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 11c167f73..e26a81efe 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
@@ -195,6 +195,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CHECK_TASK_PRIORITY = new ErrorCode(1-002-035-007, "非新单据不能修改优先级");
     ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "订单已完成");
     ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "订单更新失败");
+    ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "订单号已存在");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");
@@ -213,4 +214,7 @@ public interface ErrorCodeConstants {
     ErrorCode THERE_ARE_ALREADY_STORAGE_LOCATIONS_IN_OTHER_LINE_WAREHOUSES = new ErrorCode(1_002_038_007, "已有库位在其他线库内");
     ErrorCode THERE_ARE_ALREADY_STORAGE_LOCATIONS_IN_OTHER_STORAGE_AREAS = new ErrorCode(1_002_038_008, "已有库位在其他库区内");
 
+    // ========== 机器人自动移库 1-002-039-000 ==========
+    ErrorCode TASK_AUTO_MOVE_NOT_EXISTS = new ErrorCode(1_002_039_001, "机器人自动移库不存在");
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskAutoMoveController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskAutoMoveController.java
new file mode 100644
index 000000000..e75a41f5d
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskAutoMoveController.java
@@ -0,0 +1,97 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMovePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+import cn.iocoder.yudao.module.system.service.robot.job.RobotTaskAutoMoveService;
+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 - 机器人自动移库")
+@RestController
+@RequestMapping("/robot/task-auto-move")
+@Validated
+public class RobotTaskAutoMoveController {
+
+    @Resource
+    private RobotTaskAutoMoveService taskAutoMoveService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建机器人自动移库")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:create')")
+    public CommonResult<Long> createTaskAutoMove(@Valid @RequestBody RobotTaskAutoMoveSaveReqVO createReqVO) {
+        return success(taskAutoMoveService.createTaskAutoMove(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新机器人自动移库")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:update')")
+    public CommonResult<Boolean> updateTaskAutoMove(@Valid @RequestBody RobotTaskAutoMoveSaveReqVO updateReqVO) {
+        taskAutoMoveService.updateTaskAutoMove(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除机器人自动移库")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:delete')")
+    public CommonResult<Boolean> deleteTaskAutoMove(@RequestParam("id") Long id) {
+        taskAutoMoveService.deleteTaskAutoMove(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得机器人自动移库")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:query')")
+    public CommonResult<RobotTaskAutoMoveRespVO> getTaskAutoMove(@RequestParam("id") Long id) {
+        RobotTaskAutoMoveDO taskAutoMove = taskAutoMoveService.getTaskAutoMove(id);
+        return success(BeanUtils.toBean(taskAutoMove, RobotTaskAutoMoveRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得机器人自动移库分页")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:query')")
+    public CommonResult<PageResult<RobotTaskAutoMoveRespVO>> getTaskAutoMovePage(@Valid RobotTaskAutoMovePageReqVO pageReqVO) {
+        PageResult<RobotTaskAutoMoveDO> pageResult = taskAutoMoveService.getTaskAutoMovePage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotTaskAutoMoveRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出机器人自动移库 Excel")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportTaskAutoMoveExcel(@Valid RobotTaskAutoMovePageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<RobotTaskAutoMoveDO> list = taskAutoMoveService.getTaskAutoMovePage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "机器人自动移库.xls", "数据", RobotTaskAutoMoveRespVO.class,
+                        BeanUtils.toBean(list, RobotTaskAutoMoveRespVO.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/robot/vo/RobotTaskAutoMovePageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskAutoMovePageReqVO.java
new file mode 100644
index 000000000..aa838d4d9
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskAutoMovePageReqVO.java
@@ -0,0 +1,72 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import lombok.*;
+import java.util.*;
+import io.swagger.v3.oas.annotations.media.Schema;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+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 - 机器人自动移库分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class RobotTaskAutoMovePageReqVO extends PageParam {
+
+    @Schema(description = "机器人任务主表id", example = "24553")
+    private Long robotTaskId;
+
+    @Schema(description = "机器人任务明细表id", example = "11392")
+    private Long robotTaskDetailId;
+
+    @Schema(description = "原库位编号")
+    private String fromLocationNo;
+
+    @Schema(description = "原库位id", example = "8838")
+    private Long fromLocationId;
+
+    @Schema(description = "搬去的目标库位编号")
+    private String toLocationNo;
+
+    @Schema(description = "搬去的目标库位id/停车点/充电点/移动终点", example = "19168")
+    private Long toLocationId;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)", example = "1")
+    private Integer taskStatus;
+
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id(目前设计不会用到此字段)")
+    private Long toLaneId;
+
+    @Schema(description = "优先级")
+    private Long priority;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务类型（1：自动移库、 ）", example = "2")
+    private Integer taskType;
+
+    @Schema(description = "移动类型（1：去、 2：回）", example = "2")
+    private Integer moveType;
+
+    @Schema(description = "开始时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] startTime;
+
+    @Schema(description = "结束时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] endTime;
+
+    @Schema(description = "robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位", example = "32231")
+    private Long taskAutoMoveId;
+
+    @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/robot/vo/RobotTaskAutoMoveRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskAutoMoveRespVO.java
new file mode 100644
index 000000000..9661a85b7
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskAutoMoveRespVO.java
@@ -0,0 +1,87 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+import com.alibaba.excel.annotation.*;
+
+@Schema(description = "管理后台 - 机器人自动移库 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class RobotTaskAutoMoveRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "30110")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "机器人任务主表id", example = "24553")
+    @ExcelProperty("机器人任务主表id")
+    private Long robotTaskId;
+
+    @Schema(description = "机器人任务明细表id", example = "11392")
+    @ExcelProperty("机器人任务明细表id")
+    private Long robotTaskDetailId;
+
+    @Schema(description = "原库位编号")
+    @ExcelProperty("原库位编号")
+    private String fromLocationNo;
+
+    @Schema(description = "原库位id", example = "8838")
+    @ExcelProperty("原库位id")
+    private Long fromLocationId;
+
+    @Schema(description = "搬去的目标库位编号")
+    @ExcelProperty("搬去的目标库位编号")
+    private String toLocationNo;
+
+    @Schema(description = "搬去的目标库位id/停车点/充电点/移动终点", example = "19168")
+    @ExcelProperty("搬去的目标库位id/停车点/充电点/移动终点")
+    private Long toLocationId;
+
+    @Schema(description = "取货线库id")
+    @ExcelProperty("取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id(目前设计不会用到此字段)")
+    @ExcelProperty("放货线库id(目前设计不会用到此字段)")
+    private Long toLaneId;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)", example = "1")
+    @ExcelProperty("任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)")
+    private Integer taskStatus;
+
+    @Schema(description = "优先级")
+    @ExcelProperty("优先级")
+    private Long priority;
+
+    @Schema(description = "AGV编号")
+    @ExcelProperty("AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务类型（1：自动移库、 ）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("任务类型（1：自动移库、 ）")
+    private Integer taskType;
+
+    @Schema(description = "移动类型（1：去、 2：回）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("移动类型（1：去、 2：回）")
+    private Integer moveType;
+
+    @Schema(description = "开始时间")
+    @ExcelProperty("开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    @ExcelProperty("结束时间")
+    private LocalDateTime endTime;
+
+    @Schema(description = "robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位", example = "32231")
+    @ExcelProperty("robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位")
+    private Long taskAutoMoveId;
+
+    @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/robot/vo/RobotTaskAutoMoveSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskAutoMoveSaveReqVO.java
new file mode 100644
index 000000000..7daf06b9e
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskAutoMoveSaveReqVO.java
@@ -0,0 +1,68 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+
+@Schema(description = "管理后台 - 机器人自动移库新增/修改 Request VO")
+@Data
+public class RobotTaskAutoMoveSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "30110")
+    private Long id;
+
+    @Schema(description = "机器人任务主表id", example = "24553")
+    private Long robotTaskId;
+
+    @Schema(description = "机器人任务明细表id", example = "11392")
+    private Long robotTaskDetailId;
+
+    @Schema(description = "原库位编号")
+    private String fromLocationNo;
+
+    @Schema(description = "原库位id", example = "8838")
+    private Long fromLocationId;
+
+    @Schema(description = "搬去的目标库位编号")
+    private String toLocationNo;
+
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id(目前设计不会用到此字段)")
+    private Long toLaneId;
+
+    @Schema(description = "搬去的目标库位id/停车点/充电点/移动终点", example = "19168")
+    private Long toLocationId;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)", example = "1")
+    private Integer taskStatus;
+
+    @Schema(description = "优先级")
+    private Long priority;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务类型（1：自动移库、 ）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "任务类型（1：自动移库、 ）不能为空")
+    private Integer taskType;
+
+    @Schema(description = "移动类型（1：去、 2：回）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "移动类型（1：去、 2：回）不能为空")
+    private Integer moveType;
+
+    @Schema(description = "开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    private LocalDateTime endTime;
+
+    @Schema(description = "robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位", example = "32231")
+    private Long taskAutoMoveId;
+
+}
\ 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/vo/RobotTaskDetailAddVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVO.java
index a35ee8981..3fde6a450 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVO.java
@@ -37,6 +37,15 @@ public class RobotTaskDetailAddVO {
     @Schema(description = "所选车辆电量(充电模式)")
     private Integer electricity;
 
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id")
+    private Long toLaneId;
+
+    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
     @Schema(description = "计算后的来源库位编号(前端不用传此字段)")
     private String fromLocationNo;
     @Schema(description = "计算后的来源库位id(前端不用传此字段)")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java
index 79d86b125..06c1c9684 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java
@@ -46,6 +46,14 @@ public class RobotTaskDetailPageReqVO extends PageParam {
 
     @Schema(description = "AGV动作")
     private String robotAction;
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id")
+    private Long toLaneId;
+
+    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
+    private Long locationNumber;
 
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "1")
     private Integer taskStatus;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailRespVO.java
index d597bb276..ef5e7db32 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailRespVO.java
@@ -78,6 +78,18 @@ public class RobotTaskDetailRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
+    @Schema(description = "取货线库id")
+    @ExcelProperty("取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id")
+    @ExcelProperty("放货线库id")
+    private Long toLaneId;
+
+    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
+    @ExcelProperty("取货库位的排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
     @Schema(description = "取货层数")
     @ExcelProperty("取货层数")
     private Integer fromLocationStorey;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailSaveReqVO.java
index 32a23e67c..11b545391 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailSaveReqVO.java
@@ -38,6 +38,15 @@ public class RobotTaskDetailSaveReqVO {
     @NotNull(message = "取货库位/线库/区域不能为空")
     private Long takeId;
 
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id")
+    private Long toLaneId;
+
+    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
     @Schema(description = "计算后的来源库位编号")
     private String fromLocationNo;
     @Schema(description = "计算后的来源库位id")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskAutoMoveDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskAutoMoveDO.java
new file mode 100644
index 000000000..8cec79bb6
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskAutoMoveDO.java
@@ -0,0 +1,98 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.robot;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 机器人自动移库 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("robot_task_auto_move")
+@KeySequence("robot_task_auto_move_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 RobotTaskAutoMoveDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId(type = IdType.ASSIGN_ID)
+    private Long id;
+    /**
+     * 机器人任务主表id
+     */
+    private Long robotTaskId;
+    /**
+     * 机器人任务明细表id
+     */
+    private Long robotTaskDetailId;
+    /**
+     * 原库位编号
+     */
+    private String fromLocationNo;
+    /**
+     * 原库位id
+     */
+    private Long fromLocationId;
+    /**
+     * 搬去的目标库位编号
+     */
+    private String toLocationNo;
+    /**
+     * 搬去的目标库位id/停车点/充电点/移动终点
+     */
+    private Long toLocationId;
+    /**
+     * 取货线库id
+     */
+    private Long fromLaneId;
+    /**
+     * 放货线库id (目前设计不会用到此字段)
+     */
+    private Long toLaneId;
+    /**
+     * 任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)
+     */
+    private Integer taskStatus;
+    /**
+     * 优先级
+     */
+    private Long priority;
+    /**
+     * AGV编号
+     */
+    private String robotNo;
+    /**
+     * 任务类型（1：自动移库、 ）
+     */
+    private Integer taskType;
+    /**
+     * 移动类型（1：去、 2：回）
+     */
+    private Integer moveType;
+    /**
+     * 开始时间
+     */
+    private LocalDateTime startTime;
+    /**
+     * 结束时间
+     */
+    private LocalDateTime endTime;
+    /**
+     * robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位
+     */
+    private Long taskAutoMoveId;
+
+}
\ 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/robot/RobotTaskDetailDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java
index 077b6e980..a1198dfa8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java
@@ -59,6 +59,18 @@ public class RobotTaskDetailDO extends BaseDO {
      * 计算后的来源库位id
      */
     private Long fromLocationId;
+    /**
+     * 取货线库id
+     */
+    private Long fromLaneId;
+    /**
+     * 放货线库id
+     */
+    private Long toLaneId;
+    /**
+     * 取货库位的排序的位置,越大越优先堆放
+     */
+    private Long locationNumber;
     /**
      * 计算后的目标库位编号
      */
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
index 06f5822dc..2e0bc867e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
@@ -73,14 +73,6 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      */
     WareHouseLocationDO queryAllByLimit(WareHouseLocationDO wareHouseLocationDO);
 
-    /**
-     * 更新库位锁定状态
-     * @param id
-     * @param locationLock
-     */
-    void updateLocationLockStatus(@Param("id") Long id,
-                                  @Param("locationLock") int locationLock,
-                                  @Param("taskId") Long taskId);
 
     /**
      * 查询库位
@@ -102,4 +94,18 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      * @return
      */
     List<WareHouseLocationRespVO> getLocationByName(WareHouseLocationVO requestVO);
+
+    /**
+     * 查询相通的线库 且 有货的 排序的位置较小的库位
+     * @param locations
+     * @return
+     */
+    List<WareHouseLocationDO> selectLocationByList(@Param("locations") List<WareHouseLocationDO> locations);
+
+    /**
+     * 查询需要移库的库位
+     * @param locationIds
+     * @return
+     */
+    List<WareHouseLocationDO> selectNeedMoveLocation(@Param("locationIds") Set<Long> locationIds);
 }
\ 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/mysql/robot/RobotTaskAutoMoveMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskAutoMoveMapper.java
new file mode 100644
index 000000000..492d858bb
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskAutoMoveMapper.java
@@ -0,0 +1,40 @@
+package cn.iocoder.yudao.module.system.dal.mysql.robot;
+
+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.robot.vo.RobotTaskAutoMovePageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 机器人自动移库 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface RobotTaskAutoMoveMapper extends BaseMapperX<RobotTaskAutoMoveDO> {
+
+    default PageResult<RobotTaskAutoMoveDO> selectPage(RobotTaskAutoMovePageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<RobotTaskAutoMoveDO>()
+                .eqIfPresent(RobotTaskAutoMoveDO::getRobotTaskId, reqVO.getRobotTaskId())
+                .eqIfPresent(RobotTaskAutoMoveDO::getRobotTaskDetailId, reqVO.getRobotTaskDetailId())
+                .eqIfPresent(RobotTaskAutoMoveDO::getFromLocationNo, reqVO.getFromLocationNo())
+                .eqIfPresent(RobotTaskAutoMoveDO::getFromLocationId, reqVO.getFromLocationId())
+                .eqIfPresent(RobotTaskAutoMoveDO::getToLocationNo, reqVO.getToLocationNo())
+                .eqIfPresent(RobotTaskAutoMoveDO::getToLocationId, reqVO.getToLocationId())
+                .eqIfPresent(RobotTaskAutoMoveDO::getTaskStatus, reqVO.getTaskStatus())
+                .eqIfPresent(RobotTaskAutoMoveDO::getPriority, reqVO.getPriority())
+                .eqIfPresent(RobotTaskAutoMoveDO::getRobotNo, reqVO.getRobotNo())
+                .eqIfPresent(RobotTaskAutoMoveDO::getTaskType, reqVO.getTaskType())
+                .eqIfPresent(RobotTaskAutoMoveDO::getMoveType, reqVO.getMoveType())
+                .betweenIfPresent(RobotTaskAutoMoveDO::getStartTime, reqVO.getStartTime())
+                .betweenIfPresent(RobotTaskAutoMoveDO::getEndTime, reqVO.getEndTime())
+                .eqIfPresent(RobotTaskAutoMoveDO::getTaskAutoMoveId, reqVO.getTaskAutoMoveId())
+                .betweenIfPresent(RobotTaskAutoMoveDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(RobotTaskAutoMoveDO::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/robot/AutoMoveTaskStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/AutoMoveTaskStatusEnum.java
new file mode 100644
index 000000000..1941ca473
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/AutoMoveTaskStatusEnum.java
@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * robot_task_auto_move的task_status
+ */
+@Getter
+@AllArgsConstructor
+public enum AutoMoveTaskStatusEnum {
+    NEW(0),//未开始
+    DOING(1),//执行中
+    DONE(2),//已完成
+    CLOSE(3), //已取消
+    Exc(4); //异常
+    /**
+     * 类型
+     */
+    private final Integer type;
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/AutoMoveTaskTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/AutoMoveTaskTypeEnum.java
new file mode 100644
index 000000000..c4e9a1782
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/AutoMoveTaskTypeEnum.java
@@ -0,0 +1,18 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * robot_task_auto_move的task_type
+ */
+@Getter
+@AllArgsConstructor
+public enum AutoMoveTaskTypeEnum {
+
+    AUTO_MOVE(1); //自动移库
+    /**
+     * 类型
+     */
+    private final Integer type;
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/AutoMoveTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/AutoMoveTypeEnum.java
new file mode 100644
index 000000000..64ff1315c
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/AutoMoveTypeEnum.java
@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * robot_task_auto_move的move_type
+ */
+@Getter
+@AllArgsConstructor
+public enum AutoMoveTypeEnum {
+
+    GO(1), //去
+    BACK(1); //回
+    /**
+     * 类型
+     */
+    private final Integer type;
+
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java
index 365fb46ac..0c5bfcaa9 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * 下发给车机的类型
+ */
 @Getter
 @AllArgsConstructor
 public enum CommandTypeEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/DoCycleEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/DoCycleEnum.java
index ecb2dbc1e..5373e7b4f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/DoCycleEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/DoCycleEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task的do_cycle
+ */
 @Getter
 @AllArgsConstructor
 public enum DoCycleEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationEnableEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationEnableEnum.java
index 0d2bb1610..f97e896d8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationEnableEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationEnableEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * ware_house_location的location_enable
+ */
 @Getter
 @AllArgsConstructor
 public enum LocationEnableEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationLockEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationLockEnum.java
index c4b479d45..0e0bda9ec 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationLockEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationLockEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * ware_house_location的location_lock
+ */
 @Getter
 @AllArgsConstructor
 public enum LocationLockEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationUseStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationUseStatusEnum.java
index f0db19aff..b9aee545a 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationUseStatusEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationUseStatusEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * ware_house_location的location_use_status
+ */
 @Getter
 @AllArgsConstructor
 public enum LocationUseStatusEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/MontageTaskEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/MontageTaskEnum.java
index c319e28ea..724b310e8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/MontageTaskEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/MontageTaskEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task的montage_task
+ */
 @Getter
 @AllArgsConstructor
 public enum MontageTaskEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/MoveAllEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/MoveAllEnum.java
index 8f56a390f..e9267f2ba 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/MoveAllEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/MoveAllEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task的do_move_all
+ */
 @Getter
 @AllArgsConstructor
 public enum MoveAllEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/ReleaseTakeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/ReleaseTakeEnum.java
index 7fc8b6e01..46f05ce9f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/ReleaseTakeEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/ReleaseTakeEnum.java
@@ -4,7 +4,7 @@ import lombok.AllArgsConstructor;
 import lombok.Getter;
 
 /**
- * 放货类型
+ * 放货类型robot_task_detail的release_type
  */
 @Getter
 @AllArgsConstructor
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotMoveStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotMoveStatusEnum.java
new file mode 100644
index 000000000..2da31b462
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotMoveStatusEnum.java
@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * robot_task_auto_move表的task_status状态
+ */
+@Getter
+@AllArgsConstructor
+public enum RobotMoveStatusEnum {
+    NEW(0),//未开始
+    DOING(1),//执行中
+    DONE(2),//已完成
+    CLOSE(3), //已取消
+    Exc(4); //异常
+    /**
+     * 类型
+     */
+    private final Integer type;
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskDetailStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskDetailStatusEnum.java
index 9b2167431..8391c786d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskDetailStatusEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskDetailStatusEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task_detail的task_status
+ */
 @Getter
 @AllArgsConstructor
 public enum RobotTaskDetailStatusEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskModelEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskModelEnum.java
index 50ea957d8..6eca501fd 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskModelEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskModelEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_information的robot_task_model
+ */
 @Getter
 @AllArgsConstructor
 public enum RobotTaskModelEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskStatusEnum.java
index 86b039ed0..6cfd88c95 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskStatusEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskStatusEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task表的task_status
+ */
 @Getter
 @AllArgsConstructor
 public enum RobotTaskStatusEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskTypeEnum.java
index 813447a2d..8bc9675f4 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskTypeEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskTypeEnum.java
@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task_detail的task_type
+ */
 @Getter
 @AllArgsConstructor
 public enum RobotTaskTypeEnum {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
index a5010a8ce..99a5998fa 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.job.robot;
 import cn.iocoder.yudao.framework.tenant.core.job.TenantJob;
 import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
+import cn.iocoder.yudao.module.system.service.robot.job.RobotTaskAutoMoveService;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
 import com.xxl.job.core.handler.annotation.XxlJob;
 import lombok.extern.slf4j.Slf4j;
@@ -12,6 +13,12 @@ import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
 
+import java.util.HashSet;
+import java.util.Set;
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.REDISSON_NOT_OBTAIN_LOCK;
+
 
 @Component
 @Slf4j
@@ -23,6 +30,9 @@ public class RobotJob {
     @Autowired
     private DistributeTasksService distributeTasksService;
 
+    @Autowired
+    private RobotTaskAutoMoveService robotTaskAutoMoveService;
+
     //下发任务给车机
     @XxlJob("DistributeTasksJob")
     @TenantJob
@@ -37,6 +47,32 @@ public class RobotJob {
             } finally {
                 lock.unlock();
             }
+        }else {
+            log.info("下发任务未获取到锁");
+            throw exception(REDISSON_NOT_OBTAIN_LOCK);
+        }
+    }
+
+    //下发自动移库任务
+    @XxlJob("DistributeAutoMoveJob")
+    @TenantJob
+    public void distributeAutoMoveJob() throws InterruptedException {
+        log.info("----下发自动移库任务----");
+        Set<String> locks = new HashSet<>();
+        locks.add(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
+        locks.add(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
+        RLock lock = redissonUtils.getLocks(locks);
+        if (lock.tryLock()){
+            try {
+                robotTaskAutoMoveService.distributeAutoMoveJob();
+            } catch (Exception e) {
+                log.error("下发自动移库任务出现异常 :{}",e.getMessage());
+            } finally {
+                lock.unlock();
+            }
+        }else {
+            log.info("下发自动移库任务未获取到锁");
+            throw exception(REDISSON_NOT_OBTAIN_LOCK);
         }
     }
 
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 165e82d6b..1507b4f3e 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
@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.robot;
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
@@ -93,7 +94,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
 
         String addResult = "";
-        if (lock.tryLock(30l,TimeUnit.MINUTES)){
+        if (lock.tryLock(60l,TimeUnit.MINUTES)){
             try {
                 addResult = addTask(createReqVO);
             } catch (Exception e) {
@@ -155,6 +156,14 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                 throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下机器人已被禁用 ",robotNo);
             }
         }
+        //校验任务号是否重复
+        if (ObjectUtil.isNotEmpty(createReqVO.getTaskNo())) {
+            List<RobotTaskDO> taskDOS = taskMapper.selectList(new LambdaQueryWrapperX<RobotTaskDO>()
+                    .eq(RobotTaskDO::getTaskNo, createReqVO.getTaskNo()));
+            if (ObjectUtil.isNotEmpty(taskDOS)) {
+                throw exception(TASK_CHECK_EXIST_NO);
+            }
+        }
     }
 
     /**
@@ -306,6 +315,9 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskDetailAddVo.setFromLocationId(stockList.get(i).getId());
             robotTaskDetailAddVo.setToLocationNo(releaseStockList.get(i).getLocationNo());
             robotTaskDetailAddVo.setToLocationId(releaseStockList.get(i).getId());
+            robotTaskDetailAddVo.setFromLaneId(stockList.get(i).getLaneId());
+            robotTaskDetailAddVo.setToLaneId(releaseStockList.get(i).getLaneId());
+            robotTaskDetailAddVo.setLocationNumber(stockList.get(i).getLocationNumber());
             robotTaskDetailAddVo.setRobotTaskId(taskId);
             robotTaskDetailAddVo.setPriority(robotTaskVo.getPriority());
             robotTaskDetailAddVo.setFromLocationStorey(stockList.get(i).getLocationStorey());
@@ -399,7 +411,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      */
     @Transactional(rollbackFor = Exception.class)
     public void doTake(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
-        locationMapper.updateLocationLockStatus(robotTaskVo.getFromLocationId(),0,robotTaskVo.getRobotTaskId());
+        Set<Long> mapIds = new HashSet<>();
+        if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
+            mapIds = getMapIdsByRobotNo(robotTaskVo.getRobotNo());
+        }
+        setFromLocation(robotTaskVo,mapIds,locationIds);
         locationIds.add(robotTaskVo.getFromLocationId());
     }
 
@@ -461,6 +477,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setToLocationNo(locationDO.getLocationNo());
             robotTaskVo.setToLocationId(robotTaskVo.getReleaseId());
             robotTaskVo.setToLocationStorey(locationDO.getLocationStorey());
+            robotTaskVo.setToLaneId(locationDO.getLaneId());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此放货库位放货 :{}, 机器人编号 :{}", locationDO.getLocationNo(),robotTaskVo.getRobotNo());
                 throw new RuntimeException("机器人不能在此放货库位放货 "+ robotTaskVo.getReleaseId());
@@ -476,6 +493,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setToLocationNo(wareHouseLocationDO.getLocationNo());
             robotTaskVo.setToLocationId(wareHouseLocationDO.getId());
             robotTaskVo.setToLocationStorey(wareHouseLocationDO.getLocationStorey());
+            robotTaskVo.setToLaneId(wareHouseLocationDO.getLaneId());
         }
     }
 
@@ -493,6 +511,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setFromLocationNo(locationDO.getLocationNo());
             robotTaskVo.setFromLocationId(robotTaskVo.getTakeId());
             robotTaskVo.setFromLocationStorey(locationDO.getLocationStorey());
+            robotTaskVo.setFromLaneId(locationDO.getLaneId());
+            robotTaskVo.setLocationNumber(locationDO.getLocationNumber());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此取货库位取货 :{}, 机器人编号 :{}", locationDO.getLocationNo(),robotTaskVo.getRobotNo());
                 throw new RuntimeException("机器人不能在此取货库位取货 "+ robotTaskVo.getTakeId());
@@ -508,6 +528,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setFromLocationNo(wareHouseLocationDO.getLocationNo());
             robotTaskVo.setFromLocationId(wareHouseLocationDO.getId());
             robotTaskVo.setFromLocationStorey(wareHouseLocationDO.getLocationStorey());
+            robotTaskVo.setFromLaneId(wareHouseLocationDO.getLaneId());
+            robotTaskVo.setLocationNumber(wareHouseLocationDO.getLocationNumber());
         }
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksService.java
index cfed30e6c..f6bd9c157 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksService.java
@@ -1,5 +1,19 @@
 package cn.iocoder.yudao.module.system.service.robot.job;
 
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import org.apache.commons.lang3.tuple.Pair;
+
+import java.util.List;
+
 public interface DistributeTasksService {
+    /**
+     * 下发搬运任务
+     */
     void distributeTasks();
+
+    /**
+     * 获取待执行的机器人和任务
+     */
+    Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> getRobotAndTaskDetails();
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
index fb812204f..195403b9a 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
@@ -19,6 +19,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.tuple.ImmutableTriple;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
@@ -75,6 +76,29 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void distributeTasks() {
+
+        Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails = getRobotAndTaskDetails();
+        List<RobotInformationDO> robots = robotAndTaskDetails.getLeft();
+        if (ObjectUtil.isEmpty(robots)) {
+            return;
+        }
+
+        List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
+        if (ObjectUtil.isEmpty(taskDetailDOS)) {
+            return;
+        }
+
+        //任务下发给机器人
+        distributeTasks(robots,taskDetailDOS);
+    }
+
+    /**
+     * 获取待执行的机器人和任务
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> getRobotAndTaskDetails() {
+        Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> pair = Pair.of(new ArrayList<>(), new ArrayList<>());;
         TenantContextHolder.setTenantId(1L);
         List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotStatus, (RobotStatusEnum.STAND_BY.getType()))
@@ -83,9 +107,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
         if (robots.isEmpty()) {
             log.info("暂无空闲的机器人");
-            return;
+            return pair;
         }
 
+        //todo 还需要根据车机上报的信息，过滤掉不能用的机器人
+
         //拼接任务id
         List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();
         List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(),detailDongIds);
@@ -94,24 +120,16 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
         if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
             log.info("暂无需要处理的主任务");
-            return;
+            return pair;
         }
 
         List<RobotTaskDetailDO> taskDetailDOS = getTaskDetail(montageTaskIds,singleTaskIds);
 
         if (taskDetailDOS.isEmpty()) {
             log.info("暂无需要处理的明细任务");
-            return;
+            return pair;
         }
-
-        //如果系统暂停  则不下发任务
-
-        //todo 更新数据库顺序 后续改为和创建订单一致
-
-        // todo 更新数据库 改为批量修改
-
-        //任务下发给机器人
-        distributeTasks(robots,taskDetailDOS);
+        return ImmutablePair.of(robots, taskDetailDOS);
     }
 
     /**
@@ -395,6 +413,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             return;
         }
 
+        // todo 需要校验取放线库， 都没有移库的任务
+
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
@@ -583,7 +603,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         taskIdSet.add(taskDetailDO.getRobotTaskId());
     }
 
-    private Pair<String, String> getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    public Pair<String, String> getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                                       WareHouseLocationDO fromLocation, WareHouseLocationDO toLocation) {
         String macAddress = "";
         String robotNo = taskDetailDO.getRobotNo();
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveService.java
new file mode 100644
index 000000000..afaf95d7c
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveService.java
@@ -0,0 +1,60 @@
+package cn.iocoder.yudao.module.system.service.robot.job;
+
+import java.util.*;
+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.RobotTaskAutoMovePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+
+/**
+ * 机器人自动移库 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface RobotTaskAutoMoveService {
+
+    /**
+     * 创建机器人自动移库
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createTaskAutoMove(@Valid RobotTaskAutoMoveSaveReqVO createReqVO);
+
+    /**
+     * 更新机器人自动移库
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateTaskAutoMove(@Valid RobotTaskAutoMoveSaveReqVO updateReqVO);
+
+    /**
+     * 删除机器人自动移库
+     *
+     * @param id 编号
+     */
+    void deleteTaskAutoMove(Long id);
+
+    /**
+     * 获得机器人自动移库
+     *
+     * @param id 编号
+     * @return 机器人自动移库
+     */
+    RobotTaskAutoMoveDO getTaskAutoMove(Long id);
+
+    /**
+     * 获得机器人自动移库分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 机器人自动移库分页
+     */
+    PageResult<RobotTaskAutoMoveDO> getTaskAutoMovePage(RobotTaskAutoMovePageReqVO pageReqVO);
+
+    /**
+     * 自动移库
+     */
+    void distributeAutoMoveJob();
+}
\ 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/job/RobotTaskAutoMoveServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java
new file mode 100644
index 000000000..2f0b5c50e
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java
@@ -0,0 +1,412 @@
+package cn.iocoder.yudao.module.system.service.robot.job;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMovePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskAutoMoveMapper;
+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.robot.*;
+import com.alibaba.fastjson.JSON;
+import com.google.common.collect.Lists;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.tuple.Pair;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.time.LocalDateTime;
+import java.util.*;
+import java.util.stream.Collectors;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_AUTO_MOVE_NOT_EXISTS;
+
+/**
+ * 机器人自动移库 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+@Slf4j
+public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
+
+    @Resource
+    private RobotTaskAutoMoveMapper taskAutoMoveMapper;
+
+    @Autowired
+    private RobotInformationMapper robotInformationMapper;
+
+    @Autowired
+    private RobotTaskMapper robotTaskMapper;
+
+    @Autowired
+    private RobotTaskDetailMapper robotTaskDetailMapper;
+
+    @Resource
+    private RobotTaskApi robotTaskApi;
+
+    @Resource
+    private PositionMapItemMapper positionMapItemMapper;
+
+    @Resource
+    private WareHouseLocationMapper locationMapper;
+
+    @Autowired
+    private DistributeTasksService distributeTasksService;
+
+    @Value("${zn.lane_auto_move:true}")
+    private Boolean laneAutoMove;
+
+    @Override
+    public Long createTaskAutoMove(RobotTaskAutoMoveSaveReqVO createReqVO) {
+        // 插入
+        RobotTaskAutoMoveDO taskAutoMove = BeanUtils.toBean(createReqVO, RobotTaskAutoMoveDO.class);
+        taskAutoMoveMapper.insert(taskAutoMove);
+        // 返回
+        return taskAutoMove.getId();
+    }
+
+    @Override
+    public void updateTaskAutoMove(RobotTaskAutoMoveSaveReqVO updateReqVO) {
+        // 校验存在
+        validateTaskAutoMoveExists(updateReqVO.getId());
+        // 更新
+        RobotTaskAutoMoveDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskAutoMoveDO.class);
+        taskAutoMoveMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteTaskAutoMove(Long id) {
+        // 校验存在
+        validateTaskAutoMoveExists(id);
+        // 删除
+        taskAutoMoveMapper.deleteById(id);
+    }
+
+    private void validateTaskAutoMoveExists(Long id) {
+        if (taskAutoMoveMapper.selectById(id) == null) {
+            throw exception(TASK_AUTO_MOVE_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public RobotTaskAutoMoveDO getTaskAutoMove(Long id) {
+        return taskAutoMoveMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<RobotTaskAutoMoveDO> getTaskAutoMovePage(RobotTaskAutoMovePageReqVO pageReqVO) {
+        return taskAutoMoveMapper.selectPage(pageReqVO);
+    }
+
+    /**
+     * 自动移库
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void distributeAutoMoveJob() {
+        TenantContextHolder.setTenantId(1L);
+        Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails =
+                distributeTasksService.getRobotAndTaskDetails();
+
+        List<RobotInformationDO> robots = robotAndTaskDetails.getLeft();
+        if (ObjectUtil.isEmpty(robots)) {
+            log.info("没有空闲的机器人能执行移库任务");
+            return;
+        }
+
+        List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
+        if (ObjectUtil.isEmpty(taskDetailDOS)) {
+            log.info("没有需要自动移库的明细任务");
+            return;
+        }
+
+        //查询需要移库的普通库位(非线库)
+        List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> ordinaryPairs = getOrdinaryAutoMoveLocation(taskDetailDOS);
+
+        //查询需要移库的库位(线库)
+        List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> pairs = getLaneAutoMoveLocation(taskDetailDOS);
+
+        if (ObjectUtil.isEmpty(ordinaryPairs) && ObjectUtil.isEmpty(pairs)) {
+            log.info("查不到需要移库的库位");
+            return;
+        }
+        ordinaryPairs.addAll(pairs);
+        //下发任务
+        List<RobotTaskAutoMoveDO> robotTaskAutoMoveDOS = allocationRobot(robots, ordinaryPairs);
+        if (ObjectUtil.isEmpty(robotTaskAutoMoveDOS)) {
+            log.info("暂无需要下发移库的任务");
+            return;
+        }
+
+        taskAutoMoveMapper.insert(robotTaskAutoMoveDOS);
+        Set<String> robotNos = robotTaskAutoMoveDOS.stream().map(RobotTaskAutoMoveDO::getRobotNo).collect(Collectors.toSet());
+
+        List<RobotInformationDO> robotInformationDOS = robotInformationMapper.selectByRobotNos(robotNos);
+        robotInformationDOS.stream().forEach(robotInformationDO -> {
+            robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
+        });
+        robotInformationMapper.updateBatch(robotInformationDOS);
+
+        List<Long> locationIds = new ArrayList<>();
+        robotTaskAutoMoveDOS.forEach(robotTaskAutoMoveDO -> {
+            locationIds.add(robotTaskAutoMoveDO.getFromLocationId());
+            locationIds.add(robotTaskAutoMoveDO.getToLocationId());
+        });
+
+        List<List<Long>> fromPartition = Lists.partition(locationIds, 100);
+        fromPartition.forEach(list-> {
+            locationMapper.updateLocationLockList(list,0l,LocationLockEnum.NO.getType());
+        });
+
+        // todo 搬运任务下发给机器人
+
+    }
+
+    /**
+     * 查询需要移库的普通库位(非线库)
+     * @param taskDetailDOS
+     * @return
+     */
+    private List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> getOrdinaryAutoMoveLocation(List<RobotTaskDetailDO> taskDetailDOS) {
+        List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> result = new ArrayList<>();
+        List<RobotTaskDetailDO> details = taskDetailDOS.stream().filter(v ->
+                        (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(v.getTaskType())
+                                || RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType())
+                                || RobotTaskTypeEnum.RELEASE.getType().equals(v.getTaskType()))
+                                && ObjectUtil.isEmpty(v.getFromLaneId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(details)) {
+            log.info("普通库位, 不需要执行移库");
+            return result;
+        }
+
+        for (RobotTaskDetailDO robotTaskDetailDO : details) {
+            Set<Long> doingLocationIds = new HashSet<>();
+            if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getFromLocationId())) {
+                doingLocationIds.add(robotTaskDetailDO.getFromLocationId());
+            }
+            if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getToLocationId())) {
+                doingLocationIds.add(robotTaskDetailDO.getToLocationId());
+            }
+            if (ObjectUtil.isEmpty(doingLocationIds)) {
+                continue;
+            }
+            List<WareHouseLocationDO> locationDOS = locationMapper.selectNeedMoveLocation(doingLocationIds);
+            if (ObjectUtil.isEmpty(locationDOS)) {
+                log.info("暂无需要自动移库的库位 :{}" ,robotTaskDetailDO);
+                continue;
+            }
+            boolean enableOrLock = locationDOS.stream().anyMatch(v -> LocationEnableEnum.NO.getType().equals(v.getLocationEnable())
+                    || LocationLockEnum.NO.getType().equals(v.getLocationLock()));
+            if (enableOrLock) {
+                log.info("此库位被锁定或者禁用,无法执行移库 :{}",locationDOS);
+                //todo 后期加到告警表里面 方便排查问题
+                continue;
+            }
+            Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair = Pair.of(robotTaskDetailDO, locationDOS);
+            result.add(pair);
+        }
+        return result;
+    }
+
+    /**
+     * 下发任务
+     * @param robots
+     * @param pairs
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public List<RobotTaskAutoMoveDO> allocationRobot(List<RobotInformationDO> robots, List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> pairs) {
+        List<RobotTaskAutoMoveDO> list = new ArrayList<>();
+        if (ObjectUtil.isEmpty(robots) || ObjectUtil.isEmpty(pairs)) {
+            return list;
+        }
+
+        //查找空库位
+        // todo 并且 map_item_id没有处理中的任务
+        List<WareHouseLocationDO> emptyLocations = locationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
+                .isNull(WareHouseLocationDO::getLaneId)
+                .eq(WareHouseLocationDO::getLocationUseStatus, LocationUseStatusEnum.NO.getType())
+                .eq(WareHouseLocationDO::getLocationEnable, LocationEnableEnum.YES.getType())
+                .eq(WareHouseLocationDO::getLocationLock, LocationLockEnum.YES.getType())
+                .orderByDesc(WareHouseLocationDO::getLocationNumber));
+        if (ObjectUtil.isEmpty(emptyLocations)) {
+            log.info("查不到空库位,无法执行移库任务");
+            return list;
+        }
+
+        for (Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair : pairs) {
+            RobotTaskDetailDO detailDO = pair.getLeft();
+            for (WareHouseLocationDO wareHouseLocationDO : pair.getRight()) {
+                if (ObjectUtil.isEmpty(robots) || ObjectUtil.isEmpty(emptyLocations)) {
+                    return list;
+                }
+                // 校验机器人工作区域
+                RobotInformationDO robotInformationDO = robots.stream()
+                        .filter(v ->
+                                ObjectUtil.isNotEmpty(v.getMacAddress())
+                                        && v.getFloorAreaJson().contains(wareHouseLocationDO.getAreaId())
+                                        && v.getFloorAreaJson().contains(emptyLocations.get(0).getAreaId()))
+                        .findFirst()
+                        .orElse(new RobotInformationDO());
+                if (ObjectUtil.isEmpty(robotInformationDO) || ObjectUtil.isEmpty(robotInformationDO.getRobotNo())) {
+                    continue;
+                }
+
+                RobotTaskAutoMoveDO autoMoveDO = new RobotTaskAutoMoveDO();
+                autoMoveDO.setRobotTaskDetailId(detailDO.getId());
+                autoMoveDO.setRobotTaskId(detailDO.getRobotTaskId());
+                autoMoveDO.setFromLocationId(wareHouseLocationDO.getId());
+                autoMoveDO.setFromLocationNo(wareHouseLocationDO.getLocationNo());
+                autoMoveDO.setToLocationId(emptyLocations.get(0).getId());
+                autoMoveDO.setToLocationNo(emptyLocations.get(0).getLocationNo());
+                autoMoveDO.setFromLaneId(wareHouseLocationDO.getLaneId());
+                autoMoveDO.setTaskStatus(AutoMoveTaskStatusEnum.DOING.getType());
+                autoMoveDO.setPriority(wareHouseLocationDO.getLocationNumber());
+                autoMoveDO.setRobotNo(robotInformationDO.getRobotNo());
+                autoMoveDO.setTaskType(AutoMoveTaskTypeEnum.AUTO_MOVE.getType());
+                autoMoveDO.setMoveType(AutoMoveTypeEnum.GO.getType());
+                autoMoveDO.setStartTime(LocalDateTime.now());
+                list.add(autoMoveDO);
+
+                robots.removeIf(v -> v.getRobotNo().equals(autoMoveDO.getRobotNo()));
+                emptyLocations.removeIf(v -> v.getId().equals(autoMoveDO.getToLocationId()));
+            }
+
+        }
+
+        return list;
+    }
+
+    /**
+     * 查询需要移库的库位(线库)
+     * @param taskDetailDOS
+     * @return
+     */
+    public List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> getLaneAutoMoveLocation(List<RobotTaskDetailDO> taskDetailDOS) {
+        List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> result = new ArrayList<>();
+        if (ObjectUtil.isEmpty(taskDetailDOS) || !laneAutoMove) {
+            log.info("没有线库的任务明细, 不需要执行线库移库");
+            return result;
+        }
+        //此线库不能有移动过来的任务
+        List<RobotTaskDetailDO> doingTaskDetail = robotTaskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
+                .eq(RobotTaskDetailDO::getTaskStatus, (RobotTaskStatusEnum.DOING.getType()))
+                .in(RobotTaskDetailDO::getTaskType, RobotTaskTypeEnum.TAKE_RELEASE.getType(), RobotTaskTypeEnum.TAKE.getType()));
+
+        Set<Long> doingTaskDetailLaneIds = new HashSet<>();
+        if (ObjectUtil.isNotEmpty(doingTaskDetail)) {
+            for (RobotTaskDetailDO robotTaskDetailDO : doingTaskDetail) {
+                if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getFromLaneId())) {
+                    doingTaskDetailLaneIds.add(robotTaskDetailDO.getFromLaneId());
+                }
+                if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getToLaneId())) {
+                    doingTaskDetailLaneIds.add(robotTaskDetailDO.getToLaneId());
+                }
+            }
+        }
+
+        //自动移库的任务
+        List<RobotTaskAutoMoveDO> robotTaskAutoMoveDOS = taskAutoMoveMapper.selectList(new LambdaQueryWrapperX<RobotTaskAutoMoveDO>()
+                .eq(RobotTaskAutoMoveDO::getTaskStatus, RobotTaskStatusEnum.DOING.getType()));
+        Set<Long> doingAutoMoveLaneIds = new HashSet<>();
+        Set<Long> doingDetailIds = new HashSet<>();
+        if (ObjectUtil.isNotEmpty(robotTaskAutoMoveDOS)) {
+            robotTaskAutoMoveDOS.forEach(robotTaskAutoMoveDO -> {
+                if (ObjectUtil.isNotEmpty(robotTaskAutoMoveDO.getFromLaneId())) {
+                    doingAutoMoveLaneIds.add(robotTaskAutoMoveDO.getFromLaneId());
+                }
+                if (ObjectUtil.isNotEmpty(robotTaskAutoMoveDO.getRobotTaskDetailId())) {
+                    doingDetailIds.add(robotTaskAutoMoveDO.getRobotTaskDetailId());
+                }
+            });
+        }
+
+        //只有库位为线库，且任务类型为取放货和仅取货的需要移库
+        List<RobotTaskDetailDO> details = taskDetailDOS.stream().filter(v ->
+                        (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(v.getTaskType())
+                                || RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType()))
+                                && ObjectUtil.isNotEmpty(v.getFromLaneId())
+                                && (/*ObjectUtil.isNotEmpty(doingAutoMoveLaneIds) &&*/ !doingAutoMoveLaneIds.contains(v.getFromLaneId()))
+                                && (/*ObjectUtil.isNotEmpty(doingDetailIds) &&*/ !doingDetailIds.contains(v.getId()))
+                                && (/*ObjectUtil.isNotEmpty(doingTaskDetailLaneIds) &&*/ !doingTaskDetailLaneIds.contains(v.getFromLaneId())))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(details)) {
+            log.info("没有线库的任务, 不需要执行线库移库");
+            return result;
+        }
+
+        Map<Long, List<RobotTaskDetailDO>> detailMaps =
+                details.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getFromLaneId));
+        //查找每一个线库最小的一个库位
+
+        for (Map.Entry<Long, List<RobotTaskDetailDO>> detaiMap : detailMaps.entrySet()) {
+            List<WareHouseLocationDO> locations = new ArrayList<>();
+            RobotTaskDetailDO robotTaskDetail = detaiMap.getValue()
+                    .stream()
+                    .min(Comparator.comparing(RobotTaskDetailDO::getLocationNumber)).get();
+            if (ObjectUtil.isNotEmpty(robotTaskDetail) && ObjectUtil.isNotEmpty(robotTaskDetail.getLocationNumber())) {
+                WareHouseLocationDO location = WareHouseLocationDO.builder().locationNumber(robotTaskDetail.getLocationNumber())
+                        .locationUseStatus(LocationUseStatusEnum.YES.getType())
+                        .locationLock(LocationLockEnum.YES.getType())
+                        .laneId(detaiMap.getKey()).build();
+                locations.add(location);
+            }
+
+            log.info("查询是否需要执行移库任务的线库id和对应的排序位置 :{}", JSON.toJSONString(locations));
+            if (ObjectUtil.isNotEmpty(locations)) {
+                List<WareHouseLocationDO> wareHouseLocationDOS = locationMapper.selectLocationByList(locations);
+                if (ObjectUtil.isNotEmpty(wareHouseLocationDOS)) {
+                    Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair = Pair.of(robotTaskDetail, wareHouseLocationDOS);
+                    result.add(pair);
+                }
+            }
+        }
+
+        return result;
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+}
\ 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 98498c837..fdf19167c 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
@@ -225,4 +225,5 @@ zn:
   scan_height: 0.4 #扫描高度
   parm: 5000 #等待时间
   lift_height: 0.1 #抬高托盘高度
-  move_height: 0.1 #行走高度
\ No newline at end of file
+  move_height: 0.1 #行走高度
+  lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
index 9329642d4..d83ccbe9e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
@@ -481,20 +481,7 @@
         where id = #{id}
     </update>
 
-    <update id="updateLocationLockStatus">
-        update
-            ware_house_location
-        <set>
-            <if test="taskId != null">
-                task_id = #{taskId},
-            </if>
-            <if test="locationLock != null">
-                location_lock = #{locationLock},
-            </if>
-        </set>
-        where
-            id = #{id}
-    </update>
+
 
     <update id="updateLocationLockList">
         update
@@ -690,4 +677,84 @@
         </choose>
     </select>
 
+
+    <select id="selectLocationByList"  resultMap="BaseResultMap">
+        select
+            <include refid="base_sql"></include>
+        from
+        ware_house_location
+            <where>
+                <foreach collection="locations" item="item" open="(" close=")"
+                         separator=",">
+                    1=1
+                    <if test="item.laneId != null">
+                        and lane_id = #{item.laneId}
+                    </if>
+                    <if test="item.locationNumber != null">
+                        and location_number &lt; #{item.locationNumber}
+                    </if>
+                    <if test="item.locationLock != null">
+                        and location_lock = #{item.locationLock}
+                    </if>
+                    <if test="item.locationUseStatus != null">
+                        and location_use_status = #{item.locationUseStatus}
+                    </if>
+                    <if test="1==1">
+                        and deleted = '0'
+                    </if>
+                </foreach>
+        </where>
+        order by  location_number asc
+    </select>
+
+
+    <select id="selectNeedMoveLocation" resultMap="BaseResultMap">
+        select
+            t2.id,
+            t2.lane_id,
+            t2.lane_name,
+            t2.area_id,
+            t2.area_name,
+            t2.location_no,
+            t2.location_yaw,
+            t2.group_name,
+            t2.sku_info,
+            t2.sku_batch,
+            t2.sku_number,
+            t2.tray_info,
+            t2.location_enable,
+            t2.location_lock,
+            t2.location_use_status,
+            t2.location_x,
+            t2.location_y,
+            t2.location_wide,
+            t2.location_deep,
+            t2.location_height,
+            t2.location_default_height,
+            t2.location_total_height,
+            t2.location_tray_height,
+            t2.location_storey,
+            t2.location_type,
+            t2.location_number,
+            t2.map_id,
+            t2.map_item_id
+        from
+            ware_house_location t1, ware_house_location t2
+        WHERE
+        t1.map_item_id = t2.map_item_id
+        and t1.id in
+        <foreach collection="locationIds" item="id" index="index" open="(" close=")"
+                 separator=",">
+            #{id}
+        </foreach>
+        and t2.location_number &lt; t1.location_number
+        and t2.location_use_status = '1'
+        and t2.id not in
+        <foreach collection="locationIds" item="id" index="index" open="(" close=")"
+                 separator=",">
+            #{id}
+        </foreach>
+        order by t2.location_number asc
+    </select>
+
 </mapper>
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskAutoMoveMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskAutoMoveMapper.xml
new file mode 100644
index 000000000..cfa179926
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskAutoMoveMapper.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskAutoMoveMapper">
+
+    <!--
+        一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
+        无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。
+        代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
+        文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
+     -->
+
+</mapper>
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml
index c3f4aaa3f..a8c6bba64 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml
@@ -13,6 +13,9 @@
         <result property="takeId" column="take_id" jdbcType="INTEGER"/>
         <result property="fromLocationNo" column="from_location_no" jdbcType="VARCHAR"/>
         <result property="fromLocationId" column="from_location_id" jdbcType="INTEGER"/>
+        <result property="fromLaneId" column="from_lane_id" jdbcType="INTEGER"/>
+        <result property="toLaneId" column="to_lane_id" jdbcType="INTEGER"/>
+        <result property="locationNumber" column="location_number" jdbcType="INTEGER"/>
         <result property="toLocationNo" column="to_location_no" jdbcType="VARCHAR"/>
         <result property="toLocationId" column="to_location_id" jdbcType="INTEGER"/>
         <result property="fromLocationStorey" column="from_location_storey" jdbcType="INTEGER"/>
@@ -42,6 +45,9 @@
                take_id,
                from_location_no,
                from_location_id,
+               from_lane_id,
+               to_lane_id,
+               location_number
                to_location_no,
                to_location_id,
                robot_no,
@@ -360,13 +366,13 @@
     <insert id="insertBatchList" >
         insert into robot_task_detail(robot_task_id, task_type, release_type, take_type, release_id, take_id,
         from_location_no, from_location_id, to_location_no, to_location_id, robot_no,from_location_storey,
-        to_location_storey,priority)
+        to_location_storey,priority,from_lane_id,to_lane_id,location_number)
         values
         <foreach collection="taskDetailList" item="entity" separator=",">
             (#{entity.robotTaskId}, #{entity.taskType}, #{entity.releaseType}, #{entity.takeType}, #{entity.releaseId},
             #{entity.takeId}, #{entity.fromLocationNo}, #{entity.fromLocationId}, #{entity.toLocationNo},
             #{entity.toLocationId}, #{entity.robotNo}, #{entity.fromLocationStorey}, #{entity.toLocationStorey}
-            , #{entity.priority})
+            , #{entity.priority}, #{entity.fromLaneId}, #{entity.toLaneId}, #{entity.locationNumber})
         </foreach>
     </insert>