diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/task/RemoteTaskController.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/task/RemoteTaskController.java
new file mode 100644
index 000000000..e384b49cc
--- /dev/null
+++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/task/RemoteTaskController.java
@@ -0,0 +1,45 @@
+package cn.iocoder.yudao.module.remote.controller.admin.task;
+
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.remote.service.task.RemoteTaskService;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskListDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskDTO;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+@Tag(name = "管理后台 - 远遥任务")
+@RestController
+@RequestMapping("/remote/task")
+@Validated
+public class RemoteTaskController {
+
+    @Autowired
+    private RemoteTaskService remoteTaskService;
+
+    @PostMapping("/getExceptionTask")
+    @Operation(summary = "获取异常任务列表")
+    @PreAuthorize("@ss.hasPermission('remote:task:getExceptionTask')")
+    public CommonResult<PageResult<RemoteExceptionTaskListDTO>> getExceptionTask(@RequestBody RemoteTaskDTO remoteTaskDTO) {
+        PageResult<RemoteExceptionTaskListDTO> list = remoteTaskService.getExceptionTask(remoteTaskDTO);
+        return success(list);
+    }
+
+    /*@PostMapping("/setRemoteTaskDone")
+    @Operation(summary = "获取异常任务列表")
+    @PreAuthorize("@ss.hasPermission('remote:task:getExceptionTask')")
+    public CommonResult<Boolean> setRemoteTaskDone(@RequestBody RemoteTaskDTO remoteTaskDTO) {
+        remoteTaskService.setRemoteTaskDone(remoteTaskDTO);
+        return success(true);
+    }*/
+
+}
diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/framework/system/SystemConfiguration.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/framework/system/SystemConfiguration.java
index 5625121db..6269e41b8 100644
--- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/framework/system/SystemConfiguration.java
+++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/framework/system/SystemConfiguration.java
@@ -1,11 +1,12 @@
 package cn.iocoder.yudao.module.remote.framework.system;
 
+import cn.iocoder.yudao.module.system.api.remote.RemoteExceptionTaskApi;
 import cn.iocoder.yudao.module.system.api.remote.RemoteLoginApi;
 import cn.iocoder.yudao.module.system.api.remote.RemoteRobotApi;
 import org.springframework.cloud.openfeign.EnableFeignClients;
 import org.springframework.context.annotation.Configuration;
 
 @Configuration(proxyBeanMethods = false)
-@EnableFeignClients(clients = {RemoteLoginApi.class, RemoteRobotApi.class})
+@EnableFeignClients(clients = {RemoteLoginApi.class, RemoteRobotApi.class, RemoteExceptionTaskApi.class})
 public class SystemConfiguration {
 }
diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/task/RemoteTaskService.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/task/RemoteTaskService.java
new file mode 100644
index 000000000..abec27c50
--- /dev/null
+++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/task/RemoteTaskService.java
@@ -0,0 +1,10 @@
+package cn.iocoder.yudao.module.remote.service.task;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskListDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskDTO;
+
+public interface RemoteTaskService {
+
+    PageResult<RemoteExceptionTaskListDTO> getExceptionTask(RemoteTaskDTO remoteTaskDTO);
+}
diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/task/RemoteTaskServiceImpl.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/task/RemoteTaskServiceImpl.java
new file mode 100644
index 000000000..ab80a3a6d
--- /dev/null
+++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/task/RemoteTaskServiceImpl.java
@@ -0,0 +1,28 @@
+package cn.iocoder.yudao.module.remote.service.task;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.system.api.remote.RemoteExceptionTaskApi;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskListDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskDTO;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class RemoteTaskServiceImpl implements RemoteTaskService {
+
+    @Resource
+    private RemoteExceptionTaskApi remoteExceptionTaskApi;
+
+    /**
+     * 获取异常任务列表
+     * @param remoteTaskDTO
+     * @return
+     */
+    @Override
+    public PageResult<RemoteExceptionTaskListDTO> getExceptionTask(RemoteTaskDTO remoteTaskDTO) {
+        return remoteExceptionTaskApi.getExceptionTask(remoteTaskDTO);
+    }
+}
diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApi.java
new file mode 100644
index 000000000..f9da862dd
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApi.java
@@ -0,0 +1,27 @@
+package cn.iocoder.yudao.module.system.api.remote;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskListDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskDTO;
+import cn.iocoder.yudao.module.system.enums.ApiConstants;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.cloud.openfeign.FeignClient;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestParam;
+
+@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
+@Tag(name = "RPC 服务 - 远遥任务相关")
+public interface RemoteExceptionTaskApi {
+
+    String PREFIX = ApiConstants.PREFIX + "/remote";
+
+    /**
+     * 远遥查看异常列表
+     * @return
+     */
+    @PostMapping(PREFIX + "/getExceptionTask")
+    @Operation(summary = "保存IP和端口")
+    PageResult<RemoteExceptionTaskListDTO> getExceptionTask(@RequestBody RemoteTaskDTO remoteTaskDTO);
+}
diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteExceptionTaskListDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteExceptionTaskListDTO.java
new file mode 100644
index 000000000..fb25ee67e
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteExceptionTaskListDTO.java
@@ -0,0 +1,27 @@
+package cn.iocoder.yudao.module.system.api.remote.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class RemoteExceptionTaskListDTO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "26224")
+    private Long id;
+
+    @Schema(description = "车辆编号")
+    private String robotNo ;
+
+    @Schema(description = "任务号")
+    private String taskNo;
+
+    @Schema(description = "取货库位编号")
+    private String fromLocationNo;
+
+    @Schema(description = "放货库位编号")
+    private String toLocationNo;
+
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
+    private Long taskStage;
+
+}
diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotStatusDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotStatusDTO.java
index e82254d7c..f303bfa28 100644
--- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotStatusDTO.java
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotStatusDTO.java
@@ -22,4 +22,10 @@ public class RemoteRobotStatusDTO {
 
     @Schema(description = "是否可以点击: 任务完成(0:可以点, 1:不能点任务完成)")
     private Integer clickTaskDone = 1;
+
+    @Schema(description = "车辆任务状态(3：待命 , 其他都是任务中)")
+    private Integer robotStatus = 2;
+
+    @Schema(description = "任务模式（0：锁定、1：正常）")
+    private Integer robotTaskModel;
 }
diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteTaskDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteTaskDTO.java
new file mode 100644
index 000000000..a2a5b10e3
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteTaskDTO.java
@@ -0,0 +1,14 @@
+package cn.iocoder.yudao.module.system.api.remote.dto;
+
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class RemoteTaskDTO extends PageParam {
+    @Schema(description = "车辆编号")
+    private String robotNo ;
+
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
+    private Long taskStage;
+}
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApiImpl.java
new file mode 100644
index 000000000..4227a4a9f
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApiImpl.java
@@ -0,0 +1,33 @@
+package cn.iocoder.yudao.module.system.api.remote;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskListDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskDTO;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@RestController // 提供 RESTful API 接口，给 Feign 调用
+@Validated
+public class RemoteExceptionTaskApiImpl implements RemoteExceptionTaskApi{
+
+
+    @Resource
+    private RobotTaskDetailService taskDetailService;
+
+    /**
+     * 远遥获取异常任务列表
+     * @param taskStage
+     * @param robotNo
+     * @return
+     */
+    @Override
+    public PageResult<RemoteExceptionTaskListDTO> getExceptionTask(RemoteTaskDTO remoteTaskDTO) {
+        return taskDetailService.getRemoteExceptionTask(remoteTaskDTO);
+    }
+
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskPageReqVO.java
index dd8e765bc..8970ed3bd 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskPageReqVO.java
@@ -57,7 +57,7 @@ public class RobotTaskPageReqVO extends PageParam {
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "2")
     private Integer taskStatus;
 
-    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
     private Long taskStage;
 
     @Schema(description = "开始时间")
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 c7d8e3a8d..f22963ba4 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
@@ -3,10 +3,14 @@ package cn.iocoder.yudao.module.system.dal.mysql.robot;
 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.api.remote.dto.RemoteExceptionTaskListDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotDoingTaskDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
 
@@ -143,4 +147,14 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      * @return
      */
     List<RobotDoingTaskDTO> getRobotDoingTaskNo();
+
+    /**
+     * 远遥查询异常任务列表
+     * @param mpPage
+     * @param pageReqVO
+     * @return
+     */
+    IPage<RemoteExceptionTaskListDTO> selectRemoteExceptionTask(@Param("mpPage") IPage mpPage,
+                                                                @Param("pageReqVO") RemoteTaskDTO pageReqVO);
+
 }
\ 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/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
index e5e5b9540..1b833122b 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
@@ -364,6 +364,15 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
                 mapStr = "一键暂停 " + mapStr;
             }
 
+            //过滤已经暂停的
+            if (ObjectUtil.isNotEmpty(robotNos)) {
+                List<RobotMapStopDO> robotMapStopList = robotMapStopService.getStopRobotNoByRobotNoList(robotNos);
+                if (ObjectUtil.isNotEmpty(robotMapStopList)) {
+                    List<String> stopRobotNos = robotMapStopList.stream().map(RobotMapStopDO::getRobotNo).collect(Collectors.toList());
+                    robotNos.removeAll(stopRobotNos);
+                }
+            }
+
         } else {
             //恢复
             robotNos = robotMapStopService.getStopRobotNoByMapIds(id);
@@ -516,7 +525,6 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
                 }
 
                 if (ObjectUtil.isNotEmpty(remoteMap) && ObjectUtil.isNotEmpty(remoteMap.get(robotNo))) {
-                    System.out.println("---------" + JSON.toJSONString(remoteMap.get(robotNo)));
                     remoteRobotDetail.setRemoteMode(remoteMap.get(robotNo).getRemoteMode());
                 }
                 robotList.add(remoteRobotDetail);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
index de8662d84..c63d22445 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
@@ -223,6 +223,12 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             remoteRobotStatus.setClickTaskDone(ZeroOneEnum.ZERO.getType());
         }
 
+        RobotInformationDO robotInformation = informationService.getInformationByRobotNo(information.getRobotNo());
+        if (RobotStatusEnum.STAND_BY.getType().equals(robotInformation.getRobotStatus())) {
+            remoteRobotStatus.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
+        }
+        remoteRobotStatus.setRobotTaskModel(robotInformation.getRobotTaskModel());
+
         return remoteRobotStatus;
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
index 99f2563e7..db19a0342 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
@@ -45,20 +45,14 @@ import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLo
 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.dataobject.remote.RemoteControllerInformationDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
-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.dataobject.robot.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.remote.RemoteControllerInformationMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotModelMapper;
-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.dal.mysql.robot.*;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
@@ -72,6 +66,7 @@ import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum;
 import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
 import cn.iocoder.yudao.module.system.enums.robot.information.RobotStatisticsTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
 import cn.iocoder.yudao.module.system.service.informationmapassociation.InformationMapAssociationService;
 import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
@@ -189,6 +184,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Resource
     private RemoteControllerInformationMapper controllerInformationMapper;
 
+    @Resource
+    private RobotMapStopMapper mapStopMapper;
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createInformation(RobotInformationSaveReqVO createReqVO) {
@@ -313,6 +311,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         // 更新
         RobotInformationDO updateObj = BeanUtils.toBean(updateReqVO, RobotInformationDO.class);
         informationMapper.updateById(updateObj);
+
+        if (!robotInformationDO.getRobotNo().equals(updateReqVO.getRobotNo())) {
+            List<RobotMapStopDO> robotMapStops = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
+                    .eq(RobotMapStopDO::getRobotNo, robotInformationDO.getRobotNo()));
+            if (ObjectUtil.isNotEmpty(robotMapStops)) {
+                robotMapStops.forEach(v -> v.setRobotNo(updateReqVO.getRobotNo()));
+                mapStopMapper.updateById(robotMapStops);
+            }
+        }
+
         // 更新AGV于地图关系表 -----
         List<List<Long>> list = CollectionUtils.compareLists(
                 (CollUtil.isEmpty(robotInformationDO.getFloorAreaJson()) ? Collections.emptyList() : new ArrayList<>(robotInformationDO.getFloorAreaJson())),
@@ -386,6 +394,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         // 删除
         informationMapper.deleteById(id);
 
+        //释放暂停记录
+        releaseRobotStop(robotInformationDO);
+
         List<RobotDimensionsDTO> RobotDimensions = informationMapper.selectRobotDimensions();
         pathPlanningApi.synchronousLineObject(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
 
@@ -399,6 +410,40 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         redisUtil.del(floorAreaKey);
     }
 
+    public void releaseRobotStop(RobotInformationDO robotInformationDO) {
+        List<RobotMapStopDO> robotMapStops = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
+                .eq(RobotMapStopDO::getRobotNo, robotInformationDO.getRobotNo()));
+        if (ObjectUtil.isEmpty(robotMapStops)) {
+            return;
+        }
+        RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
+        robotSimulationPose.setCommandType(RobotCommandTypeEnum.RECOVERY.getType());
+        List<String> robotNoList = Arrays.asList(robotInformationDO.getRobotNo());
+        sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, robotNoList, "删除车辆时恢复车辆");
+        mapStopMapper.deleteRobotMapStopByRobotNos(robotNoList);
+
+        Long positionMapId = null;
+        for (RobotMapStopDO robotMapStopDO : robotMapStops) {
+            if (ObjectUtil.isNotEmpty(robotMapStopDO.getPositionMapId()) && robotMapStopDO.getPositionMapId() > 0) {
+                positionMapId = robotMapStopDO.getPositionMapId();
+            }
+        }
+
+        if (ObjectUtil.isNotEmpty(positionMapId)) {
+            List<RobotMapStopDO> mapStopDOList = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
+                    .eq(RobotMapStopDO::getPositionMapId, positionMapId));
+            //说明此时地图上没有其他被暂停的车辆了
+            if (ObjectUtil.isNotEmpty(mapStopDOList) && mapStopDOList.size() == 1) {
+                PositionMapDO positionMapDO = positionMapMapper.selectById(positionMapId);
+                mapStopMapper.deleteRobotMapStopByMapId(positionMapId);
+                UserOperationLogSaveReqVO operationLogs = UserOperationLogSaveReqVO.builder()
+                        .operateAction(positionMapDO.getFloor() + "层" + positionMapDO.getArea() + " 地图上所有车辆已经恢复,所以把地图也设置为恢复")
+                        .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+                userOperationLogService.createUserOperationLog(operationLogs);
+            }
+        }
+    }
+
     private void validateInformationExists(Long id) {
         if (informationMapper.selectById(id) == null) {
             throw exception(ROBOT_INFORMATION_NOT_EXISTS);
@@ -1328,7 +1373,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             }
         }
 
-        return checkElectricity(chargeConfig,robotInformation,dataPoseDTO);
+        return checkElectricity(chargeConfig, robotInformation, dataPoseDTO);
     }
 
     private Boolean checkElectricity(CommonConfigVO chargeConfig, RobotInformationDO robot, RobotStatusDataPoseDTO dataPoseDTO) {
@@ -1347,15 +1392,15 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         } else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
             robotEndElectricity = new BigDecimal(fullElectricity);
         } else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.CHANCE.getType().equals((Integer) chargeModelCache)
-            && ObjectUtil.isNotEmpty(chargeConfig.getChanceChargeEnd())) {
+                && ObjectUtil.isNotEmpty(chargeConfig.getChanceChargeEnd())) {
             robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeEnd()));
-        } else if (ObjectUtil.isNotEmpty(chargeConfig.getEndAutoCharge())){
+        } else if (ObjectUtil.isNotEmpty(chargeConfig.getEndAutoCharge())) {
             robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getEndAutoCharge()));
         }
 
         if (robotRemainingElectricity.compareTo(robotEndElectricity) >= 0) {
             return true;
-        }else {
+        } else {
             log.info("机器人正在充电,还没达到充电设置的电量,暂不能接任务:{} ", robot.getRobotNo());
         }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java
index 516da95f5..ce0895fb6 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java
@@ -3,6 +3,8 @@ package cn.iocoder.yudao.module.system.service.robot;
 import javax.validation.*;
 
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskListDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotDoingTaskDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailPageReqVO;
@@ -108,4 +110,9 @@ public interface RobotTaskDetailService {
      */
     List<RobotDoingTaskDTO> getRobotDoingTaskNo();
 
+    /**
+     * 获取远遥异常列表
+     * @return
+     */
+    PageResult<RemoteExceptionTaskListDTO> getRemoteExceptionTask(RemoteTaskDTO remoteTaskDTO);
 }
\ 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/RobotTaskDetailServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
index 16bd07b38..1cfa3451a 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
@@ -2,11 +2,11 @@ package cn.iocoder.yudao.module.system.service.robot;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskListDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotDoingTaskDTO;
-import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
-import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailPageReqVO;
-import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailRespVO;
-import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
@@ -17,6 +17,7 @@ import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
 import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
@@ -197,4 +198,17 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     public List<RobotDoingTaskDTO> getRobotDoingTaskNo() {
         return taskDetailMapper.getRobotDoingTaskNo();
     }
+
+    @Override
+    public PageResult<RemoteExceptionTaskListDTO> getRemoteExceptionTask(RemoteTaskDTO pageReqVO) {
+        IPage mpPage = MyBatisUtils.buildPage(pageReqVO);
+        IPage<RemoteExceptionTaskListDTO> page = taskDetailMapper.selectRemoteExceptionTask(mpPage, pageReqVO);
+        PageResult<RemoteExceptionTaskListDTO> dataPage = new PageResult<>();
+        dataPage.setTotal(page.getTotal());
+        dataPage.setList(page.getRecords());
+        return dataPage;
+    }
+
+
+
 }
\ 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/mapstop/RobotMapStopService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java
index 4e56427fd..60dba2bc4 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java
@@ -120,4 +120,11 @@ public interface RobotMapStopService extends IService<RobotMapStopDO> {
      * @param robotNo
      */
     void remoteRecoveryRobot(String robotNo);
+
+    /**
+     * 查询已经暂停的车辆
+     * @param robotNos
+     * @return
+     */
+    List<RobotMapStopDO> getStopRobotNoByRobotNoList(List<String> robotNos);
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java
index 90be69260..31ca642a6 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java
@@ -233,6 +233,13 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
             throw exception(ROBOT_ALREADY_RECOVERY);
         }
 
+        Long positionMapId = null;
+        for (RobotMapStopDO robotMapStopDO : stopRobotNoByRobotNo) {
+            if (robotMapStopDO.getPositionMapId() > 0) {
+                positionMapId = robotMapStopDO.getPositionMapId();
+            }
+        }
+
         RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
         robotSimulationPose.setCommandType(RobotCommandTypeEnum.RECOVERY.getType());
         List<String> list = Arrays.asList(robotNo);
@@ -240,19 +247,29 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
 
         deleteRobotMapStopByRobotNos(list);
 
+        if (ObjectUtil.isEmpty(positionMapId)) {
+            return;
+        }
+
         List<RobotMapStopDO> mapStopDOList = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
-                .eq(RobotMapStopDO::getPositionMapId, stopRobotNoByRobotNo.get(0).getPositionMapId()));
+                .eq(RobotMapStopDO::getPositionMapId, positionMapId));
         //说明此时地图上没有其他被暂停的车辆了
-        if (ObjectUtil.isNotEmpty(mapStopDOList) && mapStopDOList.size() == 1) {
-            PositionMapDO positionMapDO = positionMapMapper.selectById(mapStopDOList.get(0).getPositionMapId());
-            deleteRobotMapStopByMapId(mapStopDOList.get(0).getPositionMapId());
+        if (ObjectUtil.isNotEmpty(mapStopDOList) && mapStopDOList.size() == 1 ) {
+            PositionMapDO positionMapDO = positionMapMapper.selectById(positionMapId);
+            deleteRobotMapStopByMapId(positionMapId);
             UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                     .operateAction(positionMapDO.getFloor() + "层" + positionMapDO.getArea() + " 地图上所有车辆已经恢复,所以把地图也设置为恢复")
                     .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
             userOperationLogService.createUserOperationLog(operationLog);
-
         }
     }
 
+    @Override
+    public List<RobotMapStopDO> getStopRobotNoByRobotNoList(List<String> robotNos) {
+        return mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
+                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ONE.getType())
+                .in(RobotMapStopDO::getRobotNo, robotNos));
+    }
+
 
 }
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 efb088d1f..c837fc037 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
@@ -322,6 +322,35 @@
         and t2.task_status ='1'
     </select>
 
+    <select id="selectRemoteExceptionTask"
+            resultType="cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskListDTO">
+        select
+            t2.id,
+            t2.robot_no as robotNo,
+            t1.task_no as taskNo,
+            t2.from_location_no as fromLocationNo,
+            t2.to_location_no as toLocationNo,
+            t2.task_stage as taskStage
+        from
+            robot_task t1 inner join  robot_task_detail t2
+            on t1.id = t2.robot_task_id
+        <where>
+            t1.deleted = '0'
+            and t2.deleted = '0'
+            and t2.occur_error = '1'
+            and t2.task_type in ('1','6')
+            and t2.task_status = '1'
+            and t1.task_status = '1'
+            <if test="pageReqVO.robotNo != null and pageReqVO.robotNo != ''">
+                and t2.robot_no = #{pageReqVO.robotNo}
+            </if>
+            <if test="pageReqVO.taskStage != null">
+                and t2.task_stage = #{pageReqVO.taskStage}
+            </if>
+        </where>
+        order by t1.create_time desc
+    </select>
+
 
     <!--通过主键修改数据-->
     <update id="updateRobotDetailById">