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 fd8167954..663b6e0e9 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
@@ -64,7 +64,8 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
                            @Param("takeType") Integer takeType,
                            @Param("id")  Long id,
                            @Param("locationIds") List<Long> locationIds,
-                           @Param("mapIds") Set<Long> mapIds);
+                           @Param("mapIds") Set<Long> mapIds,
+                           @Param("takeMapItemIds") List<Long> takeMapItemIds);
 
     /**
      * 普通查询(未删除)
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java
index 522ef3a03..ef8a5c87d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java
@@ -92,4 +92,16 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      */
     List<RobotTaskDetailDO> getChargeTaskDetail();
 
+    /**
+     * 取货中的map_item_id
+     * @return
+     */
+    List<Long> selectTakeMapItemIds();
+
+    /**
+     * 放货中的map_item_id
+     * @return
+     */
+    List<Long> selectReleaseMapItemIds();
+
 }
\ 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/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
index da4c4e315..5714e70fd 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
@@ -14,11 +14,15 @@ import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDet
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskPPDistribution;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
+import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselane.WareHouseLaneDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.houselane.WareHouseLaneMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
@@ -30,6 +34,7 @@ import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
 import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.google.common.collect.Lists;
@@ -100,9 +105,19 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
 
     @Value("${zn.task-no:ZN}")
     private String taskNo;
+
     @Value("${zn.do_cycle:true}")
     private Boolean doCycle;
 
+    @Value("${zn.task.check_sku_info:true}")
+    private Boolean checkSkuInfo;
+
+    @Resource
+    private WareHouseLaneMapper houseLaneMapper;
+
+    @Resource
+    private HouseAreaMapper houseAreaMapper;
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createTask(RobotTaskSaveReqVO createReqVO) throws InterruptedException {
@@ -229,8 +244,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
         List<RobotTaskDetailAddVO> taskDetailList = createReqVO.getTaskDetailList();
 
         List<RobotTaskDetailAddVO> newTaskDetailList = new ArrayList<>();
-        List<Long> toLocationIds = new ArrayList<>(); //被此次任务锁定的空库位id
-        List<Long> fromLocationIds = new ArrayList<>(); //被此次任务锁定的有货库位id
+        //被此次任务锁定的空库位id
+        List<Long> toLocationIds = new ArrayList<>();
+        //被此次任务锁定的有货库位id
+        List<Long> fromLocationIds = new ArrayList<>();
         for (RobotTaskDetailAddVO robotTaskVo : taskDetailList) {
             Set<Long> mapIds = new HashSet<>();
             if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
@@ -356,36 +373,64 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @return
      */
     @Transactional(rollbackFor = Exception.class)
-    public List<Long> setSingleLocationIdNo(List<RobotTaskDetailAddVO> taskDetailList, RobotTaskDO task){
+    public List<Long> setSingleLocationIdNo(List<RobotTaskDetailAddVO> taskDetailList, RobotTaskDO task) {
+        //取货中的map_item_id， 此集合不能执行放货的任务
+        List<Long> takeMapItemIds = taskDetailMapper.selectTakeMapItemIds();
+        if (ObjectUtil.isEmpty(takeMapItemIds)) {
+            takeMapItemIds = new ArrayList<>();
+        }
+        //放货中的map_item_id， 此集合不能执行取货的任务
+        List<Long> releaseMapItemIds = taskDetailMapper.selectReleaseMapItemIds();
+        if (ObjectUtil.isEmpty(releaseMapItemIds)) {
+            releaseMapItemIds = new ArrayList<>();
+        }
         List<Long> locationIds = new ArrayList<>();
+
+        List<Long> laneIds = new ArrayList<>();
+        List<Long> areaIds = new ArrayList<>();
+        if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && checkSkuInfo) {
+            List<WareHouseLaneDO> wareHouseLaneDOS = houseLaneMapper.selectList(new LambdaQueryWrapper<WareHouseLaneDO>()
+                    .eq(WareHouseLaneDO::getLaneMsg, task.getSkuInfo()));
+            if (ObjectUtil.isNotEmpty(wareHouseLaneDOS)) {
+                laneIds = wareHouseLaneDOS.stream().map(WareHouseLaneDO::getId).collect(Collectors.toList());
+            }
+            List<HouseAreaDO> houseAreaDOS = houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+                    .eq(HouseAreaDO::getSkuInfo, task.getSkuInfo()));
+            if (ObjectUtil.isNotEmpty(wareHouseLaneDOS)) {
+                areaIds = houseAreaDOS.stream().map(HouseAreaDO::getId).collect(Collectors.toList());
+            }
+        }
+
         for (RobotTaskDetailAddVO robotTaskVo : taskDetailList) {
             robotTaskVo.setRobotTaskId(task.getId());
             robotTaskVo.setPriority(task.getPriority());
             RobotTaskTypeEnum robotTaskType = RobotTaskTypeEnum.getRobotTaskType(robotTaskVo.getTaskType());
             switch (robotTaskType){
                 case TAKE_RELEASE:
-                    doTakeRelease(robotTaskVo,locationIds);
+                    doTakeRelease(robotTaskVo,locationIds,takeMapItemIds,releaseMapItemIds,laneIds,areaIds);
                     break;
                 case PARK:
-                    doPark(robotTaskVo,locationIds);
+                    doPark(robotTaskVo,locationIds,takeMapItemIds,releaseMapItemIds);
                     break;
                 case CHARGE:
-                    doCharge(robotTaskVo);
+                    doCharge(robotTaskVo,takeMapItemIds,releaseMapItemIds);
                     break;
                 case MOVE:
-                    doMove(robotTaskVo,locationIds);
+                    doMove(robotTaskVo,locationIds,takeMapItemIds,releaseMapItemIds);
                     break;
                 case TAKE:
-                    doTake(robotTaskVo,locationIds);
+                    doTake(robotTaskVo,locationIds,takeMapItemIds,releaseMapItemIds);
                     break;
                 case RELEASE:
-                    doRelease(robotTaskVo,locationIds);
+                    doRelease(robotTaskVo,locationIds,takeMapItemIds,releaseMapItemIds);
                     break;
                 case SCAN:
-                    doScan(robotTaskVo,locationIds);
+                    //暂无此功能
+                    doScan(robotTaskVo,locationIds,takeMapItemIds,releaseMapItemIds);
                     break;
                 case DETECTING_TRAYS:
-                    doDetectingTrays(robotTaskVo,locationIds);
+                    //暂无此功能
+                    doDetectingTrays(robotTaskVo,locationIds,takeMapItemIds,releaseMapItemIds);
                     break;
                 default :
                     log.error("任务类型不存在 ");
@@ -400,9 +445,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doDetectingTrays(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
-        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
-        locationIds.add(robotTaskVo.getToLocationId());
+    public void doDetectingTrays(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,List<Long> takeMapItemIds,
+                                 List<Long> releaseMapItemIds) {
+        /*setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
+        locationIds.add(robotTaskVo.getToLocationId());*/
     }
 
     /**
@@ -410,9 +456,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doScan(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
-        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
-        locationIds.add(robotTaskVo.getToLocationId());
+    public void doScan(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,List<Long> takeMapItemIds,
+                       List<Long> releaseMapItemIds) {
+        /*setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
+        locationIds.add(robotTaskVo.getToLocationId());*/
     }
 
     /**
@@ -420,8 +467,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
-        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
+    public void doRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,List<Long> takeMapItemIds,
+                          List<Long> releaseMapItemIds) {
+        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds,takeMapItemIds,releaseMapItemIds);
         locationIds.add(robotTaskVo.getToLocationId());
     }
 
@@ -430,12 +478,13 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doTake(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
+    public void doTake(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,List<Long> takeMapItemIds,
+                       List<Long> releaseMapItemIds) {
         Set<Long> mapIds = new HashSet<>();
         if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
             mapIds = getMapIdsByRobotNo(robotTaskVo.getRobotNo());
         }
-        setFromLocation(robotTaskVo,mapIds,locationIds);
+        setFromLocation(robotTaskVo,mapIds,locationIds,takeMapItemIds,releaseMapItemIds);
         locationIds.add(robotTaskVo.getFromLocationId());
     }
 
@@ -444,8 +493,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doMove(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
-        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
+    public void doMove(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,List<Long> takeMapItemIds,
+                       List<Long> releaseMapItemIds) {
+        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds,takeMapItemIds,releaseMapItemIds);
         locationIds.add(robotTaskVo.getToLocationId());
     }
 
@@ -454,7 +504,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doCharge(RobotTaskDetailAddVO robotTaskVo) {
+    public void doCharge(RobotTaskDetailAddVO robotTaskVo,List<Long> takeMapItemIds,
+                         List<Long> releaseMapItemIds) {
 
     }
 
@@ -463,7 +514,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doPark(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
+    public void doPark(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,List<Long> takeMapItemIds,
+                       List<Long> releaseMapItemIds) {
         // todo 停车后续停到等待点
         /*setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
         locationIds.add(robotTaskVo.getToLocationId());*/
@@ -491,7 +543,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * 设置停车/目标库位/扫描库位
      */
     @Transactional(rollbackFor = Exception.class)
-    public void setToLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds){
+    public void setToLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds,
+                              List<Long> takeMapItemIds, List<Long> releaseMapItemIds){
         if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getReleaseType())) {
             WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getReleaseId()).build();
             WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
@@ -505,10 +558,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
                 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());
             }
+            if (ObjectUtil.isNotEmpty(takeMapItemIds) && takeMapItemIds.contains(locationDO.getMapItemId())) {
+                log.error("此点位存在取货任务 :{}", locationDO.getLocationNo());
+                throw new RuntimeException("此库位存在取货任务 "+ locationDO.getLocationNo());
+            }
+            releaseMapItemIds.add(locationDO.getMapItemId());
         } else {
             WareHouseLocationDO wareHouseLocationDO =
                     locationMapper.selectByTypeAndId(LocationUseStatusEnum.NO.getType(), robotTaskVo.getReleaseType()
-                            ,robotTaskVo.getReleaseId(),locationIds,mapIds);
+                            ,robotTaskVo.getReleaseId(),locationIds,mapIds,takeMapItemIds);
             if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
                 log.error("放货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getReleaseId());
                 throw new RuntimeException("放货库位为空或者已锁定或者机器人取放货区域受限制 "+ robotTaskVo.getReleaseId());
@@ -519,6 +577,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             robotTaskVo.setToLaneId(wareHouseLocationDO.getLaneId());
             robotTaskVo.setToLocationNumber(wareHouseLocationDO.getLocationNumber());
             robotTaskVo.setToMapId(wareHouseLocationDO.getMapId());
+            releaseMapItemIds.add(wareHouseLocationDO.getMapItemId());
         }
     }
 
@@ -529,7 +588,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param locationIds
      */
     @Transactional(rollbackFor = Exception.class)
-    public void setFromLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds) {
+    public void setFromLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds,
+                                List<Long> takeMapItemIds, List<Long> releaseMapItemIds) {
         if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getTakeType())) {
             WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getTakeId()).build();
             WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
@@ -543,10 +603,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
                 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());
             }
+            if (ObjectUtil.isNotEmpty(releaseMapItemIds) && releaseMapItemIds.contains(locationDO.getMapItemId())) {
+                log.error("此取货库位存在放货任务 :{}", locationDO.getLocationNo());
+                throw new RuntimeException("此取货库位存在放货任务 "+ locationDO.getLocationNo());
+            }
+            takeMapItemIds.add(locationDO.getMapItemId());
         } else {
             WareHouseLocationDO wareHouseLocationDO =
                     locationMapper.selectByTypeAndId(LocationUseStatusEnum.YES.getType(),robotTaskVo.getTakeType(),
-                            robotTaskVo.getTakeId(),locationIds,mapIds);
+                            robotTaskVo.getTakeId(),locationIds,mapIds,releaseMapItemIds);
             if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
                 log.error("取货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getTakeId());
                 throw new RuntimeException("取货库位为空或者已锁定或者机器人取放货区域受限制 "+ robotTaskVo.getTakeId());
@@ -557,6 +622,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             robotTaskVo.setFromLaneId(wareHouseLocationDO.getLaneId());
             robotTaskVo.setFromLocationNumber(wareHouseLocationDO.getLocationNumber());
             robotTaskVo.setFromMapId(wareHouseLocationDO.getMapId());
+            takeMapItemIds.add(wareHouseLocationDO.getMapItemId());
         }
     }
 
@@ -565,18 +631,20 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doTakeRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
+    public void doTakeRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,
+                              List<Long> takeMapItemIds, List<Long> releaseMapItemIds,
+                              List<Long> laneIds,List<Long> areaIds) {
         Set<Long> mapIds = new HashSet<>();
         if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
             mapIds = getMapIdsByRobotNo(robotTaskVo.getRobotNo());
         }
 
         //校验放货库位
-        setToLocation(robotTaskVo, mapIds,locationIds);
+        setToLocation(robotTaskVo, mapIds,locationIds,takeMapItemIds,releaseMapItemIds);
         locationIds.add(robotTaskVo.getToLocationId());
 
         //校验取货库位
-        setFromLocation(robotTaskVo,mapIds,locationIds);
+        setFromLocation(robotTaskVo,mapIds,locationIds,takeMapItemIds,releaseMapItemIds);
         locationIds.add(robotTaskVo.getFromLocationId());
 
         //验证取货库位是否存在未完成的任务
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 2dd22cb4a..1053ea9d6 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
@@ -664,7 +664,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         taskNigth.setCommand_type(CommandTypeEnum.MOVE_POSES.getType());
         List<Pose2ds> pose2dsNight = new ArrayList<>();
 
-        WareHouseLocationDO ware = WareHouseLocationDO.builder()
+       /* WareHouseLocationDO ware = WareHouseLocationDO.builder()
                 .laneId(-2l)
                 .build();
         List<WareHouseLocationDO> releaseStockList =
@@ -672,7 +672,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         for (WareHouseLocationDO wareHouseLocationDO : releaseStockList) {
             Pose2ds pose = positionMapItemMapper.selectByLocationId(wareHouseLocationDO.getId());
             pose2dsNight.add(pose);
-        }
+        }*/
 
 
 //        taskNigth.setPose2ds(pose2dsNight);
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 1f4e5e69c..d9feaa4dc 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
@@ -694,7 +694,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         taskNigth.setCommand_type(CommandTypeEnum.MOVE_POSES.getType());
         List<Pose2ds> pose2dsNight = new ArrayList<>();
 
-        WareHouseLocationDO ware = WareHouseLocationDO.builder()
+        /*WareHouseLocationDO ware = WareHouseLocationDO.builder()
                 .laneId(-2l)
                 .build();
         List<WareHouseLocationDO> releaseStockList =
@@ -702,7 +702,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         for (WareHouseLocationDO wareHouseLocationDO : releaseStockList) {
             Pose2ds pose = positionMapItemMapper.selectByLocationId(wareHouseLocationDO.getId());
             pose2dsNight.add(pose);
-        }
+        }*/
 
 
 //        taskNigth.setPose2ds(pose2dsNight);
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 6abd476fe..251201b8b 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
@@ -250,4 +250,6 @@ zn:
   robot_chearg: #机器人充电的配置
     release_location_number_config: 50 #同一组序号，越大越先执行
     priority_config: 50 #优先级
+  task: #任务相关的配置
+    check_sku_info: true #校验物料信息
 
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 3d327d64e..41a1e19fd 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
@@ -502,41 +502,56 @@
         select
         <include refid="base_sql"></include>
         from
-            ware_house_location
+            ware_house_location t1
         <where>
             <if test= " locationUseStatus != null ">
-                AND location_use_status = #{locationUseStatus}
+                AND t1.location_use_status = #{locationUseStatus}
             </if>
             <if test= "takeType != null and takeType == '1'.toString()">
-                AND id = #{id}
+                AND t1.id = #{id}
             </if>
             <if test= "takeType != null and takeType == '2'.toString()">
-                AND lane_id = #{id}
+                AND t1.lane_id = #{id}
             </if>
             <if test= "takeType != null and takeType == '3'.toString()">
-                AND area_id = #{id}
+                AND t1.area_id = #{id}
             </if>
             <if test= " locationIds != null and locationIds.size() > 0">
-                AND id not in
+                AND t1.id not in
                 <foreach collection="locationIds" item="id" index="index" open="(" close=")"
                          separator=",">
                     #{id}
                 </foreach>
             </if>
             <if test= " mapIds != null and mapIds.size() > 0">
-                AND map_id in
+                AND t1.map_id in
                 <foreach collection="mapIds" item="mapId" index="index" open="(" close=")"
                          separator=",">
                     #{mapId}
                 </foreach>
             </if>
             <if test= '"1"=="1"'>
-                AND location_enable = '1'
-                AND location_lock = '1'
-                AND location_type = '0'
+                AND t1.location_enable = '1'
+                AND t1.location_lock = '1'
+                AND t1.location_type = '0'
+            </if>
+            <if test= "locationUseStatus != null and locationUseStatus == '0'.toString()">
+                AND ((t1.lane_id > 0
+                     and t1.location_number &lt; (SELECT min(t2.location_number) from ware_house_location t2
+                        where t1.lane_id = t2.lane_id
+                        AND t2.location_type = '0'
+                        AND (t2.location_use_status = '1' or t2.location_enable = '0' or t1.location_lock = '0'))
+                ) or t1.lane_id is null)
+            </if>
+            <if test= " takeMapItemIds != null and takeMapItemIds.size() > 0">
+                AND t1.map_item_id not in
+                <foreach collection="takeMapItemIds" item="mapItemId" index="index" open="(" close=")"
+                         separator=",">
+                    #{mapItemId}
+                </foreach>
             </if>
         </where>
-        order by location_number desc , location_storey asc
+        order by t1.location_number desc , t1.location_storey asc
         limit 1
     </select>
 
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 d089cf89b..cae383dbe 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
@@ -197,6 +197,26 @@
           and t2.task_type = '3'
     </select>
 
+    <select id="selectTakeMapItemIds" resultType="java.lang.Long">
+        select
+            t2.map_item_id
+        from
+            robot_task_detail t1, ware_house_location t2
+        where
+            t1.from_location_id = t2.id
+            and t1.task_status in ('0','1')
+    </select>
+
+    <select id="selectReleaseMapItemIds" resultType="java.lang.Long">
+        select
+            t2.map_item_id
+        from
+            robot_task_detail t1, ware_house_location t2
+        where
+            t1.to_location_id = t2.id
+          and t1.task_status in ('0','1')
+    </select>
+
 
     <!--keyProperty="id" useGeneratedKeys="true"-->
     <insert id="insertBatchList" >