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 23ea4d49e..f88e33fab 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
@@ -168,6 +168,8 @@ public interface ErrorCodeConstants {
     ErrorCode INFORMATION_MAC_EXIST = new ErrorCode(1_002_029_002, "此Mac地址已经存在");
     ErrorCode INFORMATION_MAC_INPUT = new ErrorCode(1_002_029_003, "请输入Mac地址");
     ErrorCode INFORMATION_BIND_MAP = new ErrorCode(1_002_029_004, "设备已经绑定在地图上,请先在地图上解绑");
+    ErrorCode INFORMATION_FLIP_BINDING = new ErrorCode(1_002_029_005, "翻转机需要绑定取货点位");
+    ErrorCode INFORMATION_FLIP_NEED_BINDING_CHECK = new ErrorCode(1_002_029_006, "翻转机需要绑定检测区取放货点位");
 
     // ========== 线库/巷道 1-002-030-000 ==========
     ErrorCode HOUSE_LANE_NOT_EXISTS = new ErrorCode(1-002-030-001, "线库不存在");
@@ -341,4 +343,7 @@ public interface ErrorCodeConstants {
 
     // ========== 取货点位 1_002_062_001 ==========
     ErrorCode HOUSE_TAKE_POINT_NOT_EXISTS = new ErrorCode(1_002_062_001, "取货点位不存在");
+
+    // ========== 取货点位绑定 1_002_063_001 ==========
+    ErrorCode HOUSE_TAKE_POINT_BINDING_NOT_EXISTS = new ErrorCode(1_002_063_001, "取货点位绑定不存在");
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointBindingController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointBindingController.java
new file mode 100644
index 000000000..9711e99f9
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointBindingController.java
@@ -0,0 +1,97 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
+import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointBindingService;
+import org.springframework.web.bind.annotation.*;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.security.access.prepost.PreAuthorize;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Operation;
+
+import javax.validation.constraints.*;
+import javax.validation.*;
+import javax.servlet.http.*;
+import java.util.*;
+import java.io.IOException;
+
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
+
+import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
+import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
+
+
+@Tag(name = "管理后台 - 取货点位绑定")
+@RestController
+@RequestMapping("/system/ware/house-take-point-binding")
+@Validated
+public class WareHouseTakePointBindingController {
+
+    @Resource
+    private WareHouseTakePointBindingService houseTakePointBindingService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建取货点位绑定")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:create')")
+    public CommonResult<Long> createHouseTakePointBinding(@Valid @RequestBody WareHouseTakePointBindingSaveReqVO createReqVO) {
+        return success(houseTakePointBindingService.createHouseTakePointBinding(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新取货点位绑定")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:update')")
+    public CommonResult<Boolean> updateHouseTakePointBinding(@Valid @RequestBody WareHouseTakePointBindingSaveReqVO updateReqVO) {
+        houseTakePointBindingService.updateHouseTakePointBinding(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除取货点位绑定")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:delete')")
+    public CommonResult<Boolean> deleteHouseTakePointBinding(@RequestParam("id") Long id) {
+        houseTakePointBindingService.deleteHouseTakePointBinding(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得取货点位绑定")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:query')")
+    public CommonResult<WareHouseTakePointBindingRespVO> getHouseTakePointBinding(@RequestParam("id") Long id) {
+        WareHouseTakePointBindingDO houseTakePointBinding = houseTakePointBindingService.getHouseTakePointBinding(id);
+        return success(BeanUtils.toBean(houseTakePointBinding, WareHouseTakePointBindingRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得取货点位绑定分页")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:query')")
+    public CommonResult<PageResult<WareHouseTakePointBindingRespVO>> getHouseTakePointBindingPage(@Valid WareHouseTakePointBindingPageReqVO pageReqVO) {
+        PageResult<WareHouseTakePointBindingDO> pageResult = houseTakePointBindingService.getHouseTakePointBindingPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, WareHouseTakePointBindingRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出取货点位绑定 Excel")
+    @PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportHouseTakePointBindingExcel(@Valid WareHouseTakePointBindingPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<WareHouseTakePointBindingDO> list = houseTakePointBindingService.getHouseTakePointBindingPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "取货点位绑定.xls", "数据", WareHouseTakePointBindingRespVO.class,
+                        BeanUtils.toBean(list, WareHouseTakePointBindingRespVO.class));
+    }
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java
index 9dcff8ede..5c0ea2835 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java
@@ -81,11 +81,11 @@ public class WareHouseTakePointController {
         return success(BeanUtils.toBean(pageResult, WareHouseTakePointRespVO.class));
     }
 
-    @GetMapping("/list")
+    @PostMapping("/list")
     @Operation(summary = "获得取货点位集合")
     @PreAuthorize("@ss.hasPermission('ware:house-take-point:list')")
-    public CommonResult<List<WareHouseTakePointRespVO>> getHouseTakePointList() {
-        List<WareHouseTakePointDO> list = houseTakePointService.getHouseTakePointList();
+    public CommonResult<List<WareHouseTakePointRespVO>> getHouseTakePointList(@RequestBody WareHouseTakePointSaveReqVO updateReqVO) {
+        List<WareHouseTakePointDO> list = houseTakePointService.getHouseTakePointList(updateReqVO);
         return success(BeanUtils.toBean(list, WareHouseTakePointRespVO.class));
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingPageReqVO.java
new file mode 100644
index 000000000..af8db8825
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingPageReqVO.java
@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import lombok.*;
+import java.util.*;
+import io.swagger.v3.oas.annotations.media.Schema;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+
+import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
+
+@Schema(description = "管理后台 - 取货点位绑定分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class WareHouseTakePointBindingPageReqVO extends PageParam {
+
+    @Schema(description = "类型, 0:设备", example = "2")
+    private Integer bindingType;
+
+    @Schema(description = "设备id", example = "3876")
+    private Long bindingId;
+
+    @Schema(description = "取货点位表id", example = "20371")
+    private Long takePointId;
+
+    @Schema(description = "创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] createTime;
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingRespVO.java
new file mode 100644
index 000000000..5eefdfe1c
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingRespVO.java
@@ -0,0 +1,35 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.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 - 取货点位绑定 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class WareHouseTakePointBindingRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "16028")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "类型, 0:设备", example = "2")
+    @ExcelProperty("类型, 0:设备")
+    private Integer bindingType;
+
+    @Schema(description = "设备id", example = "3876")
+    @ExcelProperty("设备id")
+    private Long bindingId;
+
+    @Schema(description = "取货点位表id", example = "20371")
+    @ExcelProperty("取货点位表id")
+    private Long takePointId;
+
+    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("创建时间")
+    private LocalDateTime createTime;
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingSaveReqVO.java
new file mode 100644
index 000000000..add228d66
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingSaveReqVO.java
@@ -0,0 +1,24 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+
+@Schema(description = "管理后台 - 取货点位绑定新增/修改 Request VO")
+@Data
+public class WareHouseTakePointBindingSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "16028")
+    private Long id;
+
+    @Schema(description = "类型, 0:设备", example = "2")
+    private Integer bindingType;
+
+    @Schema(description = "设备id", example = "3876")
+    private Long bindingId;
+
+    @Schema(description = "取货点位表id", example = "20371")
+    private Long takePointId;
+
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java
index 0746cb6a4..d210a6820 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java
@@ -19,7 +19,7 @@ public class WareHouseTakePointPageReqVO extends PageParam {
     @Schema(description = "点位类型名称", example = "李四")
     private String pointName;
 
-    @Schema(description = "点位类型(备用)", example = "2")
+    @Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
     private Integer pointType;
 
     @Schema(description = "总高度")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java
index b31064337..f14d9cf5d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java
@@ -21,8 +21,8 @@ public class WareHouseTakePointRespVO {
     @ExcelProperty("点位类型名称")
     private String pointName;
 
-    @Schema(description = "点位类型(备用)", example = "2")
-    @ExcelProperty("点位类型(备用)")
+    @Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
+    @ExcelProperty("点位类型, 0:翻转机设备, 1:普通取放货点位'")
     private Integer pointType;
 
     @Schema(description = "总高度")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointSaveReqVO.java
index 2caa3d509..9a3e22067 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointSaveReqVO.java
@@ -16,7 +16,7 @@ public class WareHouseTakePointSaveReqVO {
     @Schema(description = "点位类型名称", example = "李四")
     private String pointName;
 
-    @Schema(description = "点位类型(备用)", example = "2")
+    @Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
     private Integer pointType;
 
     @Schema(description = "总高度")
@@ -40,4 +40,7 @@ public class WareHouseTakePointSaveReqVO {
     @Schema(description = "实际坐标y轴")
     private String actualLocationY;
 
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "11573")
+    private List<Long> ids;
+
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java
index b63e4f3b6..ebeba7df5 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java
@@ -71,8 +71,8 @@ public class DeviceInformationController {
     @Parameter(name = "id", description = "编号", required = true, example = "1024")
     @PreAuthorize("@ss.hasPermission('device:information:query')")
     public CommonResult<DeviceInformationRespVO> getInformation(@RequestParam("id") Long id) {
-        DeviceInformationDO information = informationService.getInformation(id);
-        return success(BeanUtils.toBean(information, DeviceInformationRespVO.class));
+        DeviceInformationRespVO information = informationService.getInformation(id);
+        return success(information);
     }
 
     @GetMapping("/getCameraCode")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
index 530d5b117..40fdd8736 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
@@ -139,4 +139,13 @@ public class DeviceInformationRespVO {
     @Schema(description = "ware_house_take_point的id")
     @ExcelProperty("ware_house_take_point的id")
     private Long takePointId;
+
+    @Schema(description = "检测点的id")
+    private List<Long> checkPointIds;
+
+    /*@Schema(description = "取货点位")
+    private WareHouseTakePointDO takeWareHouseTakePointDO;
+
+    @Schema(description = "检测区的取货点位")
+    private List<WareHouseTakePointDO>  checkPointBindingList;*/
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
index aebfdacf7..b7a843ac0 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
@@ -103,4 +103,7 @@ public class DeviceInformationSaveReqVO {
 
     @Schema(description = "ware_house_take_point的id")
     private Long takePointId;
+
+    @Schema(description = "检测点的id")
+    private List<Long> checkPointIds;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointBindingDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointBindingDO.java
new file mode 100644
index 000000000..8d60e170c
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointBindingDO.java
@@ -0,0 +1,43 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
+
+import lombok.*;
+import java.util.*;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 取货点位绑定 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("ware_house_take_point_binding")
+@KeySequence("ware_house_take_point_binding_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 WareHouseTakePointBindingDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 类型, 0:设备
+     */
+    private Integer bindingType;
+    /**
+     * 设备id
+     */
+    private Long bindingId;
+    /**
+     * 取货点位表id
+     */
+    private Long takePointId;
+
+}
\ 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/houselocation/WareHouseTakePointBindingMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointBindingMapper.java
new file mode 100644
index 000000000..5f5353416
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointBindingMapper.java
@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.dal.mysql.houselocation;
+
+import java.util.*;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
+/**
+ * 取货点位绑定 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface WareHouseTakePointBindingMapper extends BaseMapperX<WareHouseTakePointBindingDO> {
+
+    default PageResult<WareHouseTakePointBindingDO> selectPage(WareHouseTakePointBindingPageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<WareHouseTakePointBindingDO>()
+                .eqIfPresent(WareHouseTakePointBindingDO::getBindingType, reqVO.getBindingType())
+                .eqIfPresent(WareHouseTakePointBindingDO::getBindingId, reqVO.getBindingId())
+                .eqIfPresent(WareHouseTakePointBindingDO::getTakePointId, reqVO.getTakePointId())
+                .betweenIfPresent(WareHouseTakePointBindingDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(WareHouseTakePointBindingDO::getId));
+    }
+
+    void deleteByBindingId(@Param("bindingId") Long bindingId);
+}
\ 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/houselocation/WareHouseTakePointMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointMapper.java
index 67606f2ce..00a31996e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointMapper.java
@@ -1,13 +1,14 @@
 package cn.iocoder.yudao.module.system.dal.mysql.houselocation;
 
-import java.util.*;
-
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
 
 /**
  * 取货点位 Mapper
@@ -32,4 +33,6 @@ public interface WareHouseTakePointMapper extends BaseMapperX<WareHouseTakePoint
                 .orderByDesc(WareHouseTakePointDO::getId));
     }
 
+    void setTakePointMapIdEmpty(@Param("positionMapId") Long positionMapId,
+                                @Param("ids") List<Long> ids);
 }
\ 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/map/PointTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/map/PointTypeEnum.java
new file mode 100644
index 000000000..7b6ea599f
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/map/PointTypeEnum.java
@@ -0,0 +1,16 @@
+package cn.iocoder.yudao.module.system.enums.map;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum PointTypeEnum {
+    FLIP(0,"翻转机设备"),
+    TAKE(1,"普通取放货点位");
+    /**
+     * 类型
+     */
+    private final Integer type;
+    private final String msg;
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java
index 376ec277d..4f2214467 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java
@@ -2,10 +2,15 @@ package cn.iocoder.yudao.module.system.mq.consumer.map;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.module.system.api.path.PathApi;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
 import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
+import cn.iocoder.yudao.module.system.enums.map.PointTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
 import cn.iocoder.yudao.module.system.mq.message.map.MapMessage;
+import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
 import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.context.event.EventListener;
@@ -13,7 +18,10 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
+import java.util.ArrayList;
 import java.util.List;
+import java.util.Map;
+import java.util.function.Function;
 import java.util.stream.Collectors;
 
 @Component
@@ -24,15 +32,57 @@ public class MapConsumer {
     private PathApi pathApi;
 
     @Resource
-    private DeviceInformationService informationService;
+    private DeviceInformationService deviceInformationService;
+
+    @Resource
+    private WareHouseTakePointService houseTakePointService;
 
-    //更新翻转机
     @EventListener
     @Async
     public void onMessage(MapMessage message) {
         if (EventTypeEnum.MAP_UPDATE.getType().equals(message.getEventType())) {
             pathApi.pathInitData();
+            Long mapId = Long.valueOf(message.getMessage());
+            List<DeviceInformationDO> devices = deviceInformationService.getDeviceInfoBindByMapId(mapId);
+            if (ObjectUtil.isEmpty(devices)) {
+                return;
+            }
+
+            List<Long> takePointIds = new ArrayList<>();
+            List<WareHouseTakePointDO> takePointDOS = new ArrayList<>();
+            for (DeviceInformationDO device : devices) {
+                if (!DeviceTypeEnum.FLIP.getType().equals(device.getDeviceType()) || ObjectUtil.isNotEmpty(device.getTakePointId())) {
+                    continue;
+                }
+
+                takePointIds.add(device.getTakePointId());
+
+            }
+            houseTakePointService.setTakePointMapIdEmpty(mapId, takePointIds);
+
+            if (ObjectUtil.isEmpty(takePointIds)) {
+                return;
+            }
+
+            WareHouseTakePointSaveReqVO reqVO = new WareHouseTakePointSaveReqVO();
+            reqVO.setIds(takePointIds);
+            List<WareHouseTakePointDO> houseTakePointList = houseTakePointService.getHouseTakePointList(reqVO);
+
+            Map<Long, WareHouseTakePointDO> pointMap = houseTakePointList.stream().collect(Collectors.toMap(WareHouseTakePointDO::getId, Function.identity()));
+
+            for (DeviceInformationDO device : devices) {
+                if (!DeviceTypeEnum.FLIP.getType().equals(device.getDeviceType()) || ObjectUtil.isEmpty(device.getTakePointId())) {
+                    continue;
+                }
+                WareHouseTakePointDO wareHouseTakePointDO = pointMap.get(device.getId());
+                wareHouseTakePointDO.setPositionMapId(mapId);
+                wareHouseTakePointDO.setActualLocationX(device.getActualLocationX());
+                wareHouseTakePointDO.setActualLocationY(device.getActualLocationY());
+                takePointDOS.add(wareHouseTakePointDO);
+            }
+            houseTakePointService.updateBatchById(takePointDOS);
         }
     }
 
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java
index 4e525b0ae..10a7af92d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java
@@ -186,7 +186,7 @@ public class TaskDistributionConsumer {
      */
     private void addTaskTimeLog(RobotWorkStatusDTO data) {
         if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())
-                && WorkProgressEnum.FORK_AND_TILT_INIT.getType().equals(data.getWorkProgress())
+                && WorkProgressEnum.FORK_AND_TILT.getType().equals(data.getWorkProgress())
                 && RobotExecutionStateConstant.DOING.equals(Integer.valueOf(data.getExecutionState()))) {
             startPickUp(data);
         } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingService.java
new file mode 100644
index 000000000..b9a3ed928
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingService.java
@@ -0,0 +1,63 @@
+package cn.iocoder.yudao.module.system.service.houselocation;
+
+import java.util.*;
+import javax.validation.*;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
+import com.baomidou.mybatisplus.extension.service.IService;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+
+/**
+ * 取货点位绑定 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface WareHouseTakePointBindingService extends IService<WareHouseTakePointBindingDO> {
+
+    /**
+     * 创建取货点位绑定
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createHouseTakePointBinding(@Valid WareHouseTakePointBindingSaveReqVO createReqVO);
+
+    /**
+     * 更新取货点位绑定
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateHouseTakePointBinding(@Valid WareHouseTakePointBindingSaveReqVO updateReqVO);
+
+    /**
+     * 删除取货点位绑定
+     *
+     * @param id 编号
+     */
+    void deleteHouseTakePointBinding(Long id);
+
+    /**
+     * 获得取货点位绑定
+     *
+     * @param id 编号
+     * @return 取货点位绑定
+     */
+    WareHouseTakePointBindingDO getHouseTakePointBinding(Long id);
+
+    /**
+     * 获得取货点位绑定分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 取货点位绑定分页
+     */
+    PageResult<WareHouseTakePointBindingDO> getHouseTakePointBindingPage(WareHouseTakePointBindingPageReqVO pageReqVO);
+
+    void createHouseTakePointBindings(List<WareHouseTakePointBindingDO> list);
+
+    void deleteByBindingId(Long id);
+
+    List<WareHouseTakePointBindingDO> getByBindingId(Long id);
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingServiceImpl.java
new file mode 100644
index 000000000..df0046117
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingServiceImpl.java
@@ -0,0 +1,93 @@
+package cn.iocoder.yudao.module.system.service.houselocation;
+
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
+import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointBindingMapper;
+import org.springframework.stereotype.Service;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.*;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_TAKE_POINT_BINDING_NOT_EXISTS;
+
+/**
+ * 取货点位绑定 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+public class WareHouseTakePointBindingServiceImpl extends ServiceImpl<WareHouseTakePointBindingMapper, WareHouseTakePointBindingDO> implements WareHouseTakePointBindingService {
+
+    @Resource
+    private WareHouseTakePointBindingMapper houseTakePointBindingMapper;
+
+    @Override
+    public Long createHouseTakePointBinding(WareHouseTakePointBindingSaveReqVO createReqVO) {
+        // 插入
+        WareHouseTakePointBindingDO houseTakePointBinding = BeanUtils.toBean(createReqVO, WareHouseTakePointBindingDO.class);
+        houseTakePointBindingMapper.insert(houseTakePointBinding);
+        // 返回
+        return houseTakePointBinding.getId();
+    }
+
+    @Override
+    public void updateHouseTakePointBinding(WareHouseTakePointBindingSaveReqVO updateReqVO) {
+        // 校验存在
+        validateHouseTakePointBindingExists(updateReqVO.getId());
+        // 更新
+        WareHouseTakePointBindingDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseTakePointBindingDO.class);
+        houseTakePointBindingMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteHouseTakePointBinding(Long id) {
+        // 校验存在
+        validateHouseTakePointBindingExists(id);
+        // 删除
+        houseTakePointBindingMapper.deleteById(id);
+    }
+
+    private void validateHouseTakePointBindingExists(Long id) {
+        if (houseTakePointBindingMapper.selectById(id) == null) {
+            throw exception(HOUSE_TAKE_POINT_BINDING_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public WareHouseTakePointBindingDO getHouseTakePointBinding(Long id) {
+        return houseTakePointBindingMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<WareHouseTakePointBindingDO> getHouseTakePointBindingPage(WareHouseTakePointBindingPageReqVO pageReqVO) {
+        return houseTakePointBindingMapper.selectPage(pageReqVO);
+    }
+
+    @Override
+    public void createHouseTakePointBindings(List<WareHouseTakePointBindingDO> list) {
+        houseTakePointBindingMapper.insert(list);
+    }
+
+    @Override
+    public void deleteByBindingId(Long id) {
+        houseTakePointBindingMapper.deleteByBindingId(id);
+    }
+
+    @Override
+    public List<WareHouseTakePointBindingDO> getByBindingId(Long bindingId) {
+        return  houseTakePointBindingMapper.selectList(new LambdaQueryWrapperX<WareHouseTakePointBindingDO>()
+                .eq(WareHouseTakePointBindingDO::getBindingId, bindingId));
+    }
+
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java
index 89f8a3972..b63880df1 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java
@@ -55,5 +55,8 @@ public interface WareHouseTakePointService extends IService<WareHouseTakePointDO
      */
     PageResult<WareHouseTakePointDO> getHouseTakePointPage(WareHouseTakePointPageReqVO pageReqVO);
 
-    List<WareHouseTakePointDO> getHouseTakePointList();
+    List<WareHouseTakePointDO> getHouseTakePointList(WareHouseTakePointSaveReqVO updateReqVO);
+
+    void setTakePointMapIdEmpty(Long mapId,List<Long> ids);
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java
index 49df28080..c0ffdad1e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java
@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.service.houselocation;
 
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
@@ -7,11 +8,9 @@ import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePoint
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
 import org.springframework.validation.annotation.Validated;
-import org.springframework.transaction.annotation.Transactional;
 
 import java.util.*;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 
@@ -74,8 +73,20 @@ public class WareHouseTakePointServiceImpl extends ServiceImpl<WareHouseTakePoin
     }
 
     @Override
-    public List<WareHouseTakePointDO> getHouseTakePointList() {
-        return houseTakePointMapper.selectList();
+    public List<WareHouseTakePointDO> getHouseTakePointList(WareHouseTakePointSaveReqVO reqVO) {
+        return houseTakePointMapper.selectList(new LambdaQueryWrapperX<WareHouseTakePointDO>()
+                .likeIfPresent(WareHouseTakePointDO::getPointName, reqVO.getPointName())
+                .eqIfPresent(WareHouseTakePointDO::getPointType, reqVO.getPointType())
+                .inIfPresent(WareHouseTakePointDO::getId, reqVO.getIds())
+                .eqIfPresent(WareHouseTakePointDO::getPointStatus, reqVO.getPointStatus())
+                .eqIfPresent(WareHouseTakePointDO::getPositionMapId, reqVO.getPositionMapId())
+                .eqIfPresent(WareHouseTakePointDO::getPositionMapItemId, reqVO.getPositionMapItemId()));
     }
 
+    @Override
+    public void setTakePointMapIdEmpty(Long mapId,List<Long> ids) {
+        houseTakePointMapper.setTakePointMapIdEmpty(mapId,ids);
+    }
+
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
index c820da361..b8ea7ef67 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
@@ -49,7 +49,7 @@ public interface DeviceInformationService extends IService<DeviceInformationDO>
      * @param id 编号
      * @return 设备信息
      */
-    DeviceInformationDO getInformation(Long id);
+    DeviceInformationRespVO getInformation(Long id);
 
     /**
      * 获得设备信息分页
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
index 8cebd5b15..79dbf27c7 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
@@ -16,17 +16,21 @@ import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInfo
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.dict.DictDataDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceAttributeEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
 import cn.iocoder.yudao.module.system.enums.device.PictureConfigEnum;
 import cn.iocoder.yudao.module.system.service.config.CommonConfigService;
 import cn.iocoder.yudao.module.system.service.dict.DictDataService;
+import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointBindingService;
+import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
@@ -96,6 +100,12 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     @Autowired
     private ZnConfigConstant znConfigConstant;
 
+    @Resource
+    private WareHouseTakePointBindingService houseTakePointBindingService;
+
+    @Resource
+    private WareHouseTakePointService houseTakePointService;
+
     @Override
     public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
         // -- 先判断库里是否有相通的mac地址数据
@@ -114,11 +124,20 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             createReqVO.setUrl(dictDataDO.getRemark());
         }
 
+        List<WareHouseTakePointBindingDO> list = new ArrayList<>();
         if (DeviceTypeEnum.CAMERA.getType().equals(createReqVO.getDeviceType())) {
             try {
                 createReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(createReqVO.getCameraCode(), znConfigConstant.getCameraSecretKey()));
             } catch (Exception ignored) {
             }
+        }else if (DeviceTypeEnum.FLIP.getType().equals(createReqVO.getDeviceType())) {
+            if (ObjectUtil.isEmpty(createReqVO.getTakePointId())) {
+                throw exception(INFORMATION_FLIP_BINDING);
+            }
+            if (ObjectUtil.isEmpty(createReqVO.getCheckPointIds())) {
+                throw exception(INFORMATION_FLIP_NEED_BINDING_CHECK);
+            }
+
         }
 
         // 插入
@@ -126,6 +145,16 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         information.setDeviceStatus(1);
         informationMapper.insert(information);
 
+
+        for (Long takePointId : createReqVO.getCheckPointIds()) {
+            WareHouseTakePointBindingDO data = new WareHouseTakePointBindingDO();
+            data.setBindingId(information.getId());
+            data.setBindingType(ZeroOneEnum.ZERO.getType());
+            data.setTakePointId(takePointId);
+            list.add(data);
+        }
+
+        houseTakePointBindingService.createHouseTakePointBindings(list);
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("新增设备 " + createReqVO.getDeviceNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@@ -178,6 +207,18 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             positionMapItemService.updateById(positionMapItem);
         }
 
+        List<WareHouseTakePointBindingDO> list = new ArrayList<>();
+        if (ObjectUtil.isNotEmpty(updateReqVO.getCheckPointIds())) {
+            for (Long takePointId : updateReqVO.getCheckPointIds()) {
+                WareHouseTakePointBindingDO data = new WareHouseTakePointBindingDO();
+                data.setBindingId(updateReqVO.getId());
+                data.setBindingType(ZeroOneEnum.ZERO.getType());
+                data.setTakePointId(takePointId);
+                list.add(data);
+            }
+        }
+        houseTakePointBindingService.deleteByBindingId(updateReqVO.getId());
+        houseTakePointBindingService.createHouseTakePointBindings(list);
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("更新设备信息 " + updateReqVO.getDeviceNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@@ -210,15 +251,31 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     }
 
     @Override
-    public DeviceInformationDO getInformation(Long id) {
+    public DeviceInformationRespVO getInformation(Long id) {
         // 校验存在
         validateInformationExists(id);
         DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
         String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME + deviceInformationDO.getMacAddress();
         Object object = redisUtil.get(deviceKey);
+        DeviceInformationRespVO device = BeanUtils.toBean(deviceInformationDO, DeviceInformationRespVO.class);
+
+        if (DeviceTypeEnum.FLIP.getType().equals(deviceInformationDO.getDeviceType())) {
+//            WareHouseTakePointDO takeWareHouseTakePointDO = houseTakePointService.getById(deviceInformationDO.getTakePointId());
+            device.setTakePointId(deviceInformationDO.getTakePointId());
+            List<WareHouseTakePointBindingDO> bindingDOS = houseTakePointBindingService.getByBindingId(id);
+            if (ObjectUtil.isNotEmpty(bindingDOS)) {
+                List<Long> pointIds = bindingDOS.stream().map(WareHouseTakePointBindingDO::getTakePointId).collect(Collectors.toList());
+                /*WareHouseTakePointSaveReqVO reqVO = new WareHouseTakePointSaveReqVO();
+                reqVO.setIds(pointIds);
+                List<WareHouseTakePointDO> houseTakePointList = houseTakePointService.getHouseTakePointList(reqVO);
+                device.setCheckPointBindingList(houseTakePointList);*/
+                device.setCheckPointIds(pointIds);
+            }
+        }
+
         if (ObjectUtil.isEmpty(object)) {
             deviceInformationDO.setDeviceStatus(DeviceStatusEnum.OFF_LINE.getType());
-            return deviceInformationDO;
+            return device;
         }
         try {
             DateTimeFormatter df = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
@@ -228,7 +285,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         } catch (Exception e) {
             log.info("查询设备最后通讯时间异常 :{}", e.getMessage());
         }
-        return deviceInformationDO;
+        return device;
     }
 
     @Override
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskLineTimeConsumingServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskLineTimeConsumingServiceImpl.java
index dc6fa6a12..c46e67416 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskLineTimeConsumingServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskLineTimeConsumingServiceImpl.java
@@ -105,7 +105,7 @@ public class RobotTaskLineTimeConsumingServiceImpl extends ServiceImpl<RobotTask
             line.setTaskNo(taskNo);
             line.setTaskDetailId(orderId);
             line.setRobotNo(taskDetail.getRobotNo());
-            line.setTotalTimeConsuming(v.getTimeConsuming());
+            line.setTotalTimeConsuming(String.format("%.2f", Double.valueOf(v.getTimeConsuming())));
             line.setFromSortNum(getSpit(line.getFromSortNum()));
             line.setToSortNum(getSpit(line.getToSortNum()));
             if (ObjectUtil.isNotEmpty(v.getTimeConsuming()) && ObjectUtil.isNotEmpty(v.getTotalDistance())) {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRobotWalkingDistanceServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRobotWalkingDistanceServiceImpl.java
index 80015612d..b7da3861b 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRobotWalkingDistanceServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRobotWalkingDistanceServiceImpl.java
@@ -32,11 +32,6 @@ public class PlanningRobotWalkingDistanceServiceImpl implements MqttService {
         if (!str.contains(".")) {
             return str;
         }
-        String[] split = str.split("\\.");
-        String decimal = split[1];
-        if (split[1].length() > 2) {
-            decimal = split[1].substring(0, 2);
-        }
-        return split[0] + "." + decimal;
+        return String.format("%.2f", Double.valueOf(str));
     }
 }
\ 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/DistributeTasksServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
index b59af4705..c021b79c9 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
@@ -107,6 +107,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
         CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
 
+        List<RobotInformationDO> taskRobots = new ArrayList<>();
         for (RobotInformationDO robot : robots) {
 
             if (ObjectUtil.isNotEmpty(remoteRobotNos) && remoteRobotNos.contains(robot.getRobotNo())) {
@@ -163,6 +164,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             Boolean b = remainingElectricityBigger(chargeConfig, robot);
             if (b) {
                 robot.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
+                taskRobots.add(robot);
             }
         }
 
@@ -171,10 +173,10 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                         || RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(v.getRobotStatus())))
                 .collect(Collectors.toList());*/
 
-        /*if (robots.isEmpty()) {
+        if (taskRobots.isEmpty()) {
             log.info("暂无可用的机器人,可能正在充电,可能车机上报不允许接任务");
             return pair;
-        }*/
+        }
 
         log.info("完成查找车子");
 
@@ -197,16 +199,16 @@ 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 ImmutablePair.of(robots, null);
+            return ImmutablePair.of(taskRobots, null);
         }
 
         List<RobotTaskDetailDO> taskDetails = getTaskDetail(montageTaskIds, singleTaskIds);
 
         if (taskDetails.isEmpty()) {
             log.info("暂无需要处理的明细任务");
-            return ImmutablePair.of(robots, null);
+            return ImmutablePair.of(taskRobots, null);
         }
-        return ImmutablePair.of(robots, taskDetails);
+        return ImmutablePair.of(taskRobots, taskDetails);
     }
 
     /**
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
index 27ed440b4..94e2e639d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
@@ -560,7 +560,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 .last("limit 1"));
         if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
 
-            BigDecimal d1 = new BigDecimal("0.12");
+            BigDecimal d1 = new BigDecimal("0.4");
             BigDecimal d2 = nextLocation.getLocationTotalHeight();
             double detectHeight = d2.subtract(d1).doubleValue();
             pathPlanning.setDetectHeight(detectHeight);
@@ -569,7 +569,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
         Integer locationStorey = fromLocation.getLocationStorey() - 1;
         double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
-        BigDecimal d1 = new BigDecimal("0.12");
+        BigDecimal d1 = new BigDecimal("0.4");
         BigDecimal d2 = new BigDecimal(height + "");
         double detectHeight = d2.subtract(d1).doubleValue();
         log.info("设置取货默认抬叉高度 :{}", detectHeight);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointBindingMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointBindingMapper.xml
new file mode 100644
index 000000000..f838277bd
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointBindingMapper.xml
@@ -0,0 +1,13 @@
+<?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.houselocation.WareHouseTakePointBindingMapper">
+
+
+    <delete id="deleteByBindingId">
+        delete
+        from ware_house_take_point_binding
+        where binding_id = #{bindingId}
+    </delete>
+
+
+</mapper>
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointMapper.xml
new file mode 100644
index 000000000..107cbe426
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointMapper.xml
@@ -0,0 +1,29 @@
+<?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.houselocation.WareHouseTakePointMapper">
+
+
+    <update id="setTakePointMapIdEmpty">
+        update
+            ware_house_take_point
+        set
+            position_map_id = null,
+            position_map_item_id = null,
+            actual_location_x = null,
+            actual_location_y = null
+        <where>
+                position_map_id = #{positionMapId}
+            and point_type = '0'
+            <if test= " ids != null and ids.size() > 0">
+                AND id not in
+                <foreach collection="ids" item="id" index="index" open="(" close=")"
+                         separator=",">
+                    #{id}
+                </foreach>
+            </if>
+        </where>
+    </update>
+
+
+
+</mapper>