO> list = houseTakePointService.getHouseTakePointPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "取货点位.xls", "数据", WareHouseTakePointRespVO.class,
+                        BeanUtils.toBean(list, WareHouseTakePointRespVO.class));
+    }
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java
new file mode 100644
index 000000000..0746cb6a4
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java
@@ -0,0 +1,50 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import lombok.*;
+import java.util.*;
+import io.swagger.v3.oas.annotations.media.Schema;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import java.math.BigDecimal;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+
+import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
+
+@Schema(description = "管理后台 - 取货点位分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class WareHouseTakePointPageReqVO extends PageParam {
+
+    @Schema(description = "点位类型名称", example = "李四")
+    private String pointName;
+
+    @Schema(description = "点位类型(备用)", example = "2")
+    private Integer pointType;
+
+    @Schema(description = "总高度")
+    private BigDecimal totalHeight;
+
+    @Schema(description = "托盘高度")
+    private BigDecimal trayHeight;
+
+    @Schema(description = "点位状态, 0:空闲, 1:有货", example = "2")
+    private Integer pointStatus;
+
+    @Schema(description = "地图id", example = "25285")
+    private Long positionMapId;
+
+    @Schema(description = "地图字表节点id", example = "527")
+    private Long positionMapItemId;
+
+    @Schema(description = "实际坐标x轴")
+    private String actualLocationX;
+
+    @Schema(description = "实际坐标y轴")
+    private String actualLocationY;
+
+    @Schema(description = "创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] createTime;
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java
new file mode 100644
index 000000000..b31064337
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java
@@ -0,0 +1,60 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import java.math.BigDecimal;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+import com.alibaba.excel.annotation.*;
+
+@Schema(description = "管理后台 - 取货点位 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class WareHouseTakePointRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "11573")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "点位类型名称", example = "李四")
+    @ExcelProperty("点位类型名称")
+    private String pointName;
+
+    @Schema(description = "点位类型(备用)", example = "2")
+    @ExcelProperty("点位类型(备用)")
+    private Integer pointType;
+
+    @Schema(description = "总高度")
+    @ExcelProperty("总高度")
+    private BigDecimal totalHeight;
+
+    @Schema(description = "托盘高度")
+    @ExcelProperty("托盘高度")
+    private BigDecimal trayHeight;
+
+    @Schema(description = "点位状态, 0:空闲, 1:有货", example = "2")
+    @ExcelProperty("点位状态, 0:空闲, 1:有货")
+    private Integer pointStatus;
+
+    @Schema(description = "地图id", example = "25285")
+    @ExcelProperty("地图id")
+    private Long positionMapId;
+
+    @Schema(description = "地图字表节点id", example = "527")
+    @ExcelProperty("地图字表节点id")
+    private Long positionMapItemId;
+
+    @Schema(description = "实际坐标x轴")
+    @ExcelProperty("实际坐标x轴")
+    private String actualLocationX;
+
+    @Schema(description = "实际坐标y轴")
+    @ExcelProperty("实际坐标y轴")
+    private String actualLocationY;
+
+    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("创建时间")
+    private LocalDateTime createTime;
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointSaveReqVO.java
new file mode 100644
index 000000000..2caa3d509
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointSaveReqVO.java
@@ -0,0 +1,43 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+import java.math.BigDecimal;
+
+@Schema(description = "管理后台 - 取货点位新增/修改 Request VO")
+@Data
+public class WareHouseTakePointSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "11573")
+    private Long id;
+
+    @Schema(description = "点位类型名称", example = "李四")
+    private String pointName;
+
+    @Schema(description = "点位类型(备用)", example = "2")
+    private Integer pointType;
+
+    @Schema(description = "总高度")
+    private BigDecimal totalHeight;
+
+    @Schema(description = "托盘高度")
+    private BigDecimal trayHeight;
+
+    @Schema(description = "点位状态, 0:空闲, 1:有货", example = "2")
+    private Integer pointStatus;
+
+    @Schema(description = "地图id", example = "25285")
+    private Long positionMapId;
+
+    @Schema(description = "地图字表节点id", example = "527")
+    private Long positionMapItemId;
+
+    @Schema(description = "实际坐标x轴")
+    private String actualLocationX;
+
+    @Schema(description = "实际坐标y轴")
+    private String actualLocationY;
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
index 730440266..70b5a5fa7 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
@@ -41,7 +41,7 @@ public class DeviceInformationPageReqVO extends PageParam {
     @Schema(description = "深度")
     private BigDecimal locationDeep;
 
-    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头,10 :翻转机
     @Schema(description = "设备类型 字典device_type", example = "2")
     private Integer deviceType;
 
@@ -101,4 +101,7 @@ public class DeviceInformationPageReqVO extends PageParam {
     @Schema(description = "摄像头编号")
     private String cameraCode;
 
+    @Schema(description = "ware_house_take_point的id")
+    private Long takePointId;
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
index a42dd8900..530d5b117 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
@@ -50,7 +50,7 @@ public class DeviceInformationRespVO {
     @ExcelProperty("深度")
     private BigDecimal locationDeep;
 
-    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头,10 :翻转机
     @Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
     @ExcelProperty("设备类型 字典device_type")
     private Integer deviceType;
@@ -135,4 +135,8 @@ public class DeviceInformationRespVO {
     @Schema(description = "摄像头编号")
     @ExcelProperty("摄像头编号")
     private String cameraCode;
+
+    @Schema(description = "ware_house_take_point的id")
+    @ExcelProperty("ware_house_take_point的id")
+    private Long takePointId;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
index 25b7afc49..aebfdacf7 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
@@ -41,7 +41,7 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "深度")
     private BigDecimal locationDeep;
 
-    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机 9:摄像头
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机 9:摄像头,10 :翻转机
     @Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
     @NotNull(message = "设备类型不能为空")
     private Integer deviceType;
@@ -100,4 +100,7 @@ public class DeviceInformationSaveReqVO {
 
     @Schema(description = "摄像头编号")
     private String cameraCode;
+
+    @Schema(description = "ware_house_take_point的id")
+    private Long takePointId;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
index 98b88a843..992129e94 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
@@ -18,13 +18,14 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
+import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
 import cn.iocoder.yudao.module.system.handler.mapnode.NodeProcessingContext;
+import cn.iocoder.yudao.module.system.mq.message.map.MapMessage;
+import cn.iocoder.yudao.module.system.mq.producer.map.MapProducer;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapLineService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
-import com.alibaba.fastjson.JSON;
-import com.baomidou.mybatisplus.core.toolkit.IdWorker;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.Parameter;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -43,6 +44,7 @@ import java.util.Map;
 import java.util.stream.Collectors;
 
 import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
 @Slf4j
 @Tag(name = "管理后台 - 仓库点位地图子表")
 @RestController
@@ -66,7 +68,7 @@ public class PositionMapItemController {
     private RobotTaskService taskService;
 
     @Resource
-    private PathApi pathApi;
+    private MapProducer mapProducer;
 
     // -- 前端给所有的节点信息 -
     @PostMapping("/batchSaveOrEditOrDel")
@@ -93,7 +95,9 @@ public class PositionMapItemController {
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
 
-        pathApi.pathInitData();
+        MapMessage mes = new MapMessage(this, positionMapId + "",
+                EventTypeEnum.MAP_UPDATE.getType());
+        mapProducer.sendSmsSendMessage(mes);
 
         return success(true);
     }
@@ -139,7 +143,7 @@ public class PositionMapItemController {
     @PostMapping("/lineAddItem")
     @Operation(summary = "线上加点保存点位")
     @PreAuthorize("@ss.hasPermission('system:position-map-item:lineAddItem')")
-    public CommonResult<Map<String,Object>> lineAddItem(@Valid @RequestBody List<PositionMapItemNodeDTO> list) {
+    public CommonResult<Map<String, Object>> lineAddItem(@Valid @RequestBody List<PositionMapItemNodeDTO> list) {
 
         PositionMapItemSaveReqVO positionMapItem = BeanUtils.toBean(list.get(0), PositionMapItemSaveReqVO.class);
         positionMapItemService.createPositionMapItem(positionMapItem);
@@ -153,7 +157,7 @@ public class PositionMapItemController {
             itemIds.add(positionMapLineDO.getEndPointId());
         }
 
-        Map<Long,Long> sortNumMap = positionMapItemService.getSortNumMapByIds(itemIds);
+        Map<Long, Long> sortNumMap = positionMapItemService.getSortNumMapByIds(itemIds);
 
         for (PositionMapLineDO positionMapLineDO : lineList) {
             positionMapLineDO.setPositionMapId(positionMapItem.getPositionMapId());
@@ -161,9 +165,9 @@ public class PositionMapItemController {
             positionMapLineDO.setEndPointSortNum(sortNumMap.get(positionMapLineDO.getEndPointId()).intValue());
         }
         positionMapLineService.batchSaveLines(lineList);
-        Map<String,Object> map = new HashMap<>();
-        map.put("ITEM",positionMapItemService.getPositionMapItem(positionMapItem.getId()));
-        map.put("LINE",lineList);
+        Map<String, Object> map = new HashMap<>();
+        map.put("ITEM", positionMapItemService.getPositionMapItem(positionMapItem.getId()));
+        map.put("LINE", lineList);
         return success(map);
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointDO.java
new file mode 100644
index 000000000..1b0dd71b4
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointDO.java
@@ -0,0 +1,69 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
+
+import lombok.*;
+import java.util.*;
+import java.math.BigDecimal;
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 取货点位 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("ware_house_take_point")
+@KeySequence("ware_house_take_point_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库，可不写。
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class WareHouseTakePointDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 点位类型名称
+     */
+    private String pointName;
+    /**
+     * 点位类型(备用)
+     */
+    private Integer pointType;
+    /**
+     * 总高度
+     */
+    private BigDecimal totalHeight;
+    /**
+     * 托盘高度
+     */
+    private BigDecimal trayHeight;
+    /**
+     * 点位状态, 0:空闲, 1:有货
+     */
+    private Integer pointStatus;
+    /**
+     * 地图id
+     */
+    private Long positionMapId;
+    /**
+     * 地图字表节点id
+     */
+    private Long positionMapItemId;
+    /**
+     * 实际坐标x轴
+     */
+    private String actualLocationX;
+    /**
+     * 实际坐标y轴
+     */
+    private String actualLocationY;
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
index 48e9d492d..a355d4c1e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
@@ -67,7 +67,7 @@ public class DeviceInformationDO extends BaseDO {
      */
     private BigDecimal locationDeep;
     /**
-     * 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
+     * 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头 ,10 :翻转机
      * 设备类型 字典device_type
      */
     private Integer deviceType;
@@ -144,4 +144,9 @@ public class DeviceInformationDO extends BaseDO {
      * 摄像头编号
      */
     private String cameraCode;
+
+    /**
+     * ware_house_take_point的id
+     */
+    private Long takePointId;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointMapper.java
new file mode 100644
index 000000000..67606f2ce
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointMapper.java
@@ -0,0 +1,35 @@
+package cn.iocoder.yudao.module.system.dal.mysql.houselocation;
+
+import java.util.*;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 取货点位 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface WareHouseTakePointMapper extends BaseMapperX<WareHouseTakePointDO> {
+
+    default PageResult<WareHouseTakePointDO> selectPage(WareHouseTakePointPageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<WareHouseTakePointDO>()
+                .likeIfPresent(WareHouseTakePointDO::getPointName, reqVO.getPointName())
+                .eqIfPresent(WareHouseTakePointDO::getPointType, reqVO.getPointType())
+                .eqIfPresent(WareHouseTakePointDO::getTotalHeight, reqVO.getTotalHeight())
+                .eqIfPresent(WareHouseTakePointDO::getTrayHeight, reqVO.getTrayHeight())
+                .eqIfPresent(WareHouseTakePointDO::getPointStatus, reqVO.getPointStatus())
+                .eqIfPresent(WareHouseTakePointDO::getPositionMapId, reqVO.getPositionMapId())
+                .eqIfPresent(WareHouseTakePointDO::getPositionMapItemId, reqVO.getPositionMapItemId())
+                .eqIfPresent(WareHouseTakePointDO::getActualLocationX, reqVO.getActualLocationX())
+                .eqIfPresent(WareHouseTakePointDO::getActualLocationY, reqVO.getActualLocationY())
+                .betweenIfPresent(WareHouseTakePointDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(WareHouseTakePointDO::getId));
+    }
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
index c426c0eca..ee23dccf7 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
@@ -15,7 +15,8 @@ public enum DeviceTypeEnum {
     SIGNAL_LIGHT(6, "信号灯"),
     BUTTON_BOX(7, "按钮盒"),
     DISMANTLING_MACHINE(8, "拆垛机"),
-    CAMERA(9, "摄像头");
+    CAMERA(9, "摄像头"),
+    FLIP(10, "翻转机");
 
     /**
      * 类型
@@ -41,6 +42,8 @@ public enum DeviceTypeEnum {
             return 10;
         }if (BUTTON_BOX.type.equals(type)) {
             return 11;
+        }if (FLIP.type.equals(type)) {
+            return 14;
         }else {
             return 12;
         }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/event/RobotTaskEventTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/event/EventTypeEnum.java
similarity index 54%
rename from yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/event/RobotTaskEventTypeEnum.java
rename to yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/event/EventTypeEnum.java
index 15d27fd44..5516f87ed 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/event/RobotTaskEventTypeEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/event/EventTypeEnum.java
@@ -5,10 +5,11 @@ import lombok.Getter;
 
 @Getter
 @AllArgsConstructor
-public enum RobotTaskEventTypeEnum {
-    DISTRIBUTION("DISTRIBUTION","任务分配"),
-    DONE("DONE","任务完成"),
-    TIME("TIME","统计时间");
+public enum EventTypeEnum {
+    TASK_DISTRIBUTION("DISTRIBUTION","任务分配"),
+    TASK_DONE("DONE","任务完成"),
+    TASK_TIME("TIME","统计时间"),
+    MAP_UPDATE("MAP_UPDATE","修改地图");
     /**
      * 类型
      */
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java
new file mode 100644
index 000000000..376ec277d
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java
@@ -0,0 +1,38 @@
+package cn.iocoder.yudao.module.system.mq.consumer.map;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
+import cn.iocoder.yudao.module.system.mq.message.map.MapMessage;
+import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.context.event.EventListener;
+import org.springframework.scheduling.annotation.Async;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.List;
+import java.util.stream.Collectors;
+
+@Component
+@Slf4j
+public class MapConsumer {
+
+    @Resource
+    private PathApi pathApi;
+
+    @Resource
+    private DeviceInformationService informationService;
+
+    //更新翻转机
+    @EventListener
+    @Async
+    public void onMessage(MapMessage message) {
+        if (EventTypeEnum.MAP_UPDATE.getType().equals(message.getEventType())) {
+            pathApi.pathInitData();
+        }
+    }
+
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/remote/RemoteControllerConsumer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/remote/RemoteControllerConsumer.java
index b1b81d797..fafa91a02 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/remote/RemoteControllerConsumer.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/remote/RemoteControllerConsumer.java
@@ -1,7 +1,6 @@
 package cn.iocoder.yudao.module.system.mq.consumer.remote;
 
-import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
-import cn.iocoder.yudao.module.system.mq.message.sms.SmsSendMessage;
+import cn.iocoder.yudao.module.system.mq.message.remote.RemoteSendMessage;
 import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.context.event.EventListener;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java
index 927b795c2..4e525b0ae 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java
@@ -1,6 +1,5 @@
 package cn.iocoder.yudao.module.system.mq.consumer.task;
 
-import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotWorkStatusDTO;
@@ -13,7 +12,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.WorkProgressEnum;
-import cn.iocoder.yudao.module.system.enums.robot.task.event.RobotTaskEventTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
 import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
 import cn.iocoder.yudao.module.system.service.log.RobotTaskTimeConsumingService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
@@ -31,8 +30,6 @@ import java.time.Duration;
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 
-import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
-
 
 @Component
 @Slf4j
@@ -58,7 +55,7 @@ public class TaskDistributionConsumer {
     public void onMessage(TaskDistributionMessage message) {
         log.info("111111, 任务 : {}", JSON.toJSONString(message));
         TenantContextHolder.setTenantId(1L);
-        if (RobotTaskEventTypeEnum.DISTRIBUTION.getType().equals(message.getEventType())) {
+        if (EventTypeEnum.TASK_DISTRIBUTION.getType().equals(message.getEventType())) {
             RobotTaskDetailDO taskDetail = robotTaskDetailService.getTaskDetail(Long.valueOf(message.getMessage()));
             robotWorkingHoursStatisticsService.createFreeTime(taskDetail.getRobotNo());
             RobotTaskDO task = taskService.getTask(taskDetail.getRobotTaskId());
@@ -71,10 +68,10 @@ public class TaskDistributionConsumer {
                     .setToLocationNo(taskDetail.getToLocationNo())
                     .setRobotNo(taskDetail.getRobotNo());
             robotTaskTimeConsumingService.createRobotTaskTimeConsuming(data);
-        } else if (RobotTaskEventTypeEnum.TIME.getType().equals(message.getEventType())) {
+        } else if (EventTypeEnum.TASK_TIME.getType().equals(message.getEventType())) {
             RobotWorkStatusDTO data = JSON.parseObject(message.getMessage(), RobotWorkStatusDTO.class);
             addTaskTimeLog(data);
-        } else if (RobotTaskEventTypeEnum.DONE.getType().equals(message.getEventType())) {
+        } else if (EventTypeEnum.TASK_DONE.getType().equals(message.getEventType())) {
             String orderId = message.getMessage();
             String endTime = DateUtils.getYearMonthDayHourMinuteSecon();
             try {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/map/MapMessage.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/map/MapMessage.java
new file mode 100644
index 000000000..ca18bf7ff
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/map/MapMessage.java
@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.mq.message.map;
+
+import org.springframework.context.ApplicationEvent;
+
+public class MapMessage extends ApplicationEvent {
+
+    private String msg;
+    private String eventType;
+    public MapMessage(Object source, String msg,String eventType) {
+        super(source);
+        this.msg = msg;
+        this.eventType = eventType;
+    }
+
+    public String getMessage() {
+        return msg;
+    }
+
+    public String getEventType() {
+        return eventType;
+    }
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/RemoteSendMessage.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/remote/RemoteSendMessage.java
similarity index 67%
rename from yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/RemoteSendMessage.java
rename to yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/remote/RemoteSendMessage.java
index 4004f0ad9..db6007763 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/RemoteSendMessage.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/remote/RemoteSendMessage.java
@@ -1,4 +1,4 @@
-package cn.iocoder.yudao.module.system.mq.message;
+package cn.iocoder.yudao.module.system.mq.message.remote;
 
 import lombok.Builder;
 import lombok.Data;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/map/MapProducer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/map/MapProducer.java
new file mode 100644
index 000000000..068fb75dc
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/map/MapProducer.java
@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.mq.producer.map;
+
+import cn.iocoder.yudao.module.system.mq.message.map.MapMessage;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.context.ApplicationContext;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Component
+public class MapProducer {
+
+    @Resource
+    private ApplicationContext applicationContext;
+
+    public void sendSmsSendMessage(MapMessage message) {
+        applicationContext.publishEvent(message);
+    }
+
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/remote/RemoteControllerProducer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/remote/RemoteControllerProducer.java
index 5fe87064b..a80d7f629 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/remote/RemoteControllerProducer.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/remote/RemoteControllerProducer.java
@@ -1,6 +1,6 @@
 package cn.iocoder.yudao.module.system.mq.producer.remote;
 
-import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
+import cn.iocoder.yudao.module.system.mq.message.remote.RemoteSendMessage;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.context.ApplicationContext;
 import org.springframework.stereotype.Component;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/task/TaskDistributionProducer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/task/TaskDistributionProducer.java
index e9323b4d2..2801072c2 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/task/TaskDistributionProducer.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/task/TaskDistributionProducer.java
@@ -1,6 +1,5 @@
 package cn.iocoder.yudao.module.system.mq.producer.task;
 
-import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
 import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.context.ApplicationContext;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java
new file mode 100644
index 000000000..89f8a3972
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java
@@ -0,0 +1,59 @@
+package cn.iocoder.yudao.module.system.service.houselocation;
+
+import java.util.*;
+import javax.validation.*;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
+import com.baomidou.mybatisplus.extension.service.IService;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+
+/**
+ * 取货点位 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface WareHouseTakePointService extends IService<WareHouseTakePointDO> {
+
+    /**
+     * 创建取货点位
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createHouseTakePoint(@Valid WareHouseTakePointSaveReqVO createReqVO);
+
+    /**
+     * 更新取货点位
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateHouseTakePoint(@Valid WareHouseTakePointSaveReqVO updateReqVO);
+
+    /**
+     * 删除取货点位
+     *
+     * @param id 编号
+     */
+    void deleteHouseTakePoint(Long id);
+
+    /**
+     * 获得取货点位
+     *
+     * @param id 编号
+     * @return 取货点位
+     */
+    WareHouseTakePointDO getHouseTakePoint(Long id);
+
+    /**
+     * 获得取货点位分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 取货点位分页
+     */
+    PageResult<WareHouseTakePointDO> getHouseTakePointPage(WareHouseTakePointPageReqVO pageReqVO);
+
+    List<WareHouseTakePointDO> getHouseTakePointList();
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java
new file mode 100644
index 000000000..49df28080
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java
@@ -0,0 +1,81 @@
+package cn.iocoder.yudao.module.system.service.houselocation;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
+import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointMapper;
+import org.springframework.stereotype.Service;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.*;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_TAKE_POINT_NOT_EXISTS;
+
+/**
+ * 取货点位 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+public class WareHouseTakePointServiceImpl extends ServiceImpl<WareHouseTakePointMapper, WareHouseTakePointDO> implements WareHouseTakePointService {
+
+    @Resource
+    private WareHouseTakePointMapper houseTakePointMapper;
+
+    @Override
+    public Long createHouseTakePoint(WareHouseTakePointSaveReqVO createReqVO) {
+        // 插入
+        WareHouseTakePointDO houseTakePoint = BeanUtils.toBean(createReqVO, WareHouseTakePointDO.class);
+        houseTakePointMapper.insert(houseTakePoint);
+        // 返回
+        return houseTakePoint.getId();
+    }
+
+    @Override
+    public void updateHouseTakePoint(WareHouseTakePointSaveReqVO updateReqVO) {
+        // 校验存在
+        validateHouseTakePointExists(updateReqVO.getId());
+        // 更新
+        WareHouseTakePointDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseTakePointDO.class);
+        houseTakePointMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteHouseTakePoint(Long id) {
+        // 校验存在
+        validateHouseTakePointExists(id);
+        // 删除
+        houseTakePointMapper.deleteById(id);
+    }
+
+    private void validateHouseTakePointExists(Long id) {
+        if (houseTakePointMapper.selectById(id) == null) {
+            throw exception(HOUSE_TAKE_POINT_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public WareHouseTakePointDO getHouseTakePoint(Long id) {
+        return houseTakePointMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<WareHouseTakePointDO> getHouseTakePointPage(WareHouseTakePointPageReqVO pageReqVO) {
+        return houseTakePointMapper.selectPage(pageReqVO);
+    }
+
+    @Override
+    public List<WareHouseTakePointDO> getHouseTakePointList() {
+        return houseTakePointMapper.selectList();
+    }
+
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java
index d00c5859c..79095b959 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java
@@ -11,7 +11,7 @@ import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskTransferDTO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
-import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
+import cn.iocoder.yudao.module.system.mq.message.remote.RemoteSendMessage;
 import com.baomidou.mybatisplus.extension.service.IService;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
index 5ba657bc7..070e0499f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
@@ -2,8 +2,6 @@ package cn.iocoder.yudao.module.system.service.remote;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
-import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
-import cn.iocoder.yudao.module.mqtt.api.path.dto.PathPosedsDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.PathToRobotDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RemotePathPlanningDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RobotModeDTO;
@@ -29,7 +27,6 @@ import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLo
 import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.remote.RemoteControllerInformationMapper;
@@ -45,7 +42,7 @@ import cn.iocoder.yudao.module.system.enums.robot.remote.RemoteOperationModeEnum
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskManualInterventionEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
-import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
+import cn.iocoder.yudao.module.system.mq.message.remote.RemoteSendMessage;
 import cn.iocoder.yudao.module.system.mq.producer.remote.RemoteControllerProducer;
 import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
index 4913de51a..693d85d18 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
@@ -9,7 +9,6 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
-import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.*;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
@@ -42,14 +41,12 @@ import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselane.WareHouseLaneMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
-import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
 import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
 import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
@@ -61,16 +58,14 @@ import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 //import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskManualInterventionEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
-import cn.iocoder.yudao.module.system.enums.robot.task.event.RobotTaskEventTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
 import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
-import cn.iocoder.yudao.module.system.mq.producer.remote.RemoteControllerProducer;
 import cn.iocoder.yudao.module.system.mq.producer.task.TaskDistributionProducer;
 import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
 import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.robot.simulation.RobotSimulationService;
-import cn.iocoder.yudao.module.system.service.statistics.RobotWorkingHoursStatisticsService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
 import com.alibaba.fastjson.JSON;
@@ -82,7 +77,6 @@ import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.StringUtils;
 import org.redisson.api.RLock;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -653,7 +647,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         try {
             TaskDistributionMessage mess = new TaskDistributionMessage(this, taskAssignDTO.getOrderId() + "",
-                    RobotTaskEventTypeEnum.DISTRIBUTION.getType());
+                    EventTypeEnum.TASK_DISTRIBUTION.getType());
             taskDistributionProducer.sendSmsSendMessage(mess);
         } catch (Exception e) {
             log.info(e.getMessage());