diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java
index e16700e1b..db9a985dc 100644
--- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java
+++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java
@@ -33,7 +33,7 @@ public class TaskToPathPlanningDTO {
     private Long takeLocationNumber;
 
     @Schema(description = "取货任务的终点id")
-    private Long takePointId;
+    private String takePointId;
 
     //线库: LINE + 线库号
     //普通库位: POINT + 点位号
@@ -44,7 +44,7 @@ public class TaskToPathPlanningDTO {
     private Long releaseLocationNumber;
 
     @Schema(description = "放货任务的终点id")
-    private Long releasePointId;
+    private String releasePointId;
 
     @Schema(description = "优先级(不同的组编号时:越大越先执行, 相同组编号时:组序号越大的越先执行)")
     private Long priority;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
index c1a384a76..1557d2de3 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
@@ -18,6 +18,7 @@ import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
+import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
 import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
@@ -1171,6 +1172,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                     TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo());
         }
 
+        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+
+        if (RobotTaskModelEnum.REJECTION.getType().equals(robotInformationDO.getRobotTaskModel())) {
+            throw exception(ROBOT_REJECTION);
+        }
+
         String mac = getMacByRobotNo(robotNo);
         robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
 
@@ -1180,18 +1189,17 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
 //        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
-        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
+//        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
+
+        RobotClosePathPlantingDTO closePathPlanting = RobotClosePathPlantingDTO.builder()
+                .robotNo(robotNo)
+                .id(actionLog.getTaskDetailId()+"")
+                .build();
+//        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+        mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK,JSON.toJSONString(closePathPlanting));
 
         Object o = checkTaskDetailExist(actionLog.getTaskDetailId());
 
-        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
-                .eq(RobotInformationDO::getRobotNo, robotNo)
-                .last("limit 1"));
-
-        if (RobotTaskModelEnum.REJECTION.getType().equals(robotInformationDO.getRobotTaskModel())) {
-            throw exception(ROBOT_REJECTION);
-        }
-
         /*String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotInformationDO.getMacAddress();
         Object taskStatus = redisUtil.get(taskStatusKey);
         if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.CAN_DO_TASK.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
@@ -1465,7 +1473,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         }
 
         pathPlanning.setReleaseGroupId("POINT_" + deviceInformationDO.getPositionMapItemId());
-        pathPlanning.setReleasePointId(deviceInformationDO.getPositionMapItemId());
+        pathPlanning.setReleasePointId(deviceInformationDO.getPositionMapItemId()+"");
     }
 
     /**
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
index 1f8df07bd..af4f54241 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
@@ -59,6 +59,8 @@ import java.util.*;
 import java.util.function.Function;
 import java.util.stream.Collectors;
 
+import static org.codehaus.groovy.runtime.DefaultGroovyMethods.collect;
+
 @Service
 @Validated
 @Slf4j
@@ -505,7 +507,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
             if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
                 pathPlanning.setTakeLocationNumber(Math.abs(znConfigConstant.getLocationNumberReduce() - taskDetailDO.getFromLocationNumber()));
-                pathPlanning.setTakePointId(fromLocation.getMapItemId());
+                pathPlanning.setTakePointId(fromLocation.getMapItemId()+"");
 
                 pathPlanningSetTakeHeight(pathPlanning, fromLocation);
                 pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
@@ -519,7 +521,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
             if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
                 pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
-                pathPlanning.setReleasePointId(toLocation.getMapItemId());
+                pathPlanning.setReleasePointId(toLocation.getMapItemId()+"");
 
                 pathPlanningSetReleaseHeight(pathPlanning, toLocation);
                 pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
@@ -596,7 +598,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
      */
     private void moveToPoint(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailDO taskDetailDO) {
         pathPlanning.setReleaseLocationNumber(1l);
-        pathPlanning.setReleasePointId(taskDetailDO.getReleaseId());
+        pathPlanning.setReleasePointId(taskDetailDO.getReleaseId()+"");
         pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getReleaseId());
     }
 
@@ -736,30 +738,16 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         }
 
         //取货线库
-        Map<Long, RobotTaskDetailDO> fromLaneMap = detailDOS.stream()
-                .filter(v -> ObjectUtil.isNotEmpty(v.getFromLaneId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromLaneId,
-                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)), Optional::get)));
+        Map<Long, RobotTaskDetailDO>  fromLaneMap = getFromLaneMap(detailDOS);
 
         //放货线库
-        Map<Long, RobotTaskDetailDO> toLaneMap = detailDOS.stream()
-                .filter(v -> ObjectUtil.isNotEmpty(v.getToLaneId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getToLaneId,
-                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)), Optional::get)));
+        Map<Long, RobotTaskDetailDO>  toLaneMap = getToLaneMap(detailDOS);
 
         //取货点位--最小
-        Map<Long, Long> fromLocationMap = detailDOS.stream()
-                .filter(v -> ObjectUtil.isNotEmpty(v.getFromMapItemId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromMapItemId,
-                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)),
-                                a -> a.isPresent() ? a.get().getFromLocationNumber() : null)));
+        Map<Long, Long>  fromLocationMap = getFromLocationMap(detailDOS);
 
         //放货点位--最大
-        Map<Long, Long> toLocationMap = detailDOS.stream()
-                .filter(v -> ObjectUtil.isNotEmpty(v.getToMapItemId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getToMapItemId,
-                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)),
-                                a -> a.isPresent() ? a.get().getToLocationNumber() : null)));
+        Map<Long, Long>  toLocationMap =getToLocationMap(detailDOS);
 
         //返回的数据
         List<RobotTaskDetailDO> list = new ArrayList<>();
@@ -796,6 +784,55 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         return list;
     }
 
+    private Map<Long, Long> getToLocationMap(List<RobotTaskDetailDO> detailDOS) {
+        List<RobotTaskDetailDO> collect = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getToMapItemId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(collect)) {
+            return new HashMap<>();
+        }
+        return collect.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getToMapItemId,
+                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)),
+                                a -> a.isPresent() ? a.get().getToLocationNumber() : null)));
+    }
+
+    private Map<Long, Long> getFromLocationMap(List<RobotTaskDetailDO> detailDOS) {
+        List<RobotTaskDetailDO> collect = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getFromMapItemId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(collect)) {
+            return new HashMap<>();
+        }
+        return collect.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getFromMapItemId,
+                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)),
+                                a -> a.isPresent() ? a.get().getFromLocationNumber() : null)));
+    }
+
+    private Map<Long, RobotTaskDetailDO> getToLaneMap(List<RobotTaskDetailDO> detailDOS) {
+
+        List<RobotTaskDetailDO> collect = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getToLaneId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(collect)) {
+            return new HashMap<>();
+        }
+        return collect.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getToLaneId,
+                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)), Optional::get)));
+    }
+
+    private Map<Long, RobotTaskDetailDO> getFromLaneMap(List<RobotTaskDetailDO> detailDOS) {
+        List<RobotTaskDetailDO> collect = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getFromLaneId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(collect)) {
+            return new HashMap<>();
+        }
+
+        return collect.stream()
+                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromLaneId,
+                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)), Optional::get)));
+    }
+
 
     /**
      * 仅取货设置任务