diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java
index b46864b87..699b5c10f 100644
--- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java
@@ -18,6 +18,7 @@ public class RobotPoseStatusDTO {
      *  true表示可以做任务，如果是到达了充电点正在充电中应该返回true
      */
     public Boolean taskStatus;
+    public String timestamp;
 
     /**
      * 机器人位姿
diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java
index 9061ecd3d..e60150a56 100644
--- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java
@@ -20,4 +20,6 @@ public class RobotStatusDataPoseDTO {
     public Double forkHeight;
     //电池剩余容量   废弃  从ROBOT_INFORMATION_SOC 获取电量
 //    public String batSoc;
+
+    public String timestamp;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
index 78ab0e959..4ef34dc17 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
@@ -111,6 +111,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), znConfigConstant.getRobotPositionCacheTime());
 
         executorService.execute(() ->{
+            robotStatusDataPoseDTO.setTimestamp(robotStatusDataDTO.getTimestamp());
             sendToPP(robotStatusDataPoseDTO);
         });
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
index 32b33fafb..ffad01397 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
@@ -414,7 +414,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType());
 
                 if (!znConfigConstant.getIsSimulation()) {
-                    robotTaskDetailDO.setRobotNo("");
+//                    robotTaskDetailDO.setRobotNo("");
                 }
                 robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType());
                 robotTaskDetailMapper.updateById(robotTaskDetailDO);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java
index e837a8a27..a2ffd5f1c 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java
@@ -42,7 +42,7 @@ public class ThreeDimensionalScheduled {
     private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3);
 
     // 这个方法将每200毫秒执行一次
-    @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
+//    @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
     public void executeTask() {
         fixedThreadPool.execute(new Runnable() {
             @Override
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 cf595d0b5..340fd1860 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
@@ -1425,12 +1425,19 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION);
         }
 
-        DeviceInformationDO deviceInformationDO = deviceInformations.stream()
-                .filter(v -> v.getDeviceAttribute().equals(robot.getChargeType())
-                        && robot.getFloorAreaJson().contains(v.getPositionMapId()))
-                .findFirst()
-                .orElse(new DeviceInformationDO());
-        if (ObjectUtil.isEmpty(deviceInformationDO.getDeviceNo())) {
+        DeviceInformationDO deviceInformationDO = null;
+        for (DeviceInformationDO v : deviceInformations) {
+            if (ObjectUtil.isNotEmpty(v.getLastUser()) && v.getLastUser().equals(robot.getRobotNo())) {
+                deviceInformationDO = v;
+                break;
+            }
+            if (v.getDeviceAttribute().equals(robot.getChargeType())
+                    && robot.getFloorAreaJson().contains(v.getPositionMapId()) && DeviceUseStatusEnum.IDLE.getType().equals(v.getDeviceUseStatus())) {
+                deviceInformationDO = v;
+            }
+        }
+
+        if (ObjectUtil.isEmpty(deviceInformationDO)) {
             log.info("当前机器人查不到对应的充电桩类型、或者机器人不能在此区域充电 :{}", robot.getRobotNo());
             throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION);
         }
@@ -1477,7 +1484,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 || RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())) {
             log.info("清除交管--任务阶段是前往取货/待执行/前往放货 :{}", robotTaskDetail.getRobotNo());
             robotTaskDetail.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
-            robotTaskDetail.setRobotNo(null);
+//            robotTaskDetail.setRobotNo(null);
             taskDetailMapper.updateById(robotTaskDetail);
         }
     }