diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java
index c13fbcbec..b710aa3b2 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java
@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.controller.admin.houselocation;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
 import org.springframework.web.bind.annotation.*;
@@ -93,4 +94,11 @@ public class WareHouseLocationController {
                         BeanUtils.toBean(list, WareHouseLocationRespVO.class));
     }
 
+    @PostMapping("/getLocationByName")
+    @Operation(summary = "创建库位")
+    @PreAuthorize("@ss.hasPermission('ware:house-location:getLocationByName')")
+    public CommonResult<List<WareHouseLocationRespVO>> getLocationByName(@Valid @RequestBody WareHouseLocationVO requestVO) {
+        return success(houseLocationService.getLocationByName(requestVO));
+    }
+
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java
index 7434cf14f..5c6be2148 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java
@@ -65,24 +65,33 @@ public class WareHouseLocationPageReqVO extends PageParam {
     @Schema(description = "库位坐标y轴")
     private String locationY;
 
-    @Schema(description = "宽(库位上目前所放物品的宽)")
+    @Schema(description = "宽度")
     private BigDecimal locationWide;
 
-    @Schema(description = "深(库位上目前所放物品的深)")
+    @Schema(description = "深度")
     private BigDecimal locationDeep;
 
-    @Schema(description = "高(库位上目前所放物品的高)")
+    @Schema(description = "高(库位上目前所放物品的高)--备用")
     private BigDecimal locationHeight;
 
-    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)")
+    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)--备用")
     private BigDecimal locationDefaultHeight;
 
-    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
+    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)--备用")
     private BigDecimal locationTotalHeight;
 
-    @Schema(description = "机车上报的托盘高度")
+    @Schema(description = "机车上报的托盘高度--备用")
     private BigDecimal locationTrayHeight;
 
+    @Schema(description = "库位方向（1：单向、2：双向、3：三向、4：四向）")
+    private Integer direction;
+
+    @Schema(description = "进入方向（0：尾入、1：头入）")
+    private Integer inDirection;
+
+    @Schema(description = "离开方向（0：尾出、1：头出）")
+    private Integer outDirection;
+
     @Schema(description = "层数")
     private Integer locationStorey;
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java
index e76824b9f..f7b4953b7 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java
@@ -81,30 +81,42 @@ public class WareHouseLocationRespVO {
     @ExcelProperty("库位坐标y轴")
     private String locationY;
 
-    @Schema(description = "宽(库位上目前所放物品的宽)")
-    @ExcelProperty("宽(库位上目前所放物品的宽)")
+    @Schema(description = "宽度")
+    @ExcelProperty("宽度")
     private BigDecimal locationWide;
 
-    @Schema(description = "深(库位上目前所放物品的深)")
-    @ExcelProperty("深(库位上目前所放物品的深)")
+    @Schema(description = "深度")
+    @ExcelProperty("深度")
     private BigDecimal locationDeep;
 
-    @Schema(description = "高(库位上目前所放物品的高)")
+    @Schema(description = "高(库位上目前所放物品的高)--备用")
     @ExcelProperty("高(库位上目前所放物品的高)")
     private BigDecimal locationHeight;
 
-    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)")
+    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)--备用")
     @ExcelProperty("库位默认高度(现场有水泥高出地面的高度)")
     private BigDecimal locationDefaultHeight;
 
-    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
+    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)--备用")
     @ExcelProperty("机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
     private BigDecimal locationTotalHeight;
 
-    @Schema(description = "机车上报的托盘高度")
+    @Schema(description = "机车上报的托盘高度--备用")
     @ExcelProperty("机车上报的托盘高度")
     private BigDecimal locationTrayHeight;
 
+    @Schema(description = "库位方向（1：单向、2：双向、3：三向、4：四向）")
+    @ExcelProperty("库位方向（1：单向、2：双向、3：三向、4：四向）")
+    private Integer direction;
+
+    @Schema(description = "进入方向（0：尾入、1：头入）")
+    @ExcelProperty("进入方向（0：尾入、1：头入）")
+    private Integer inDirection;
+
+    @Schema(description = "离开方向（0：尾出、1：头出）")
+    @ExcelProperty("离开方向（0：尾出、1：头出）")
+    private Integer outDirection;
+
     @Schema(description = "层数")
     @ExcelProperty("层数")
     private Integer locationStorey;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java
index e4e865680..25d151697 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java
@@ -62,22 +62,31 @@ public class WareHouseLocationSaveReqVO {
     @Schema(description = "库位坐标y轴")
     private String locationY;
 
-    @Schema(description = "宽(库位上目前所放物品的宽)")
+    @Schema(description = "宽度")
     private BigDecimal locationWide;
 
-    @Schema(description = "深(库位上目前所放物品的深)")
+    @Schema(description = "深度")
     private BigDecimal locationDeep;
 
-    @Schema(description = "高(库位上目前所放物品的高)")
+    @Schema(description = "库位方向（1：单向、2：双向、3：三向、4：四向）")
+    private Integer direction;
+
+    @Schema(description = "进入方向（0：尾入、1：头入）")
+    private Integer inDirection;
+
+    @Schema(description = "离开方向（0：尾出、1：头出）")
+    private Integer outDirection;
+
+    @Schema(description = "高(库位上目前所放物品的高)--备用")
     private BigDecimal locationHeight;
 
-    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)")
+    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)--备用")
     private BigDecimal locationDefaultHeight;
 
-    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
+    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)--备用")
     private BigDecimal locationTotalHeight;
 
-    @Schema(description = "机车上报的托盘高度")
+    @Schema(description = "机车上报的托盘高度--备用")
     private BigDecimal locationTrayHeight;
 
     @Schema(description = "层数")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationVO.java
new file mode 100644
index 000000000..b1f25bf12
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationVO.java
@@ -0,0 +1,19 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import javax.validation.constraints.NotEmpty;
+import javax.validation.constraints.NotNull;
+
+@Data
+public class WareHouseLocationVO {
+    @Schema(description = "放货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "类型（1：库位、2：线库、 3：区域）不能为空")
+    private Integer type;
+
+    @Schema(description = "位置", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotEmpty(message = "位置不能为空")
+    private String locationNo;
+
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java
index 4d6fc5aa5..737a60e38 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java
@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
 
+import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.math.BigDecimal;
 import com.baomidou.mybatisplus.annotation.*;
@@ -90,27 +91,39 @@ public class WareHouseLocationDO extends BaseDO {
      */
     private String locationY;
     /**
-     * 宽(库位上目前所放物品的宽)
+     * 宽度
      */
     private BigDecimal locationWide;
     /**
-     * 深(库位上目前所放物品的深)
+     * 深度
      */
     private BigDecimal locationDeep;
     /**
-     * 高(库位上目前所放物品的高)
+     * 库位方向（1：单向、2：双向、3：三向、4：四向）
+     */
+    private Integer direction;
+    /**
+     * 进入方向（0：尾入、1：头入）
+     */
+    private Integer inDirection;
+    /**
+     * 离开方向（0：尾出、1：头出）
+     */
+    private Integer outDirection;
+    /**
+     * 高(库位上目前所放物品的高) --备用
      */
     private BigDecimal locationHeight;
     /**
-     * 库位默认高度(现场有水泥高出地面的高度)
+     * 库位默认高度(现场有水泥高出地面的高度)--备用
      */
     private BigDecimal locationDefaultHeight;
     /**
-     * 机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)
+     * 机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)--备用
      */
     private BigDecimal locationTotalHeight;
     /**
-     * 机车上报的托盘高度
+     * 机车上报的托盘高度--备用
      */
     private BigDecimal locationTrayHeight;
     /**
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
index 0e3542989..72f19024a 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
@@ -4,6 +4,8 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
@@ -59,7 +61,7 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      * @return
      */
     WareHouseLocationDO selectByTypeAndId(@Param("locationUseStatus") Integer locationUseStatus,
-                           @Param("type") Integer type,
+                           @Param("takeType") Integer takeType,
                            @Param("id")  Long id,
                            @Param("locationIds") List<Long> locationIds,
                            @Param("mapIds") Set<Long> mapIds);
@@ -92,4 +94,11 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
 
     void updateLocationLockList( @Param("locationIds") List<Long> locationIds,
                                  @Param("taskId") Long taskId);
+
+    /**
+     * 根据类型查库位/线库/区域
+     * @param requestVO
+     * @return
+     */
+    List<WareHouseLocationRespVO> getLocationByName(WareHouseLocationVO requestVO);
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationService.java
index 08f94ef7c..7b0e0cf89 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationService.java
@@ -3,9 +3,13 @@ package cn.iocoder.yudao.module.system.service.houselocation;
 import javax.validation.*;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 
+import java.util.List;
+
 /**
  * 库位 Service 接口
  *
@@ -51,4 +55,10 @@ public interface HouseLocationService {
      */
     PageResult<WareHouseLocationDO> getHouseLocationPage(WareHouseLocationPageReqVO pageReqVO);
 
+    /**
+     *
+     * @param requestVO
+     * @return
+     */
+    List<WareHouseLocationRespVO> getLocationByName(WareHouseLocationVO requestVO);
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java
index 2ff652886..c76b965a4 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java
@@ -1,9 +1,12 @@
 package cn.iocoder.yudao.module.system.service.houselocation;
 
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
+import cn.iocoder.yudao.module.system.enums.robot.ReleaseTakeEnum;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
 import org.springframework.validation.annotation.Validated;
@@ -12,6 +15,8 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 
 
+import java.util.List;
+
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_LOCATION_NOT_EXISTS;
 
@@ -69,4 +74,9 @@ public class HouseLocationServiceImpl implements HouseLocationService {
         return houseLocationMapper.selectPage(pageReqVO);
     }
 
+    @Override
+    public List<WareHouseLocationRespVO> getLocationByName(WareHouseLocationVO requestVO) {
+        return houseLocationMapper.getLocationByName(requestVO);
+    }
+
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
index 49569f01c..2d5ae39b8 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
@@ -45,15 +45,6 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
         if(ObjectUtil.isNotEmpty(pageResult.getList())){
             throw exception(INFORMATION_MAC_EXIST);
         }
-        //AGV需要判断机车是否接收到此Mac地址
-        if(DeviceInformationEnum.PALLETIZER.getType().equals(createReqVO.getDeviceType())
-            && ObjectUtil.isEmpty(createReqVO.getMacAddress())){
-            throw exception(INFORMATION_MAC_INPUT);
-        }
-        if(DeviceInformationEnum.PALLETIZER.getType().equals(createReqVO.getDeviceType())){
-//            String jiCheResponse = grpcServiceApi.robotExecption();
-        }
-
         // 插入
         DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
         information.setDeviceStatus(1);
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 e48474712..102aa675c 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
@@ -333,19 +333,19 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                     doTakeRelease(robotTaskVo,locationIds);
                     break;
                 case PARK:
-                    doPark(robotTaskVo);
+                    doPark(robotTaskVo,locationIds);
                     break;
                 case CHARGE:
                     doCharge(robotTaskVo);
                     break;
                 case MOVE:
-                    doMove(robotTaskVo);
+                    doMove(robotTaskVo,locationIds);
                     break;
                 case TAKE:
-                    doTake(robotTaskVo);
+                    doTake(robotTaskVo,locationIds);
                     break;
                 case RELEASE:
-                    doRelease(robotTaskVo);
+                    doRelease(robotTaskVo,locationIds);
                     break;
                 case SCAN:
                     doScan(robotTaskVo);
@@ -364,7 +364,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * 检测托盘类型
      * @param robotTaskVo
      */
-    private void doDetectingTrays(RobotTaskDetailAddVo robotTaskVo) {
+    @Transactional(rollbackFor = Exception.class)
+    public void doDetectingTrays(RobotTaskDetailAddVo robotTaskVo) {
 
     }
 
@@ -372,7 +373,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * 扫描码
      * @param robotTaskVo
      */
-    private void doScan(RobotTaskDetailAddVo robotTaskVo) {
+    @Transactional(rollbackFor = Exception.class)
+    public void doScan(RobotTaskDetailAddVo robotTaskVo) {
 
     }
 
@@ -380,31 +382,39 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * 仅放货
      * @param robotTaskVo
      */
-    private void doRelease(RobotTaskDetailAddVo robotTaskVo) {
+    @Transactional(rollbackFor = Exception.class)
+    public void doRelease(RobotTaskDetailAddVo robotTaskVo, List<Long> locationIds) {
+        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
         locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
+        locationIds.add(robotTaskVo.getToLocationId());
     }
 
     /**
      * 仅取货
      * @param robotTaskVo
      */
-    private void doTake(RobotTaskDetailAddVo robotTaskVo) {
+    @Transactional(rollbackFor = Exception.class)
+    public void doTake(RobotTaskDetailAddVo robotTaskVo, List<Long> locationIds) {
         locationMapper.updateLocationLockStatus(robotTaskVo.getFromLocationId(),0,robotTaskVo.getRobotTaskId());
+        locationIds.add(robotTaskVo.getFromLocationId());
     }
 
     /**
      * 移动
      * @param robotTaskVo
      */
-    private void doMove(RobotTaskDetailAddVo robotTaskVo) {
-
+    @Transactional(rollbackFor = Exception.class)
+    public void doMove(RobotTaskDetailAddVo robotTaskVo, List<Long> locationIds) {
+        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
+        locationIds.add(robotTaskVo.getToLocationId());
     }
 
     /**
      * 充电
      * @param robotTaskVo
      */
-    private void doCharge(RobotTaskDetailAddVo robotTaskVo) {
+    @Transactional(rollbackFor = Exception.class)
+    public void doCharge(RobotTaskDetailAddVo robotTaskVo) {
 
     }
 
@@ -412,8 +422,10 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * 停车
      * @param robotTaskVo
      */
-    private void doPark(RobotTaskDetailAddVo robotTaskVo) {
-
+    @Transactional(rollbackFor = Exception.class)
+    public void doPark(RobotTaskDetailAddVo robotTaskVo, List<Long> locationIds) {
+        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
+        locationIds.add(robotTaskVo.getToLocationId());
     }
 
     /**
@@ -435,17 +447,10 @@ public class RobotTaskServiceImpl implements RobotTaskService {
     }
 
     /**
-     * 取放
-     * @param robotTaskVo
+     * 设置停车/目标库位
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doTakeRelease(RobotTaskDetailAddVo robotTaskVo,List<Long> locationIds) {
-        Set<Long> mapIds = new HashSet<>();
-        if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
-            mapIds = getMapIdsByRobotNo(robotTaskVo.getRobotNo());
-        }
-
-        //校验放货库位
+    public void setToLocation(RobotTaskDetailAddVo robotTaskVo,Set<Long> mapIds,List<Long> locationIds){
         if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getReleaseType())) {
             WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getReleaseId()).build();
             WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
@@ -468,8 +473,16 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setToLocationId(wareHouseLocationDO.getId());
             robotTaskVo.setToLocationStorey(wareHouseLocationDO.getLocationStorey());
         }
-        locationIds.add(robotTaskVo.getToLocationId());
-        //校验取货库位
+    }
+
+    /**
+     * 设置取货库位
+     * @param robotTaskVo
+     * @param mapIds
+     * @param locationIds
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void setFromLocation(RobotTaskDetailAddVo robotTaskVo,Set<Long> mapIds,List<Long> locationIds) {
         if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getTakeType())) {
             WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getTakeId()).build();
             WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
@@ -492,7 +505,27 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setFromLocationId(wareHouseLocationDO.getId());
             robotTaskVo.setFromLocationStorey(wareHouseLocationDO.getLocationStorey());
         }
+    }
+
+    /**
+     * 取放
+     * @param robotTaskVo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doTakeRelease(RobotTaskDetailAddVo robotTaskVo,List<Long> locationIds) {
+        Set<Long> mapIds = new HashSet<>();
+        if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
+            mapIds = getMapIdsByRobotNo(robotTaskVo.getRobotNo());
+        }
+
+        //校验放货库位
+        setToLocation(robotTaskVo, mapIds,locationIds);
+        locationIds.add(robotTaskVo.getToLocationId());
+
+        //校验取货库位
+        setFromLocation(robotTaskVo,mapIds,locationIds);
         locationIds.add(robotTaskVo.getFromLocationId());
+
         //验证取货库位是否存在未完成的任务
         Set<Long> set  = new HashSet<>();
         set.add(robotTaskVo.getFromLocationId());
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
index 5c9a1cc0b..8d6c4e9ed 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
@@ -513,39 +513,37 @@
         from
             ware_house_location
         <where>
-            <choose>
-                <when test= " locationUseStatus != null ">
-                    AND location_use_status = #{locationUseStatus}
-                </when>
-                <when test= " type != null and type == '1'">
-                    AND id = #{id}
-                </when>
-                <when test= " type != null and type == '2'">
-                    AND lane_id = #{id}
-                </when>
-                <when test= " type != null and type == '3'">
-                    AND area_id = #{id}
-                </when>
-                <when test= " locationIds != null and locationIds != ''">
-                    AND id not in
-                    <foreach collection="locationIds" item="id" index="index" open="(" close=")"
-                             separator=",">
-                        #{id}
-                    </foreach>
-                </when>
-                <when test= " mapIds != null and mapIds != ''">
-                    AND map_id in
-                    <foreach collection="mapIds" item="mapId" index="index" open="(" close=")"
-                             separator=",">
-                        #{mapId}
-                    </foreach>
-                </when>
-                <when test= "1==1">
-                    AND location_enable = '1'
-                    AND location_lock = '1'
-                    AND location_type = '0'
-                </when>
-            </choose>
+            <if test= " locationUseStatus != null ">
+                AND location_use_status = #{locationUseStatus}
+            </if>
+            <if test= "takeType != null and takeType == '1'.toString()">
+                AND id = #{id}
+            </if>
+            <if test= "takeType != null and takeType == '2'.toString()">
+                AND lane_id = #{id}
+            </if>
+            <if test= "takeType != null and takeType == '3'.toString()">
+                AND area_id = #{id}
+            </if>
+            <if test= " locationIds != null and locationIds.size() > 0">
+                AND id not in
+                <foreach collection="locationIds" item="id" index="index" open="(" close=")"
+                         separator=",">
+                    #{id}
+                </foreach>
+            </if>
+            <if test= " mapIds != null and mapIds.size() > 0">
+                AND map_id in
+                <foreach collection="mapIds" item="mapId" index="index" open="(" close=")"
+                         separator=",">
+                    #{mapId}
+                </foreach>
+            </if>
+            <if test= '"1"=="1"'>
+                AND location_enable = '1'
+                AND location_lock = '1'
+                AND location_type = '0'
+            </if>
         </where>
         order by location_number desc , location_storey asc
         limit 1
@@ -655,5 +653,36 @@
             </if>
         </where>
     </select>
+    <select id="getLocationByName" resultType="cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO">
+        <choose>
+            <when test="type == 1">
+                select
+                    id,
+                    location_no as locationNo
+                from
+                    ware_house_location
+                where
+                    location_no like concat('%', #{locationNo}, '%')
+            </when>
+            <when test="type == 2">
+                select
+                    lane_id as id,
+                    lane_name as locationNo
+                from
+                    ware_house_lane
+                where
+                    lane_name like concat('%', #{locationNo}, '%')
+            </when>
+            <when test="type == 3">
+                select
+                    area_id as id,
+                    area_name as locationNo
+                from
+                    ware_house_area
+                where
+                    area_name like concat('%', #{locationNo}, '%')
+            </when>
+        </choose>
+    </select>
 
 </mapper>
\ No newline at end of file