diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java
index d922bfb3d..b7363a011 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java
@@ -35,7 +35,7 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
         }
 
         String mac = robotStatusData.getData().getMac();
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +mac;
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +mac;
 
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class);
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 4922b78e9..557cd2bfb 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
@@ -63,7 +63,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
 
         String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robotStatusDataDTO.getMac();
         String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robotStatusDataDTO.getMac();
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +robotStatusDataDTO.getMac();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robotStatusDataDTO.getMac();
         redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(),robotPositionCacheTime);
         redisUtil.set(cargoDetectedKey,robotStatusDataDTO.getData().getCargo_detected(),robotPositionCacheTime);
 
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 c46ec8781..6e0b67be1 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
@@ -17,7 +17,6 @@ import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaksOrderTypeEnum;
-import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
@@ -29,7 +28,6 @@ import org.springframework.web.bind.annotation.RestController;
 import javax.annotation.Resource;
 import java.time.LocalDateTime;
 import java.util.List;
-import java.util.Optional;
 
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
@@ -62,7 +60,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             return CommonResult.success(Boolean.TRUE);
         }
 
-        String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_DOING_ACTION +robotCompleteTaskDTO.getMac();
+        String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION +robotCompleteTaskDTO.getMac();
         List<RobotCommandStateDTO> commandState = robotCompleteTaskDTO.getCommand_state();
         if (ObjectUtil.isNotEmpty(commandState)) {
             RobotCommandStateDTO robotCommandStateDTO = commandState.stream()
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java
index cd91406bf..86de3be17 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java
@@ -1,11 +1,17 @@
 package cn.iocoder.yudao.module.system.constant.robot;
 
 /**
- * 机器人错误码
+ * 机器人相关信息
  */
 public class RobotStatusCodeConstant {
     /**
      * 成功、正常
      */
     public static final String OK = "1000";
+
+    //货物到位传感器触发状态：被按下则 true，否则 false
+    public static Boolean CARGO_DETECTED_TRUE = true;
+
+    //IDLE 和 RUNNING
+    public static String TASK_STATUS_RUNNING = "RUNNING";
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
index 1f550937b..021d27706 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
@@ -2,21 +2,24 @@ package cn.iocoder.yudao.module.system.constant.robot;
 
 public class RobotTaskChcheConstant {
 
-    //机器人能否做任务
+    //机器人能否做任务 (拼接的是mac地址)
     public static String ROBOT_TASK_STATUS = "robot:information:task:status";
 
-    //机器人身上是否有货
+    //机器人身上是否有货 (拼接的是mac地址)
     public static String ROBOT_CARGO_DETECTED = "robot:information:cargo:detected";
 
-    //机器人点位和电量
-    public static String ROBOT_POSE_BAT = "robot:information:pose2d";
+    //机器人点位和电量 (拼接的是mac地址)
+    public static String ROBOT_INFORMATION_POSE_BAT_SOC = "robot:information:pose:bat:soc";
 
-    //机器人mac地址和机器人编号映射
-    public static String ROBOT_NO_MAPPING_MAC = "robot:information:no:mapping:mac";
+    //机器人mac地址和机器人编号映射(通过mac地址。查询机器人编号)   (拼接的是mac地址)
+    public static String ROBOT_GET_ROBOTNO_BY_MAC = "robot:information:getRobotNo:ByMac";
 
-    //机器人正在做的动作
-    public static String ROBOT_DOING_ACTION = "robot:information:doing:action";
+    //机器人编号和mac地址映射(通过机器人编号。查询mac地址)   (拼接的是机器人编号)
+    public static String ROBOT_GET_MAC_BY_NO = "robot:information:getMac:ByNo";
 
-    //机器人充电模式 1:自动充电、2:机会充电、3:充满电
+    //机器人正在做的动作 (拼接的是mac地址)
+    public static String ROBOT_QUERY_DOING_ACTION = "robot:information:query:doing:action";
+
+    //机器人充电模式 1:自动充电、2:机会充电、3:充满电  (拼接的是机器人编号)
     public static String ROBOT_CHARGE_MODEL = "robot:information:charge:model";
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigVO.java
index 5c237e8e8..8f3b5a67f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigVO.java
@@ -1,9 +1,11 @@
 package cn.iocoder.yudao.module.system.controller.admin.config.vo;
 
+import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
 import java.time.LocalDateTime;
+import java.util.Date;
 
 /**
  * 参数设置
@@ -24,9 +26,11 @@ public class CommonConfigVO {
     private Integer chanceChargeEnd;
 
     @Schema(description = "定时充电时段-开始时间")
+    @JsonFormat(pattern = "HH:mm:ss")
     private LocalDateTime scheduleChargeStartTime;
 
     @Schema(description = "定时充电时段-结束时间")
+    @JsonFormat(pattern = "HH:mm:ss")
     private LocalDateTime scheduleChargeEndTime;
 
     @Schema(description = "冲满电周期(天)")
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 be3d14bf8..453426995 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
@@ -73,4 +73,7 @@ public class DeviceInformationPageReqVO extends PageParam {
     @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime[] createTime;
 
+    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
+    private String deviceUseStatus;
+
 }
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 c4643c5f8..cc02f8881 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
@@ -90,4 +90,8 @@ public class DeviceInformationRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
+    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
+    @ExcelProperty("设备使用状态（IDLE:空闲、USEING:使用中）")
+    private String deviceUseStatus;
+
 }
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 c62865911..f81619bb6 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
@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.controller.admin.information.vo;
 
+import com.alibaba.excel.annotation.ExcelProperty;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
@@ -68,4 +69,7 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "设备最后通讯时间")
     private LocalDateTime deviceLastTime;
 
+    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
+    private String deviceUseStatus;
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java
index 634d0abd6..c3615177e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java
@@ -24,7 +24,7 @@ public class RobotChargeLogPageReqVO extends PageParam {
     @Schema(description = "结束充电电量")
     private Integer endElectricity;
 
-    @Schema(description = "充电模式(1:自动充电、2:机会充电、3:充满电)")
+    @Schema(description = "充电模式(1:自动充电、2:机会充电、3:充满电、4:充电任务)")
     private Integer chargeModel;
 
     @Schema(description = "结束充电时间")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java
index d71676a05..2f5e5a5af 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java
@@ -28,8 +28,8 @@ public class RobotChargeLogRespVO {
     @ExcelProperty("结束充电电量")
     private Integer endElectricity;
 
-    @Schema(description = "充电模式(1:自动充电、2:机会充电、3:充满电)")
-    @ExcelProperty("充电模式(1:自动充电、2:机会充电、3:充满电)")
+    @Schema(description = "充电模式(1:自动充电、2:机会充电、3:充满电、4:充电任务)")
+    @ExcelProperty("充电模式(1:自动充电、2:机会充电、3:充满电、4:充电任务)")
     private Integer chargeModel;
 
     @Schema(description = "结束充电时间")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java
index f6e31558d..9b31b2124 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java
@@ -23,7 +23,7 @@ public class RobotChargeLogSaveReqVO {
     @Schema(description = "结束充电电量")
     private Integer endElectricity;
 
-    @Schema(description = "充电模式(1:自动充电、2:机会充电、3:充满电)")
+    @Schema(description = "充电模式(1:自动充电、2:机会充电、3:充满电、4:充电任务)")
     private Integer chargeModel;
 
     @Schema(description = "结束充电时间")
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 fd8460e96..8473da89d 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
@@ -102,5 +102,9 @@ public class DeviceInformationDO extends BaseDO {
      * 设备最后通讯时间
      */
     private LocalDateTime deviceLastTime;
+    /**
+     * 设备使用状态（IDLE:空闲、USEING:使用中）
+     */
+    private String deviceUseStatus;
 
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java
index bb9b9e24c..9c1165446 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java
@@ -27,7 +27,7 @@ public class RobotChargeLogDO extends BaseDO {
     /**
      * 主键ID
      */
-    @TableId
+    @TableId(type = IdType.ASSIGN_ID)
     private Long id;
     /**
      * AGV编号
@@ -51,7 +51,7 @@ public class RobotChargeLogDO extends BaseDO {
     private String deviceNo;
 
     /**
-     * 充电模式(1:自动充电、2:机会充电、3:充满电)
+     * 充电模式(1:自动充电、2:机会充电、3:充满电、4:充电任务)
      */
     private Integer chargeModel;
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotChargeLogMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotChargeLogMapper.java
index 389ea000f..8ef7e42f7 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotChargeLogMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotChargeLogMapper.java
@@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
 import cn.iocoder.yudao.module.system.controller.admin.robot.chargelog.RobotChargeLogPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 车辆充电记录 Mapper
@@ -28,4 +29,11 @@ public interface RobotChargeLogMapper extends BaseMapperX<RobotChargeLogDO> {
                 .orderByDesc(RobotChargeLogDO::getId));
     }
 
+    /**
+     *
+     * @param chanceCycle
+     * @return
+     */
+    List<String> getChargeFullRobotNos(@Param("chanceCycle") Integer chanceCycle,
+                                       @Param("robotNos") List<String> robotNos);
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java
index 70a40f045..f83cffa47 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java
@@ -61,4 +61,11 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
      */
     void updateRobotTaskModel(@Param("robotNos") Set<String> robotNos,
                               @Param("robotTaskModel") Integer robotTaskModel);
+
+    /**
+     * 批量更新机器人状态
+     * @param robotNos
+     * @param robotStatus
+     */
+    void updateRobotListStatus(@Param("robotNos") Set<String> robotNos, @Param("robotStatus") Integer robotStatus);
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/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 6023156f8..a772bedb4 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 +92,10 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      */
     List<Long> getDoingTaskIds();
 
+    /**
+     * 获取未进行的充电任务
+     * @return
+     */
+    List<RobotTaskDetailDO> getChargeTaskDetail();
+
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
index 154546703..3c883bcaf 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
@@ -10,11 +10,11 @@ public enum DeviceTypeEnum {
     CHARGING_STATION(1, "充电桩"),
     Conveyor_line(2, "输送线"),
     PALLETIZER(3, "码垛机"),
-    DISMANTLING_MACHINE(4, "拆垛机"),
-    AUTOMATIC_DOOR(5, "自动门"),
-    HOIST(6, "提升机"),
-    SIGNAL_LIGHT(7, "信号灯"),
-    BUTTON_BOX(8, "按钮盒");
+    AUTOMATIC_DOOR(4, "自动门"),
+    HOIST(5, "提升机"),
+    SIGNAL_LIGHT(6, "信号灯"),
+    BUTTON_BOX(7, "按钮盒"),
+    DISMANTLING_MACHINE(8, "拆垛机");
 
     /**
      * 类型
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceUseStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceUseStatusEnum.java
new file mode 100644
index 000000000..33d62cb85
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceUseStatusEnum.java
@@ -0,0 +1,23 @@
+package cn.iocoder.yudao.module.system.enums.device;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * device_information
+ */
+@Getter
+@AllArgsConstructor
+public enum DeviceUseStatusEnum {
+    IDLE("IDLE", "空闲"),
+    USEING("USEING", "使用中");
+
+    /**
+     * 类型
+     */
+    private final String type;
+    /**
+     * 说明
+     */
+    private final String msg;
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeModelEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeModelEnum.java
index d50e5907b..0ceb2512b 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeModelEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeModelEnum.java
@@ -4,14 +4,15 @@ import lombok.AllArgsConstructor;
 import lombok.Getter;
 
 /**
- * robot_charge_log的charge_model 充电模式(1:自动充电、2:机会充电、3:充满电)
+ * robot_charge_log的charge_model 充电模式(1:自动充电、2:机会充电、3:充满电、4:充电任务)
  */
 @Getter
 @AllArgsConstructor
 public enum ChargeModelEnum {
     AUTO(1), //自动充电
     CHANCE(2), //机会充电
-    FULL(3); //充满电
+    FULL(3), //充满电
+    TASK(4); //充电任务
     /**
      * 类型
      */
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
index 380a00354..fe8845790 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
@@ -47,7 +47,7 @@ public class RobotJob {
             try {
                 distributeTasksService.distributeTasks();
             } catch (Exception e) {
-                log.error("下发任务给车机出现异常 :{}",e.getMessage());
+                log.error("下发任务给车机出现异常 :{}",e);
             } finally {
                 lock.unlock();
             }
@@ -70,7 +70,7 @@ public class RobotJob {
             try {
                 robotTaskAutoMoveService.distributeAutoMoveJob();
             } catch (Exception e) {
-                log.error("下发自动移库任务出现异常 :{}",e.getMessage());
+                log.error("下发自动移库任务出现异常 :{}",e);
             } finally {
                 lock.unlock();
             }
@@ -80,13 +80,27 @@ public class RobotJob {
         }
     }
 
-    //下发自动移库任务
+    //下发自动充电任务
     @XxlJob("AutoChargeJob")
     @TenantJob
     public void AutoChargeJob() {
-        log.info("----下发自动充电任务----");
-        autoChargeService.autoChargeJob();
 
+        RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
+        if (lock.tryLock()){
+            try {
+                log.info("----下发自动充电任务----");
+                autoChargeService.autoChargeJob();
+            } catch (Exception e) {
+                log.error("下发自动充电任务出现异常 :{}",e);
+            } finally {
+                lock.unlock();
+            }
+        }else {
+            log.info("下发自动充电任务未获取到锁");
+            throw exception(REDISSON_NOT_OBTAIN_LOCK);
+        }
     }
 
+
+
 }
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 9e9829fd0..6ccf44a78 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
@@ -17,7 +17,6 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import io.swagger.v3.oas.annotations.media.Schema;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
 import org.springframework.validation.annotation.Validated;
@@ -106,7 +105,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         // 更新
         RobotInformationDO updateObj = BeanUtils.toBean(updateReqVO, RobotInformationDO.class);
         informationMapper.updateById(updateObj);
-        redisUtil.set(RobotTaskChcheConstant.ROBOT_NO_MAPPING_MAC + updateObj.getMacAddress(),updateObj.getRobotNo());
+        redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + updateObj.getMacAddress(),updateObj.getRobotNo());
     }
 
     @Override
@@ -161,11 +160,11 @@ public class RobotInformationServiceImpl implements RobotInformationService {
      * @param v
      */
     private void setMsgAndRobotStatus(RobotInformationPageRespVO v) {
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +v.getMacAddress();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress();
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class);
 
-        String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_DOING_ACTION +v.getMacAddress();
+        String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION +v.getMacAddress();
         Object action = redisUtil.get(robotDoingActionKey);
 
         if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
@@ -229,7 +228,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         Integer fault = 0;
         //0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障
         for (RobotInformationDO v : existRobot) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +v.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress();
             Object object = redisUtil.get(pose2dKey);
             if (ObjectUtil.isEmpty(object)) {
                 offline++;
@@ -293,7 +292,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         if (ObjectUtil.isEmpty(mac)) {
             return "";
         }
-        String robotNo = (String) redisUtil.get(RobotTaskChcheConstant.ROBOT_NO_MAPPING_MAC + mac);
+        String robotNo = (String) redisUtil.get(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + mac);
 
         if (ObjectUtil.isNotEmpty(robotNo)) {
             return robotNo;
@@ -303,7 +302,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
                 .eq(RobotInformationDO::getMacAddress, mac)
                 .last("limit 1"));
         if (ObjectUtil.isNotEmpty(robotInformationDO)) {
-            redisUtil.set(RobotTaskChcheConstant.ROBOT_NO_MAPPING_MAC + mac,robotInformationDO.getRobotNo());
+            redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + mac,robotInformationDO.getRobotNo());
             return robotInformationDO.getRobotNo();
         }
         return "";
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
index ccf7cfb93..ddbecde22 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
@@ -1,33 +1,80 @@
 package cn.iocoder.yudao.module.system.service.robot.job;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.json.JSONUtil;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+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.config.CommonConfigMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
+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.enums.config.CommandConfigTypeEnum;
+import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
+import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
+import cn.iocoder.yudao.module.system.enums.robot.*;
+import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Async;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import javax.annotation.Resource;
 
-import static cn.iocoder.yudao.module.system.config.SystemJobConfiguration.NOTIFY_THREAD_POOL_TASK_EXECUTOR;
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+import java.util.*;
+import java.util.stream.Collectors;
 
 @Service
 @Slf4j
 public class AutoChargeServiceImpl implements AutoChargeService {
 
     @Resource
-    private RobotInformationMapper informationMapper;
+    private RobotInformationMapper robotInformationMapper;
 
     @Resource
     private CommonConfigMapper configMapper;
 
+    @Resource
+    private RobotChargeLogMapper chargeLogMapper;
+
+    @Resource
+    private DeviceInformationMapper deviceInformationMapper;
+
+    @Autowired
+    private RobotTaskDetailMapper robotTaskDetailMapper;
+
+    @Autowired
+    private RobotTaskMapper robotTaskMapper;
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Value("${zn.full_electricity:100}")
+    private String fullElectricity;
+
+    /**
+     * 自动充电
+     */
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void autoChargeJob() {
+        TenantContextHolder.setTenantId(1L);
         CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
                 .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.ONE.getType()));
 
@@ -36,9 +83,219 @@ public class AutoChargeServiceImpl implements AutoChargeService {
             return;
         }
 
-        CommonConfigVO robotStatusData = JSON.parseObject(commonConfigDO.getConfigStr() , CommonConfigVO.class);
+        CommonConfigVO chargeConfig= JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
 
+        List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType())
+                .eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType()));
+        if (ObjectUtil.isEmpty(robots)) {
+            log.info("充电任务,没有空闲机器人");
+            return;
+        }
+
+        List<DeviceInformationDO> deviceInformationDOS = deviceInformationMapper.selectList(new LambdaQueryWrapperX<DeviceInformationDO>()
+                .eq(DeviceInformationDO::getDeviceEnable, ZeroOneEnum.ONE.getType())
+                .eq(DeviceInformationDO::getDeviceUseStatus, DeviceUseStatusEnum.IDLE.getType())
+                .eq(DeviceInformationDO::getDeviceType, DeviceTypeEnum.CHARGING_STATION.getType()));
+
+        if (ObjectUtil.isEmpty(deviceInformationDOS)) {
+            log.info("充电任务,没有空闲的充电桩");
+            return;
+        }
+
+        List<String> robotNos = robots.stream()
+                .map(RobotInformationDO::getRobotNo)
+                .collect(Collectors.toList());
+        //近期有充满电的机器人编号
+        List<String> chargeFullNos = new ArrayList<>();
+        if (ObjectUtil.isNotEmpty(chargeConfig.getChanceCycle())) {
+            //查询充满电
+            chargeFullNos = chargeLogMapper.getChargeFullRobotNos(chargeConfig.getChanceCycle(),robotNos);
+        }
+
+        List<RobotTaskDetailDO> taskDetailDOS = robotTaskDetailMapper.getChargeTaskDetail();
+        Map<String, List<RobotTaskDetailDO>> detailMap = null;
+        if (ObjectUtil.isNotEmpty(taskDetailDOS)) {
+            detailMap = taskDetailDOS.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getRobotNo));
+        }
+
+        List<RobotTaskDetailDO> updateTaskDetails = new ArrayList<>();
+        List<RobotChargeLogDO> logs = new ArrayList<>();
+        Set<Long> taskIds = new HashSet<>();
+        //组装充电任务
+        assembleChargeTask(robots,deviceInformationDOS,chargeConfig,chargeFullNos,updateTaskDetails,logs,taskIds,detailMap);
+
+        if (ObjectUtil.isEmpty(logs)) {
+            log.info("没有需要执行的充电任务");
+            return;
+        }
+
+        if (ObjectUtil.isNotEmpty(updateTaskDetails)) {
+            robotTaskDetailMapper.updateBatch(updateTaskDetails);
+        }
+
+        if (ObjectUtil.isNotEmpty(taskIds)) {
+            List<RobotTaskDO> taskDOS = robotTaskMapper.selectBatchIds(taskIds);
+            for (RobotTaskDO taskDO : taskDOS) {
+                if (RobotTaskStatusEnum.NEW.getType().equals(taskDO.getTaskStatus())) {
+                    taskDO.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
+                    taskDO.setStartTime(LocalDateTime.now());
+                }
+            }
+            robotTaskMapper.updateBatch(taskDOS);
+        }
+
+        Set<String> robotLists = logs.stream()
+                .map(RobotChargeLogDO::getDeviceNo)
+                .collect(Collectors.toSet());
+
+        if (ObjectUtil.isNotEmpty(robotLists)) {
+            robotInformationMapper.updateRobotListStatus(robotLists,RobotStatusEnum.DOING.getType());
+        }
+
+        chargeLogMapper.insertBatch(logs);
+
+        //改成异步
+        logs.stream().forEach(v -> {
+            String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL +v.getRobotNo();
+            redisUtil.set(chargeModelKey,v.getChargeModel());
+        });
 
     }
 
+    /**
+     * 组装充电任务
+     * @param robots
+     * @param deviceInformationDOS
+     * @param chargeConfig
+     * @param chargeFullNos
+     * @param updateTaskDetails
+     * @param logs
+     * @param taskIds
+     * @param detailMap
+     */
+    public void assembleChargeTask(List<RobotInformationDO> robots, List<DeviceInformationDO> deviceInformationDOS,
+                                   CommonConfigVO chargeConfig, List<String> chargeFullNos, List<RobotTaskDetailDO> updateTaskDetails,
+                                   List<RobotChargeLogDO> logs, Set<Long> taskIds, Map<String, List<RobotTaskDetailDO>> detailMap) {
+        //判断机器人身上的电量少于设定的电量
+        for (RobotInformationDO robot : robots) {
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robot.getMacAddress();
+            Object poseCache = redisUtil.get(pose2dKey);
+            RobotStatusDataPoseDTO dataPoseDTO= JSON.parseObject((String)poseCache, RobotStatusDataPoseDTO.class);
+            if (ObjectUtil.isEmpty(dataPoseDTO) || ObjectUtil.isEmpty(dataPoseDTO.getBat_soc())) {
+                log.info("当前机器人查不到电量信息,所以不执行充电 :{}",robot.getRobotNo());
+                continue;
+            }
+
+            if (ObjectUtil.isEmpty(deviceInformationDOS)) {
+                log.info("充电桩分配完成 :{}",robot.getRobotNo());
+                break;
+            }
+
+            RobotChargeLogDO log = new RobotChargeLogDO();
+            log.setRobotNo(robot.getRobotNo());
+            log.setDeviceNo(deviceInformationDOS.get(0).getDeviceNo());
+            String[] split = dataPoseDTO.getBat_soc().split("\\.");
+            log.setStartElectricity(Integer.valueOf(split[0]));
+            //配置的充满电电量
+            BigDecimal robotFullElectricity = new BigDecimal(fullElectricity);
+            //车子剩余电量
+            BigDecimal robotRemainingElectricity = new BigDecimal(split[0]);
+            if (ObjectUtil.isNotEmpty(chargeConfig.getChanceCycle()) && !chargeFullNos.contains(robot.getRobotNo())
+                    && robotRemainingElectricity.compareTo(robotFullElectricity) < 0) {
+                //充满电
+                log.setChargeModel(ChargeModelEnum.FULL.getType());
+                logs.add(log);
+                deviceInformationDOS.removeIf(v -> log.getDeviceNo().equals(v.getDeviceNo()));
+                continue;
+            }
+
+            if (ObjectUtil.isNotEmpty(detailMap) && detailMap.containsKey(robot.getRobotNo())
+                    && ObjectUtil.isNotEmpty(robot.getAutoCharge())) {
+                //任务充电
+                BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(robot.getAutoCharge()));
+                if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
+                    log.setChargeModel(ChargeModelEnum.TASK.getType());
+                    logs.add(log);
+                    RobotTaskDetailDO robotTaskDetailDO = detailMap.get(robot.getRobotNo()).get(0);
+                    robotTaskDetailDO.setRobotNo(robot.getRobotNo());
+                    robotTaskDetailDO.setStartTime(LocalDateTime.now());
+                    robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+                    updateTaskDetails.add(robotTaskDetailDO);
+                    taskIds.add(robotTaskDetailDO.getRobotTaskId());
+                    deviceInformationDOS.removeIf(v -> log.getDeviceNo().equals(v.getDeviceNo()));
+                    continue;
+                }
+            }
+
+            if (ObjectUtil.isNotEmpty(detailMap) && detailMap.containsKey(robot.getRobotNo())
+                    && ObjectUtil.isEmpty(robot.getAutoCharge()) && ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
+                //任务充电
+                BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getStartAutoCharge()));
+                if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
+                    log.setChargeModel(ChargeModelEnum.TASK.getType());
+                    logs.add(log);
+                    RobotTaskDetailDO robotTaskDetailDO = detailMap.get(robot.getRobotNo()).get(0);
+                    robotTaskDetailDO.setRobotNo(robot.getRobotNo());
+                    robotTaskDetailDO.setStartTime(LocalDateTime.now());
+                    robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+                    updateTaskDetails.add(robotTaskDetailDO);
+                    taskIds.add(robotTaskDetailDO.getRobotTaskId());
+                    deviceInformationDOS.removeIf(v -> log.getDeviceNo().equals(v.getDeviceNo()));
+                    continue;
+                }
+            }
+
+            if (ObjectUtil.isNotEmpty(detailMap) && detailMap.containsKey(robot.getRobotNo())
+                    && ObjectUtil.isEmpty(robot.getAutoCharge()) && ObjectUtil.isNotEmpty(chargeConfig.getChanceChargeStart())) {
+                //任务充电
+                BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeStart()));
+                if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
+                    log.setChargeModel(ChargeModelEnum.TASK.getType());
+                    logs.add(log);
+                    RobotTaskDetailDO robotTaskDetailDO = detailMap.get(robot.getRobotNo()).get(0);
+                    robotTaskDetailDO.setRobotNo(robot.getRobotNo());
+                    robotTaskDetailDO.setStartTime(LocalDateTime.now());
+                    robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+                    updateTaskDetails.add(robotTaskDetailDO);
+                    taskIds.add(robotTaskDetailDO.getRobotTaskId());
+                    deviceInformationDOS.removeIf(v -> log.getDeviceNo().equals(v.getDeviceNo()));
+                    continue;
+                }
+            }
+
+            if (ObjectUtil.isNotEmpty(robot.getAutoCharge())) {
+                //自动充电
+                BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(robot.getAutoCharge()));
+                if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
+                    log.setChargeModel(ChargeModelEnum.AUTO.getType());
+                    logs.add(log);
+                    deviceInformationDOS.removeIf(v -> log.getDeviceNo().equals(v.getDeviceNo()));
+                    continue;
+                }
+            }
+
+            if (ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
+                //自动充电
+                BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getStartAutoCharge()));
+                if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
+                    log.setChargeModel(ChargeModelEnum.AUTO.getType());
+                    logs.add(log);
+                    deviceInformationDOS.removeIf(v -> log.getDeviceNo().equals(v.getDeviceNo()));
+                    continue;
+                }
+            }
+
+            if (ObjectUtil.isNotEmpty(chargeConfig.getChanceChargeStart())) {
+                //机会充电
+                BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeStart()));
+                if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
+                    log.setChargeModel(ChargeModelEnum.CHANCE.getType());
+                    logs.add(log);
+                    deviceInformationDOS.removeIf(v -> log.getDeviceNo().equals(v.getDeviceNo()));
+                }
+            }
+        }
+    }
+
 }
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 decc19245..770b5cdae 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
@@ -9,6 +9,7 @@ import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskData;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
+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.config.vo.CommonConfigVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
@@ -90,11 +91,6 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Resource
     private WareHouseLocationMapper locationMapper;
 
-    //货物到位传感器触发状态：被按下则 true，否则 false
-    private static Boolean CARGO_DETECTED = true;
-    //IDLE 和 RUNNING
-    private static String TASK_STATUS = "RUNNING";
-
     @Resource
     private RedisUtil redisUtil;
 
@@ -129,6 +125,18 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Transactional(rollbackFor = Exception.class)
     public Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> getRobotAndTaskDetails() {
         Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> pair = Pair.of(new ArrayList<>(), new ArrayList<>());
+
+        CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
+                .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.ONE.getType()));
+        CommonConfigVO chargeConfig= JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
+        LocalDateTime now = LocalDateTime.now();
+        if ((ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeEndTime()) &&
+                (ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())))
+                && (now.isBefore(chargeConfig.getScheduleChargeEndTime()) && now.isAfter(chargeConfig.getScheduleChargeStartTime()))) {
+            log.info("充电时间,不派发任务");
+            return pair;
+        }
+
         TenantContextHolder.setTenantId(1L);
         List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
                 .in(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType(),RobotStatusEnum.CHARGE.getType())
@@ -140,20 +148,17 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             return pair;
         }
 
-        CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
-                .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.ONE.getType()));
-
         for (RobotInformationDO robot : robots) {
             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) || TASK_STATUS.equals(taskStatus.toString())) {
+            if (ObjectUtil.isEmpty(taskStatus) || RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(taskStatus.toString())) {
                 robot.setRobotStatus(RobotStatusEnum.DOING.getType());
                 continue;
             }
 
             Object cargoDetected = redisUtil.get(cargoDetectedKey);
-            if (ObjectUtil.isEmpty(cargoDetected) || CARGO_DETECTED.equals(cargoDetected)) {
+            if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED_TRUE.equals(cargoDetected)) {
                 robot.setRobotStatus(RobotStatusEnum.DOING.getType());
                 continue;
             }
@@ -200,23 +205,21 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robot
      */
     private void setRobotStatus(CommonConfigDO commonConfigDO, RobotInformationDO robot) {
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +robot.getMacAddress();
-        String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL +robot.getMacAddress();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robot.getMacAddress();
+        String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL +robot.getRobotNo();
         Object chargeModelCache = redisUtil.get(chargeModelKey);
         Object poseCache = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO dataPoseDTO= JSON.parseObject((String)poseCache, RobotStatusDataPoseDTO.class);
         log.info("机器人编号:{} ,信息: {}",robot.getRobotNo(),JSON.toJSONString(dataPoseDTO));
 
-        if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(pose2dKey) ) {
+        if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(dataPoseDTO.getBat_soc())) {
             return;
         }
 
-        CommonConfigVO chargeConfig= JSON.parseObject(commonConfigDO.getConfigStr(), CommonConfigVO.class);
+        CommonConfigVO chargeConfig=JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
 
         //车子剩余电量
-        BigDecimal batSoc = new BigDecimal(dataPoseDTO.getBat_soc());
-        BigDecimal oneHundred = new BigDecimal("100");
-        BigDecimal robotRemainingElectricity = batSoc.multiply(oneHundred);
+        BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBat_soc());
         //设置离开的电量
         BigDecimal robotEndElectricity = null;
 
@@ -322,11 +325,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             robotTaskDetailMapper.updateBatch(updateTaskDetails);
         }
         if (ObjectUtil.isNotEmpty(robotNos)) {
-            List<RobotInformationDO> robotInformationDOS = robotInformationMapper.selectByRobotNos(robotNos);
-            robotInformationDOS.stream().forEach(robotInformationDO -> {
-                robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
-            });
-            robotInformationMapper.updateBatch(robotInformationDOS);
+            robotInformationMapper.updateRobotListStatus(robotNos,RobotStatusEnum.DOING.getType());
         }
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotChargeLogMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotChargeLogMapper.xml
index bdcdda0cd..262a3d3bf 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotChargeLogMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotChargeLogMapper.xml
@@ -9,4 +9,17 @@
         文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
      -->
 
+    <select id="getChargeFullRobotNos" resultType="java.lang.String">
+        select
+            robot_no
+        from robot_charge_log
+        where
+            TO_DAYS( NOW( ) ) - TO_DAYS( create_time) &lt;= #{chanceCycle}
+            and charge_model = '3'
+            and robot_no in
+            <foreach collection="robotNos" item="robotNo" index="index" open="(" close=")"
+                     separator=",">
+                #{robotNo}
+            </foreach>
+    </select>
 </mapper>
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml
index 26839b530..631d3a20e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml
@@ -264,6 +264,20 @@
         </foreach>
     </update>
 
+
+    <update id="updateRobotListStatus">
+        update
+            robot_information
+        set
+            robot_status = #{robotStatus}
+        where
+            robot_no in
+        <foreach collection="robotNos" item="robotNo" index="index" open="(" close=")"
+                 separator=",">
+            #{robotNo}
+        </foreach>
+    </update>
+
     <!--通过主键删除-->
     <delete id="deleteById">
         delete
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 a8c6bba64..eb69a0581 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
@@ -350,6 +350,22 @@
         and deleted = '0'
     </select>
 
+    <select id="getChargeTaskDetail"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO">
+        SELECT
+            t2.id,
+            t2.robot_task_id as robotTaskId,
+            t2.robot_no as robotNo,
+            t2.priority
+        from
+            robot_task t1, robot_task_detail t2
+        where
+            t1.task_status in('0','1')
+          and t1.id = t2.robot_task_id
+          and t2.task_status = '0'
+          and t2.task_type = '3'
+    </select>
+
     <!--新增所有列-->
     <insert id="insertSelect" keyProperty="id" useGeneratedKeys="true">
         insert into robot_task_detail(robot_task_id, task_type, release_type, take_type, release_id, take_id,