diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/logback-spring.xml b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/logback-spring.xml
index b1b9f3faf..7ba7f8595 100644
--- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/logback-spring.xml
+++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/logback-spring.xml
@@ -31,7 +31,7 @@
             <!-- 启动服务时，是否清理历史日志，一般不建议清理 -->
             <cleanHistoryOnStart>${LOGBACK_ROLLINGPOLICY_CLEAN_HISTORY_ON_START:-false}</cleanHistoryOnStart>
             <!-- 日志文件，到达多少容量，进行滚动 -->
-            <maxFileSize>${LOGBACK_ROLLINGPOLICY_MAX_FILE_SIZE:-10MB}</maxFileSize>
+            <maxFileSize>50MB</maxFileSize>
             <!-- 日志文件的总大小，0 表示不限制 -->
             <totalSizeCap>${LOGBACK_ROLLINGPOLICY_TOTAL_SIZE_CAP:-0}</totalSizeCap>
             <!-- 日志文件的保留天数 -->
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
index b82d2bca9..a29d20572 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
@@ -62,7 +62,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
     @Override
     public void robotReactiveStatus(String message) {
         TenantContextHolder.setTenantId(1L);
-        log.info("车辆所在楼层和异常信息 :{}", message);
+//        log.info("车辆所在楼层和异常信息 :{}", message);
         RobotReactiveStatusDTO data = JSON.parseObject(message, RobotReactiveStatusDTO.class);
         String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
         String robotNo = robotInformationService.getRobotNoByMac(data.getMac());
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java
index e49e231c3..08e9489a2 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java
@@ -47,7 +47,7 @@ public class RequestProcessor {
     private void sendData(String map, Map<String, String> data) {
         // -- 发送给对应的websocket
 //        System.out.println("key:" + map + "发送数据：" + data);
-        log.info("key:" + map + "发送数据：" + data);
+//        log.info("key:" + map + "发送数据：" + data);
         webSocketSenderApi.sendObject(map, WebSocketConstant.MAP_PUSH, data);
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
index d2f81e82d..4662d3f8e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
@@ -35,7 +35,7 @@ public class DeviceInformationPageReqVO extends PageParam {
     @Schema(description = "深度")
     private BigDecimal locationDeep;
 
-    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
     @Schema(description = "设备类型 字典device_type", example = "2")
     private Integer deviceType;
 
@@ -89,4 +89,7 @@ public class DeviceInformationPageReqVO extends PageParam {
     @Schema(description = "最后使用者")
     private String lastUser;
 
+    @Schema(description = "摄像头类型（1 枪机 2半球 3球机 4云台枪机）")
+    private String cameraType;
+
 }
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 9622469d3..0c969f726 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
@@ -42,7 +42,7 @@ public class DeviceInformationRespVO {
     @ExcelProperty("深度")
     private BigDecimal locationDeep;
 
-    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
     @Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
     @ExcelProperty("设备类型 字典device_type")
     private Integer deviceType;
@@ -120,4 +120,8 @@ public class DeviceInformationRespVO {
     @ExcelProperty("最后使用者")
     private String lastUser;
 
+    @Schema(description = "摄像头类型（1 枪机 2半球 3球机 4云台枪机）")
+    @ExcelProperty("摄像头类型（1 枪机 2半球 3球机 4云台枪机）")
+    private String cameraType;
+
 }
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 a4bf74ce7..ffcd03b2f 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
@@ -35,7 +35,7 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "深度")
     private BigDecimal locationDeep;
 
-    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机 9:摄像头
     @Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
     @NotNull(message = "设备类型不能为空")
     private Integer deviceType;
@@ -89,4 +89,7 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "最后使用者")
     private String lastUser;
 
+    @Schema(description = "摄像头类型（1 枪机 2半球 3球机 4云台枪机）")
+    private String cameraType;
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
index 4d710c3a5..7b5738991 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
@@ -67,7 +67,7 @@ public class DeviceInformationDO extends BaseDO {
      */
     private BigDecimal locationDeep;
     /**
-     * 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
+     * 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
      * 设备类型 字典device_type
      */
     private Integer deviceType;
@@ -135,4 +135,8 @@ public class DeviceInformationDO extends BaseDO {
      */
     private String lastUser;
 
+    /**
+     * 摄像头类型（1 枪机 2半球 3球机 4云台枪机）
+     */
+    private String cameraType;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapDO.java
index 7099a5160..d2d002890 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapDO.java
@@ -25,7 +25,6 @@ public class PositionMapDO extends BaseDO {
     /**
      * 主键ID
      */
-    @TableId(type = IdType.ASSIGN_ID)
     private Long id;
     /**
      * 楼层
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
index 3e39d0a5c..c426c0eca 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
@@ -14,7 +14,8 @@ public enum DeviceTypeEnum {
     HOIST(5, "提升机"),
     SIGNAL_LIGHT(6, "信号灯"),
     BUTTON_BOX(7, "按钮盒"),
-    DISMANTLING_MACHINE(8, "拆垛机");
+    DISMANTLING_MACHINE(8, "拆垛机"),
+    CAMERA(9, "摄像头");
 
     /**
      * 类型
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 384afd2a7..8932804a6 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
@@ -32,6 +32,7 @@ import cn.iocoder.yudao.module.system.service.dict.DictDataService;
 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;
+import cn.iocoder.yudao.module.system.util.aes.AESEncryptionUtil;
 import cn.iocoder.yudao.module.system.util.modbus3.ModbusUtils;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
@@ -42,6 +43,7 @@ import com.serotonin.modbus4j.ModbusMaster;
 import com.serotonin.modbus4j.exception.ModbusInitException;
 import com.serotonin.modbus4j.exception.ModbusTransportException;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -92,6 +94,9 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     @Resource
     private PositionMapItemService positionMapItemService;
 
+    @Value("${zn.camera_secret_key}")
+    private String cameraSecretKey;
+
     @Override
     public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
         // -- 先判断库里是否有相通的mac地址数据
@@ -110,6 +115,13 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             createReqVO.setUrl(dictDataDO.getRemark());
         }
 
+        if (DeviceTypeEnum.CAMERA.getType().equals(createReqVO.getDeviceType())) {
+            try {
+                createReqVO.setDeviceNo(AESEncryptionUtil.getEncrypt(createReqVO.getDeviceNo(), cameraSecretKey));
+            } catch (Exception ignored) {
+            }
+        }
+
         // 插入
         DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
         information.setDeviceStatus(1);
@@ -138,6 +150,13 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             updateReqVO.setUrl(dictDataDO.getRemark());
         }
         // 更新
+        if (DeviceTypeEnum.CAMERA.getType().equals(updateReqVO.getDeviceType())) {
+            try {
+                updateReqVO.setDeviceNo(AESEncryptionUtil.getEncrypt(updateReqVO.getDeviceNo(), cameraSecretKey));
+            } catch (Exception ignored) {
+            }
+        }
+
         DeviceInformationDO updateObj = BeanUtils.toBean(updateReqVO, DeviceInformationDO.class);
         informationMapper.updateById(updateObj);
 
@@ -150,11 +169,11 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             data.setMapImageUrl(updateObj.getMapImageUrl());*/
 
             Gson gson = new Gson();
-            Map<Object,Object> map = new HashMap();
+            Map<Object, Object> map = new HashMap();
             map = gson.fromJson(dataJson, map.getClass());
-            map.put("deviceType",updateObj.getDeviceType());
-            map.put("deviceNo",updateObj.getDeviceNo());
-            map.put("mapImageUrl",updateObj.getMapImageUrl());
+            map.put("deviceType", updateObj.getDeviceType());
+            map.put("deviceNo", updateObj.getDeviceNo());
+            map.put("mapImageUrl", updateObj.getMapImageUrl());
 
             positionMapItem.setDataJson(JSON.toJSONString(map));
             positionMapItemService.updateById(positionMapItem);
@@ -228,7 +247,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             editList.addAll(list.get(1));
         }
         if (isNotEmpty(list.get(2))) {
-            list.get(2).forEach( a -> {
+            list.get(2).forEach(a -> {
                 a.setPositionMapItemId(null);
                 a.setPositionMapId(null);
             });
@@ -349,7 +368,9 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
                     && ObjectUtil.isNotEmpty(positionMapDO)) {
                 deviceInformationDO.setFloor(positionMapDO.getFloor() + "");
                 deviceInformationDO.setArea(positionMapDO.getArea());
-                deviceInformationDO.setDeviceLocation(positionMapDO.getFloor()+"层-"+positionMapDO.getArea());
+                String map = positionMapDO.getFloor() + "层-" + positionMapDO.getArea();
+                String deviceLocation = ObjectUtil.isEmpty(deviceInformationDO.getDeviceLocation()) ? map : map + deviceInformationDO.getDeviceLocation();
+                deviceInformationDO.setDeviceLocation(deviceLocation);
             }
 
             String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME + deviceInformationDO.getMacAddress();
@@ -405,12 +426,13 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             warnMsgService.addWarnMsg(deviceNo + " 没有设备IP和端口");
             return;
         }
-        log.info("设备伸出 :{}",deviceNo);
+        log.info("设备伸出 :{}", deviceNo);
         extend(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
     }
 
     /**
      * 充电任务，缩
+     *
      * @param deviceNo
      */
     @Override
@@ -430,7 +452,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             log.info("没有设备IP、端口不能缩回 :{}", deviceNo);
             return;
         }
-        log.info("设备缩回 :{}",deviceNo);
+        log.info("设备缩回 :{}", deviceNo);
         shrink(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
     }
 
@@ -464,7 +486,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
                 log.info("充电设备缩回时,出现异常 :{}", ip);
                 warnMsgService.addWarnMsg(deviceNo + " 充电设备缩回失败");
                 success = false;
-            }finally {
+            } finally {
                 if (ObjectUtil.isNotEmpty(asciiMaster)) {
                     asciiMaster.destroy();
                 }
@@ -478,6 +500,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
 
     /**
      * 控制设备伸缩
+     *
      * @param ip
      * @param port
      */
@@ -496,7 +519,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
                 log.info("充电设备伸出时,出现异常 :{}", ip);
                 warnMsgService.addWarnMsg(deviceNo + " 充电设备伸出失败");
                 success = false;
-            }finally {
+            } finally {
                 if (ObjectUtil.isNotEmpty(asciiMaster)) {
                     asciiMaster.destroy();
                 }
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 0844233d5..7ba1e26a0 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
@@ -256,15 +256,27 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         //移动点位是否为空闲/重复、 处理中的任务
         List<Long> pointList = new ArrayList<>();
+        List<String> takeRobotNos = new ArrayList<>();
+        List<String> releaseRobotNos = new ArrayList<>();
+
         for (RobotTaskDetailAddVO robotTaskDetail : createReqVO.getTaskDetailList()) {
-            if (!RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotTaskDetail.getTaskType())) {
-                continue;
+            if (RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotTaskDetail.getTaskType())) {
+                if (pointList.contains(robotTaskDetail.getReleaseId())) {
+                    PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(robotTaskDetail.getReleaseId());
+                    throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位重复 " + positionMapItem.getSortNum(), positionMapItem.getSortNum());
+                }
+                pointList.add(robotTaskDetail.getReleaseId());
+            }else if (RobotTaskTypeEnum.TAKE.getType().equals(robotTaskDetail.getTaskType())) {
+                if (takeRobotNos.contains(robotTaskDetail.getRobotNo())) {
+                    throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅取货任务 " + robotTaskDetail.getRobotNo(), robotTaskDetail.getRobotNo());
+                }
+                takeRobotNos.add(robotTaskDetail.getRobotNo());
+            }else if (RobotTaskTypeEnum.RELEASE.getType().equals(robotTaskDetail.getTaskType())) {
+                if (releaseRobotNos.contains(robotTaskDetail.getRobotNo())) {
+                    throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅放货任务 " + robotTaskDetail.getRobotNo(), robotTaskDetail.getRobotNo());
+                }
+                releaseRobotNos.add(robotTaskDetail.getRobotNo());
             }
-            if (pointList.contains(robotTaskDetail.getReleaseId())) {
-                PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(robotTaskDetail.getReleaseId());
-                throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位重复 " + positionMapItem.getSortNum(), positionMapItem.getSortNum());
-            }
-            pointList.add(robotTaskDetail.getReleaseId());
         }
 
         if (ObjectUtil.isNotEmpty(pointList)) {
@@ -285,6 +297,28 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             String sortNumStr = getSortNumStr(doingTaskItemIds);
             throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位存在处理中的任务 " + sortNumStr, sortNumStr);
         }
+
+        if (ObjectUtil.isNotEmpty(takeRobotNos)) {
+            RobotTaskDetailDO takeTask = taskDetailMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailDO>()
+                    .in(RobotTaskDetailDO::getRobotNo, takeRobotNos)
+                    .in(RobotTaskDetailDO::getTaskStatus,RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
+                    .eq(RobotTaskDetailDO::getTaskType, RobotTaskTypeEnum.TAKE.getType())
+                    .last("limit 1"));
+            if (ObjectUtil.isNotEmpty(takeTask)) {
+                throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅取货任务 " + takeTask.getRobotNo(), takeTask.getRobotNo());
+            }
+        }
+
+        if (ObjectUtil.isNotEmpty(releaseRobotNos)) {
+            RobotTaskDetailDO releaseTask = taskDetailMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailDO>()
+                    .in(RobotTaskDetailDO::getRobotNo, releaseRobotNos)
+                    .in(RobotTaskDetailDO::getTaskStatus,RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
+                    .eq(RobotTaskDetailDO::getTaskType, RobotTaskTypeEnum.RELEASE.getType())
+                    .last("limit 1"));
+            if (ObjectUtil.isNotEmpty(releaseTask)) {
+                throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅放货任务 " + releaseTask.getRobotNo(), releaseTask.getRobotNo());
+            }
+        }
     }
 
     public String getSortNumStr(List<Long> pointList) {
@@ -1123,7 +1157,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotTaskVo.setToMapItemId(locationDO.getMapItemId());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此放货库位放货 :{}, 机器人编号 :{}", locationDO.getLocationNo(), robotTaskVo.getRobotNo());
-                throw exception0(TASK_CREATE_FAIL.getCode(), "机器人不能在此放货库位放货 " + robotTaskVo.getReleaseId());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "车辆不能在此放货库位放货,检查车辆能走的区域 " + robotTaskVo.getRobotNo());
             }
             if (ObjectUtil.isNotEmpty(takeMapItemIds) && takeMapItemIds.contains(locationDO.getMapItemId())) {
                 log.error("此点位存在取货任务 :{}", locationDO.getLocationNo());
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java
index e0436e75c..67593b3af 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java
@@ -137,23 +137,8 @@ public class RobotCameraServiceImpl extends ServiceImpl<RobotCameraMapper, Robot
                 throw new RuntimeException(e);
             }
         } else {
-            robotCameraDO.setCameraAccount(getEncrypt(robotCameraDO.getCameraAccount()));
-            robotCameraDO.setCameraPassword(getEncrypt(robotCameraDO.getCameraPassword()));
-        }
-    }
-
-    public String getEncrypt(String str){
-        try {
-            AESEncryptionUtil.decrypt(str, cameraSecretKey);
-            return str;
-        } catch (Exception e) {
-
-        }
-
-        try {
-            return AESEncryptionUtil.encrypt(str, cameraSecretKey);
-        } catch (Exception e) {
-            throw new RuntimeException(e);
+            robotCameraDO.setCameraAccount(AESEncryptionUtil.getEncrypt(robotCameraDO.getCameraAccount(),cameraSecretKey));
+            robotCameraDO.setCameraPassword(AESEncryptionUtil.getEncrypt(robotCameraDO.getCameraPassword(),cameraSecretKey));
         }
     }
 
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 7fcccb484..7ddcb96a6 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
@@ -98,11 +98,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         }
 
         //机器人最后做的任务
-        List<RobotTaskDetailDO> lastTaskDetails = robotTaskDetailMapper.getLastTaskGroupByRobotNo();
+        /*List<RobotTaskDetailDO> lastTaskDetails = robotTaskDetailMapper.getLastTaskGroupByRobotNo();
         Map<String, RobotTaskDetailDO> lastTaskDetailMap = null;
         if (ObjectUtil.isNotEmpty(lastTaskDetails)) {
             lastTaskDetailMap = lastTaskDetails.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
-        }
+        }*/
 
         CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
 
@@ -113,7 +113,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             }
 
             String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
-            String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
+
             Object taskStatus = redisUtil.get(taskStatusKey);
             if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.CAN_DO_TASK.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
                 robot.setRobotStatus(RobotStatusEnum.DOING.getType());
@@ -121,12 +121,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 continue;
             }
 
-            Object cargoDetected = redisUtil.get(cargoDetectedKey);
+
             //取货的，先执行放货再去充电
-            if (ObjectUtil.isNotEmpty(lastTaskDetailMap) && ObjectUtil.isNotEmpty(lastTaskDetailMap.get(robot.getRobotNo()))) {
+            /*if (ObjectUtil.isNotEmpty(lastTaskDetailMap) && ObjectUtil.isNotEmpty(lastTaskDetailMap.get(robot.getRobotNo()))) {
                 robot.setRobotStatus(RobotStatusEnum.LAST_TASK_IS_TAKE.getType());
                 continue;
-            }
+            }*/
 
             if (ObjectUtil.isNotEmpty(chargeConfig) && ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
                 String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robot.getMacAddress();
@@ -146,11 +146,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 }
             }
 
-            if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
-                robot.setRobotStatus(RobotStatusEnum.DOING.getType());
-                log.info("车机上报传感器被按下--不允许接任务 :{}",robot.getRobotNo());
-                continue;
-            }
+
             //自动充电的车子，电量到达设定的阀值，也能执行任务
             /*if (ChargeTypeEnum.AUTOMATIC.getType().equals(robot.getChargeType())
                     && RobotStatusEnum.CHARGE.getType().equals(robot.getRobotStatus())) {
@@ -162,15 +158,15 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             }
         }
 
-        robots = robots.stream()
+        /*robots = robots.stream()
                 .filter(v -> (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())
                         || RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(v.getRobotStatus())))
-                .collect(Collectors.toList());
+                .collect(Collectors.toList());*/
 
-        if (robots.isEmpty()) {
+        /*if (robots.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");
 
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 4b828a6ea..14e07d975 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
@@ -12,6 +12,8 @@ import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
+import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
@@ -34,6 +36,7 @@ import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
 import cn.iocoder.yudao.module.system.enums.robot.information.ChargeTypeEnum;
+import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
 import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
@@ -111,6 +114,10 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Lazy
     private RobotTaskService taskService;
 
+    @Resource
+    @Lazy
+    private RobotInformationService informationService;
+
     /**
      * 下发任务给PP
      */
@@ -230,7 +237,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
         if (ObjectUtil.isNotEmpty(robotNos)) {
             List<PositionMapItemDO> emptyMapItems = positionMapItems.stream()
-                    .filter(v ->  UseStatusEnum.FREE.getType().equals(v.getUseStatus()))
+                    .filter(v -> UseStatusEnum.FREE.getType().equals(v.getUseStatus()))
                     .collect(Collectors.toList());
             if (ObjectUtil.isNotEmpty(emptyMapItems)) {
                 for (PositionMapItemDO positionMapItem : emptyMapItems) {
@@ -404,7 +411,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = pair.getLeft();
 
         //前一个任务是仅取货
-        List<String> robotDoTake = getRobotDoTake(robots);
+//        List<String> robotDoTake = getRobotDoTake(robots);
 
         for (RobotInformationDO robot : robots) {
             taskService.chargeDone(robot.getRobotNo());
@@ -445,10 +452,17 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 moveToPoint(pathPlanning, taskDetailDO);
             }
 
-            if (ObjectUtil.isNotEmpty(robotDoTake) && ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())
-                    && robotDoTake.contains(taskDetailDO.getRobotNo())
-                    && !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
-                log.info("机器人前一个任务是仅取货，当前任务非仅放货,所以当前任务不执行 :{}", taskDetailDO.getId());
+            String mac = informationService.getMacByRobotNo(taskDetailDO.getRobotNo());
+            String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
+            Object cargoDetected = redisUtil.get(cargoDetectedKey);
+            log.info("传感器是否按下 :{}", cargoDetected);
+            if (ObjectUtil.isEmpty(cargoDetected) || (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
+                    && !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType()))) {
+                log.info("车机上报传感器为空,  或者 被按下且任务非仅放货任务 :{} ,任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
+                continue;
+            } else if (!RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
+                    && RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
+                log.info("仅放货任务,传感器未被按下，所以不执行任务 :{}, 任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
                 continue;
             }
 
@@ -457,7 +471,11 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 robotNoLimitions = robotNoLimitationArea;
             } else {
                 TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotDoReleaseMap.get(taskDetailDO.getRobotNo());
-                robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
+                if (ObjectUtil.isEmpty(taskRobotNoLimittationAreaDTO)) {
+                    log.info("车辆没有能行走的区域 :{}", taskDetailDO.getRobotNo());
+                    continue;
+                }
+                robotNoLimitions = Collections.singletonList(taskRobotNoLimittationAreaDTO);
             }
 
             if (ObjectUtil.isEmpty(robotNoLimitions)) {
@@ -587,14 +605,14 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 }
             }
 
+            if (positionMapDOS.size() == limitationAreaList.size()) {
+                log.info("车辆不能行走所有的区域所以不下发任务 :{}", robot.getRobotNo());
+                continue;
+            }
             robotNoLimitationAreaDTO.setLimitationAreaList(limitationAreaList);
 
-            if (RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(robot.getRobotStatus())) {
-                map.put(robot.getRobotNo(), robotNoLimitationAreaDTO);
-            } else {
-                robotNoLimitationAreaDTOS.add(robotNoLimitationAreaDTO);
-                map.put(robot.getRobotNo(), robotNoLimitationAreaDTO);
-            }
+            robotNoLimitationAreaDTOS.add(robotNoLimitationAreaDTO);
+            map.put(robot.getRobotNo(), robotNoLimitationAreaDTO);
 
         }
         return ImmutablePair.of(robotNoLimitationAreaDTOS, map);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java
index 88233092c..9730e6065 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java
@@ -48,4 +48,25 @@ public class AESEncryptionUtil {
         String decryptedText = decrypt(encryptedText, key);
         System.out.println("Decrypted Text: " + decryptedText);
     }
+
+    /**
+     * 获取解密后数据
+     * @param str
+     * @param cameraSecretKey
+     * @return
+     */
+    public static String getEncrypt(String str, String cameraSecretKey){
+        try {
+            AESEncryptionUtil.decrypt(str, cameraSecretKey);
+            return str;
+        } catch (Exception ignored) {
+
+        }
+
+        try {
+            return AESEncryptionUtil.encrypt(str, cameraSecretKey);
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        }
+    }
 }