diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java
index a7728fa1b..6a2fdfd0b 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java
@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.controller.admin.robot;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnCodeMappingService;
 import org.springframework.web.bind.annotation.*;
@@ -13,6 +14,7 @@ import io.swagger.v3.oas.annotations.tags.Tag;
 import io.swagger.v3.oas.annotations.Parameter;
 import io.swagger.v3.oas.annotations.Operation;
 
+import javax.annotation.security.PermitAll;
 import javax.validation.constraints.*;
 import javax.validation.*;
 import javax.servlet.http.*;
@@ -94,4 +96,12 @@ public class RobotWarnCodeMappingController {
                         BeanUtils.toBean(list, RobotWarnCodeMappingRespVO.class));
     }
 
+    @GetMapping("/agv/query")
+    @Operation(summary = "机器人查询告警码值映射")
+    @PreAuthorize("@ss.hasPermission('robot:warn-code-mapping:agvQueryWarnCode')")
+    @PermitAll
+    public void agvQueryWarnCode(HttpServletResponse response) {
+        warnCodeMappingService.agvQueryWarnCode(response);
+    }
+
 }
\ 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/robot/warn/RobotWarnCodeMappingVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/warn/RobotWarnCodeMappingVO.java
new file mode 100644
index 000000000..ab61aff1b
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/warn/RobotWarnCodeMappingVO.java
@@ -0,0 +1,33 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.warn;
+
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class RobotWarnCodeMappingVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15754")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "告警等级 (1,2,3,4)")
+    @ExcelProperty("告警等级 (1,2,3,4)")
+    private Integer warnLevel;
+
+    @Schema(description = "能不能继续做任务 (0:不能， 1:能)")
+    @ExcelProperty("能不能继续做任务 (0:不能， 1:能)")
+    private Integer doTask;
+
+    @Schema(description = "告警编号")
+    @ExcelProperty("告警编号")
+    private String warnCode;
+
+    @Schema(description = "告警信息")
+    @ExcelProperty("告警信息")
+    private String warnMsg;
+
+    @Schema(description = "告警解决方法")
+    @ExcelProperty("告警解决方法")
+    private String warnSolve;
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java
index ba4c668c7..e5a8f7d28 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java
@@ -6,8 +6,11 @@ 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.robot.vo.RobotWarnCodeMappingPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 机器人告警码值映射 Mapper
@@ -28,4 +31,5 @@ public interface RobotWarnCodeMappingMapper extends BaseMapperX<RobotWarnCodeMap
                 .orderByDesc(RobotWarnCodeMappingDO::getId));
     }
 
+    List<RobotWarnCodeMappingVO> getAllWarnCodeList();
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java
index c7c6ab382..7a34cf550 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java
@@ -1,11 +1,13 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
 import java.util.*;
+import javax.servlet.http.HttpServletResponse;
 import javax.validation.*;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
 
 /**
@@ -53,4 +55,5 @@ public interface RobotWarnCodeMappingService {
      */
     PageResult<RobotWarnCodeMappingDO> getWarnCodeMappingPage(RobotWarnCodeMappingPageReqVO pageReqVO);
 
+    void agvQueryWarnCode(HttpServletResponse response);
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java
index a433c57a9..d56898b12 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java
@@ -1,13 +1,35 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper;
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
+import javax.servlet.http.HttpServletResponse;
+
 import org.springframework.validation.annotation.Validated;
 import org.springframework.transaction.annotation.Transactional;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.serializer.SerializerFeature;
+import org.apache.commons.io.FileUtils;
+import org.springframework.context.annotation.PropertySource;
+import org.springframework.web.multipart.MultipartFile;
+
+import javax.servlet.http.HttpServletResponse;
+import java.io.*;
+import java.net.URLEncoder;
+import java.nio.charset.StandardCharsets;
+import java.util.HashMap;
+import java.util.Map;
 
 import java.util.*;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
@@ -25,11 +47,15 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.WARN_CODE_
  */
 @Service
 @Validated
+@Slf4j
 public class RobotWarnCodeMappingServiceImpl implements RobotWarnCodeMappingService {
 
     @Resource
     private RobotWarnCodeMappingMapper warnCodeMappingMapper;
 
+    @Value("${map.file.warn-path}")
+    private String warnUploadPath;
+
     @Override
     public Long createWarnCodeMapping(RobotWarnCodeMappingSaveReqVO createReqVO) {
         // 插入
@@ -72,4 +98,60 @@ public class RobotWarnCodeMappingServiceImpl implements RobotWarnCodeMappingServ
         return warnCodeMappingMapper.selectPage(pageReqVO);
     }
 
+    /**
+     * 机器人查询告警码值映射
+     * @return
+     */
+    @Override
+    public void agvQueryWarnCode(HttpServletResponse response) {
+        List<RobotWarnCodeMappingVO> list = warnCodeMappingMapper.getAllWarnCodeList();
+        if (ObjectUtil.isEmpty(list)) {
+            return;
+        }
+        exportJson(response,list,"warn.json",warnUploadPath);
+    }
+
+    public void exportJson(HttpServletResponse response, Object obj, String fileName, String uploadPath) {
+        try {
+            String jsonString = JSON.toJSONString(obj,
+                    SerializerFeature.PrettyFormat,
+                    SerializerFeature.WriteMapNullValue,
+                    SerializerFeature.WriteDateUseDateFormat);
+
+            //String fullPath = "/" + fileName;
+            File path = new File(uploadPath);
+            if (!path.exists()) {
+                path.mkdirs();
+            }
+            String fullPath = uploadPath + "/" + fileName;
+            File file = new File(fullPath);
+
+            Writer write = new OutputStreamWriter(new FileOutputStream(file), StandardCharsets.UTF_8);
+            write.write(jsonString);
+            write.flush();
+            write.close();
+
+            FileInputStream fis = new FileInputStream(file);
+            // force-download
+            response.setContentType("application/force-download");
+            response.setHeader("Content-Disposition", "attachment;filename="
+                    .concat(String.valueOf(URLEncoder.encode(fileName, "UTF-8"))));
+            response.setCharacterEncoding("utf-8");
+
+            OutputStream os = response.getOutputStream();
+            byte[] buf = new byte[1024];
+            int len = 0;
+            while ((len = fis.read(buf)) != -1) {
+                os.write(buf, 0, len);
+            }
+            fis.close();
+            os.close();
+            boolean delete = file.delete();
+
+//            return file;
+        } catch (Exception e) {
+            log.error("告警码值导出JSON文件失败");
+        }
+    }
+
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
index f16395021..8762d8c03 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
@@ -217,15 +217,13 @@ justauth:
 map:
   file:
     upload-path: /Users/aikai/Documents/map/ # 地图文件上传路径
+    warn-path: /Users/aikai/Documents/json/ # 告警码值上传路径
 
 zn:
   task-no: ZN #任务号开头
   do_cycle: true #是否开启循环
   init_height: 0.0 #初始化高度
   default_scan_height: 0.0 #默认的扫描高度,用于一层扫托盘
-  get_pallet_topic_height: 0.4 #获取托盘位置需要高于托盘的高度
-  default_add_height: 0.1 #默认的添加高度， 车机上报高度加上此高度 = 上一个点位的放托盘高度
-  take_fork_height: 0.1 #托盘高度+此高度=取货的抬叉高度
   parm: 5000 #等待时间
   lift_height: 0.1 #抬高托盘高度
   move_height: 0.1 #行走高度
@@ -236,15 +234,7 @@ zn:
   robot_error_level_time: 30 #机器人异常存储时间(秒)
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
   location_number_reduce: 100000000 #库位排序的差值(下发取货任务，将库位排序减去此值，然后取绝对值)
-  path_planning_distribute_task_time: 10 #10秒内不给PP发两次任务分配
   robot_doing_action: # 机器人正在做的动作
-    doing_take_msg: 机器人正在取货
-    doing_release_msg: 机器人正在放货
-    complete_task: 机器人完成任务
-    get_pallet_topic: 机器人扫描托盘位置
-    scan: 机器人正在扫描
-    parking_space: 机器人正在前往停车位
-    charge: 机器人正在前往充电位
     action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时
     doing_action_cache_time: 172800 #单个动作缓存时间 8小时
   robot_chearg: #机器人充电的配置
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml
index dd8c7e0da..66106e847 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml
@@ -9,4 +9,16 @@
         文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
      -->
 
+    <select id="getAllWarnCodeList"
+            resultType="cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO">
+        select
+            id,
+            warn_level as warnLevel,
+            do_task as doTask,
+            warn_code as warnCode,
+            warn_msg as warnMsg,
+            warn_solve as warnSolve
+        from
+            robot_warn_code_mapping
+    </select>
 </mapper>
\ No newline at end of file