diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
index 7ea92facd..cd5ce903b 100644
--- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
@@ -191,9 +191,13 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CYCLE_NOT_OPEN = new ErrorCode(1-002-035-003, "循环任务的配置未开启!");
     ErrorCode TASK_ONLY_CHOOSE_LOCATION = new ErrorCode(1-002-035-004, "搬空任务只能选择线库或者区域");
     ErrorCode TASK_CHECK_EXCEPTION = new ErrorCode(1-002-035-005, "任务下发失败");
+    ErrorCode TASK_CHECK_ID_EXCEPTION = new ErrorCode(1-002-035-006, "请输入ID");
+    ErrorCode TASK_CHECK_TASK_PRIORITY = new ErrorCode(1-002-035-007, "非新单据不能修改优先级");
+    ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "订单已完成");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");
+    ErrorCode TASK_DETAIL_CHANGE_ROBOT = new ErrorCode(1-002-036-002, "非新单据不能修改车辆");
 
     // ========== 机器人任务明细 1-002-037-000 ==========
     ErrorCode REDISSON_NOT_OBTAIN_LOCK = new ErrorCode(1-002-037-001, "有正在下发中的任务请稍后重试!");
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 a924c8187..47ef544f2 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
@@ -3,9 +3,14 @@ package cn.iocoder.yudao.module.system.api.robot;
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
+import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
+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.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.robot.RobotStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
@@ -14,6 +19,7 @@ import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.RestController;
 
+import javax.annotation.Resource;
 import java.time.LocalDateTime;
 import java.util.List;
 
@@ -28,6 +34,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Autowired
     private RobotTaskMapper robotTaskMapper;
 
+    @Autowired@Resource
+    private RobotInformationMapper robotInformationMapper;
+
     /**
      * 机器人完成任务上报
      * @param robotCompleteTaskDTO
@@ -38,20 +47,36 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     public CommonResult<Boolean> robotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
         log.info("机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
         TenantContextHolder.setTenantId(1L);
-
+        if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecution_state())) {
+            return CommonResult.success(Boolean.TRUE);
+        }
+        //更新任务状态
         RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
         detailDO.setId(robotCompleteTaskDTO.getOrder_id());
         detailDO.setEndTime(LocalDateTime.now());
         detailDO.setTaskStatus(robotCompleteTaskDTO.getExecution_state());
         robotTaskDetailMapper.updateRobotDetailById(detailDO);
-
+        //更新任务状态
         RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrder_id());
         List<RobotTaskDetailDO> taskDetails = robotTaskDetailMapper.queryByTaskId(robotTaskDetailDO.getRobotTaskId());
-        boolean b =
+        boolean done =
                 taskDetails.stream().allMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.DONE.getType())
                     || v.getTaskStatus().equals(RobotTaskDetailStatusEnum.CLOSE.getType()) ));
-        if(b) {
-            robotTaskMapper.updateRobotStatus(taskDetails.get(0).getRobotTaskId(), RobotTaskDetailStatusEnum.DONE.getType());
+        if(done) {
+            RobotTaskDO robotTaskDO = new RobotTaskDO();
+            robotTaskDO.setId(taskDetails.get(0).getRobotTaskId());
+            robotTaskDO.setEndTime(LocalDateTime.now());
+            robotTaskDO.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
+            robotTaskMapper.updateRobot(robotTaskDO);
+        }
+        //更新机器人任务状态
+        if (RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getExecution_state()) ||
+                RobotExecutionStateConstant.CLOSE.equals(robotCompleteTaskDTO.getExecution_state())) {
+            RobotInformationDO query = new RobotInformationDO();
+            query.setMacAddress(robotCompleteTaskDTO.getMac());
+            List<RobotInformationDO> existRobotMac = robotInformationMapper.queryAllByLimit(query);
+            String robotNo = existRobotMac.get(0).getRobotNo();
+            robotInformationMapper.updateRobotStatus(robotNo, RobotStatusEnum.STAND_BY.getType());
         }
 
         return CommonResult.success(true);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotExecutionStateConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotExecutionStateConstant.java
new file mode 100644
index 000000000..f37d06e9f
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotExecutionStateConstant.java
@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.system.constant.robot;
+
+/**
+ * 机器人上报的状态
+ */
+public class RobotExecutionStateConstant {
+    //未开始
+    public static Integer UN_DO = 0;
+    //正在做
+    public static Integer DOING = 1;
+    //已完成
+    public static Integer DONE = 2;
+    //已取消
+    public static Integer CLOSE = 3;
+    //已失败
+    public static Integer FAIL = 4;
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
index dc38ddbcc..1d1ff9ef8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
@@ -101,4 +101,12 @@ public class RobotInformationController {
         return success(informationService.statisticsInformation());
     }
 
+    @PostMapping("/getCanUseRobot")
+    @Operation(summary = "查询能正常使用的车辆")
+    @PreAuthorize("@ss.hasPermission('robot:information:getCanUseRobot')")
+    public CommonResult<List<RobotInformationRespVO>> getCanUseRobot() {
+        List<RobotInformationDO> result = informationService.getCanUseRobot();
+        return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
+    }
+
 }
\ 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/robot/RobotTaskController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java
index aaa3c9b50..903752224 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java
@@ -74,11 +74,19 @@ public class RobotTaskController {
         return success(BeanUtils.toBean(task, RobotTaskRespVO.class));
     }
 
+    @GetMapping("/getTaskNo")
+    @Operation(summary = "获得任务号")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:task:getTaskNo')")
+    public CommonResult<String> getTaskNo() {
+        return success(taskService.getTaskNo());
+    }
+
     @GetMapping("/page")
     @Operation(summary = "获得机器人任务主表分页")
     @PreAuthorize("@ss.hasPermission('robot:task:query')")
     public CommonResult<PageResult<RobotTaskRespVO>> getTaskPage(@Valid RobotTaskPageReqVO pageReqVO) {
-        PageResult<RobotTaskDO> pageResult = taskService.getTaskPage(pageReqVO);
+        PageResult<RobotTaskRespVO> pageResult = taskService.getTaskPage(pageReqVO);
         return success(BeanUtils.toBean(pageResult, RobotTaskRespVO.class));
     }
 
@@ -89,7 +97,7 @@ public class RobotTaskController {
     public void exportTaskExcel(@Valid RobotTaskPageReqVO pageReqVO,
               HttpServletResponse response) throws IOException {
         pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
-        List<RobotTaskDO> list = taskService.getTaskPage(pageReqVO).getList();
+        List<RobotTaskRespVO> list = taskService.getTaskPage(pageReqVO).getList();
         // 导出 Excel
         ExcelUtils.write(response, "机器人任务主表.xls", "数据", RobotTaskRespVO.class,
                         BeanUtils.toBean(list, RobotTaskRespVO.class));
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVo.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVo.java
index f42eb50b6..78b22de52 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVo.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVo.java
@@ -31,6 +31,11 @@ public class RobotTaskDetailAddVo {
     @Schema(description = "AGV编号")
     private String robotNo;
 
+    @Schema(description = "停车后是否锁定(0:否、1:是)")
+    private Integer needLock;
+    @Schema(description = "所选车辆电量(充电模式)")
+    private Integer electricity;
+
     @Schema(description = "计算后的来源库位编号(前端不用传此字段)")
     private String fromLocationNo;
     @Schema(description = "计算后的来源库位id(前端不用传此字段)")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java
index 9efa5f792..79d86b125 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java
@@ -71,4 +71,8 @@ public class RobotTaskDetailPageReqVO extends PageParam {
     private Integer toLocationStorey;
     @Schema(description = "优先级")
     private Long priority;
+    @Schema(description = "停车后是否锁定(0:否、1:是)")
+    private Integer needLock;
+    @Schema(description = "所选车辆电量(充电模式)")
+    private Integer electricity;
 }
\ 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/robot/vo/RobotTaskDetailRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailRespVO.java
index b1cd674aa..d597bb276 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailRespVO.java
@@ -87,5 +87,11 @@ public class RobotTaskDetailRespVO {
     @Schema(description = "优先级")
     @ExcelProperty("优先级")
     private Long priority;
+    @Schema(description = "停车后是否锁定(0:否、1:是)")
+    @ExcelProperty("停车后是否锁定(0:否、1:是)")
+    private Integer needLock;
+    @Schema(description = "所选车辆电量(充电模式)")
+    @ExcelProperty("所选车辆电量(充电模式)")
+    private Integer electricity;
 
 }
\ 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/robot/vo/RobotTaskDetailSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailSaveReqVO.java
index 11b7b45d4..32a23e67c 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailSaveReqVO.java
@@ -71,5 +71,9 @@ public class RobotTaskDetailSaveReqVO {
     private Integer toLocationStorey;
     @Schema(description = "优先级")
     private Long priority;
+    @Schema(description = "停车后是否锁定(0:否、1:是)")
+    private Integer needLock;
+    @Schema(description = "所选车辆电量(充电模式)")
+    private Integer electricity;
 
 }
\ 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/robot/vo/RobotTaskPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskPageReqVO.java
index 7f6bad898..1ca7d987b 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskPageReqVO.java
@@ -52,7 +52,7 @@ public class RobotTaskPageReqVO extends PageParam {
     private String taskNo;
 
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "2")
-    private Long taskStatus;
+    private Integer taskStatus;
 
     @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
     private Long taskStage;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskRespVO.java
index c5ca73e4a..34abc01a3 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskRespVO.java
@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -7,6 +8,8 @@ import org.springframework.format.annotation.DateTimeFormat;
 import java.time.LocalDateTime;
 import com.alibaba.excel.annotation.*;
 
+import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
+
 @Schema(description = "管理后台 - 机器人任务主表 Response VO")
 @Data
 @ExcelIgnoreUnannotated
@@ -66,7 +69,7 @@ public class RobotTaskRespVO {
 
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "2")
     @ExcelProperty("任务状态(0:未开始、1：执行中、2：已完成、3：已取消)")
-    private Long taskStatus;
+    private Integer taskStatus;
 
     @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
     @ExcelProperty("任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
@@ -74,14 +77,19 @@ public class RobotTaskRespVO {
 
     @Schema(description = "开始时间")
     @ExcelProperty("开始时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime startTime;
 
     @Schema(description = "结束时间")
     @ExcelProperty("结束时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime endTime;
 
     @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
     @ExcelProperty("创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime createTime;
 
+    @Schema(description = "子任务明细")
+    List<RobotTaskDetailDO> details;
 }
\ 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/robot/vo/RobotTaskSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskSaveReqVO.java
index 8f05b3fa7..28a563cc8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskSaveReqVO.java
@@ -57,7 +57,7 @@ public class RobotTaskSaveReqVO {
     private String taskNo;
 
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "2")
-    private Long taskStatus;
+    private Integer taskStatus;
 
     @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
     private Long taskStage;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDO.java
index 5f02112b5..63ba237f6 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDO.java
@@ -80,7 +80,7 @@ public class RobotTaskDO extends BaseDO {
     /**
      * 任务状态(0:未开始、1：执行中、2：已完成、3：已取消)
      */
-    private Long taskStatus;
+    private Integer taskStatus;
     /**
      * 任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)
      */
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java
index 37fffcc06..c5c6a17c2 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java
@@ -1,6 +1,5 @@
 package cn.iocoder.yudao.module.system.dal.dataobject.robot;
 
-import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
 import java.time.LocalDateTime;
@@ -104,5 +103,12 @@ public class RobotTaskDetailDO extends BaseDO {
      * 优先级
      */
     private Long priority;
-
+    /**
+     * 停车后是否锁定(0:否、1:是)
+     */
+    private Integer needLock;
+    /**
+     * 所选车辆电量(充电模式)
+     */
+    private Integer electricity;
 }
\ 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 a26d3e8d9..458785827 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
@@ -58,7 +58,7 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      * 查询未执行的明细任务
      * @return
      */
-    List<RobotTaskDetailDO> getUnDoTask();
+    List<RobotTaskDetailDO> getUnDoTask(@Param("taskIds")  List<Long> taskIds);
 
 
     List<RobotTaskDetailDO> queryByTaskId(@Param("robotTaskId") Long robotTaskId);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskMapper.java
index 2e56eebb5..089a03eb0 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskMapper.java
@@ -40,12 +40,16 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
                 .orderByDesc(RobotTaskDO::getId));
     }
 
+    /**
+     * 更新
+     * @param robotTaskDO
+     */
+    void updateRobot(RobotTaskDO robotTaskDO);
 
     /**
-     * 更新任务状态
-     * @param id
-     * @param taskStatus
+     * 获取未完成的订单id
+     * @return
      */
-    void updateRobotStatus(@Param("id") Long id,
-                           @Param("taskStatus") Integer taskStatus);
+    List<Long> getUnDoAndDoingTaskIds();
+
 }
\ 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/redis/RobotCacheLockEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/redis/RobotCacheLockEnum.java
index 7ff482451..d34cbcccd 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/redis/RobotCacheLockEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/redis/RobotCacheLockEnum.java
@@ -12,6 +12,7 @@ public enum RobotCacheLockEnum {
 
     TASK_NO("task:robot:no", "任务号"),
     ROBOT_TASK_ADD_LOCK("robot:task:add:lock", "所有创建机器人任务的锁"),
+    //取消订单、修改优先级
     ROBOT_TASK_DISTRIBUTE_LOCK("robot:task:distribute:lock", "下发任务给机器人的锁"),
     ROBOT_TASK_LOCATION_LOCK("robot:task:location:lock", "库位取/放任务下发互斥锁(仅仅锁某个库位)"),
     ROBOT_TASK_LANE_LOCK("robot:task:lane:lock", "线库/巷道, 取/放任务下发互斥锁(仅仅锁某个线库/巷道)"),
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskTypeEnum.java
new file mode 100644
index 000000000..813447a2d
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskTypeEnum.java
@@ -0,0 +1,30 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum RobotTaskTypeEnum {
+    TAKE_RELEASE(1),//取放货
+    PARK(2),//停车
+    CHARGE(3),//充电
+    MOVE(4),//移动
+    TAKE(5),//仅取货
+    RELEASE(6),//仅放货
+    SCAN(7),//扫描码
+    DETECTING_TRAYS(8); //检测托盘类型
+    /**
+     * 类型
+     */
+    private final Integer type;
+
+    public static RobotTaskTypeEnum getRobotTaskType(Integer type) {
+        for (RobotTaskTypeEnum item : RobotTaskTypeEnum.values()) {
+            if (item.getType().equals(type)) {
+                return item;
+            }
+        }
+        return null;
+    }
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java
index 453c022ea..b734d4281 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java
@@ -60,4 +60,10 @@ public interface RobotInformationService {
      * @return
      */
     RobotInformationStatisticsVO statisticsInformation();
+
+    /**
+     * 查询能正常使用的车辆
+     * @return
+     */
+    List<RobotInformationDO> getCanUseRobot();
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
index 90da1a77d..0f9c464fa 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
@@ -8,6 +8,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
@@ -161,4 +162,15 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         return info;
     }
 
+    /**
+     *
+     * @return
+     */
+    @Override
+    public List<RobotInformationDO> getCanUseRobot() {
+        RobotInformationDO query = new RobotInformationDO();
+        query.setRobotTaskModel(RobotTaskModelEnum.NORMAL.getType());
+        return informationMapper.queryAllByLimit(query);
+    }
+
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
index dc0cf6b0f..b021c297d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
@@ -1,10 +1,12 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
+import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVo;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
 
@@ -19,6 +21,7 @@ import java.util.Collections;
 import java.util.List;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_DETAIL_CHANGE_ROBOT;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_DETAIL_NOT_EXISTS;
 
 
@@ -47,6 +50,11 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     public void updateTaskDetail(RobotTaskDetailSaveReqVO updateReqVO) {
         // 校验存在
         validateTaskDetailExists(updateReqVO.getId());
+        RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectById(updateReqVO.getId());
+        if (ObjectUtil.isNotEmpty(updateReqVO.getRobotNo()) &&
+                !RobotTaskDetailStatusEnum.NEW.getType().equals(robotTaskDetailDO.getTaskStatus())) {
+            throw exception(TASK_DETAIL_CHANGE_ROBOT);
+        }
         // 更新
         RobotTaskDetailDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskDetailDO.class);
         taskDetailMapper.updateById(updateObj);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java
index 60430edc3..34954dcfe 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java
@@ -5,6 +5,7 @@ import javax.validation.*;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 
@@ -51,6 +52,11 @@ public interface RobotTaskService {
      * @param pageReqVO 分页查询
      * @return 机器人任务主表分页
      */
-    PageResult<RobotTaskDO> getTaskPage(RobotTaskPageReqVO pageReqVO);
+    PageResult<RobotTaskRespVO> getTaskPage(RobotTaskPageReqVO pageReqVO);
 
+    /**
+     * 获取任务号
+     * @return
+     */
+    String getTaskNo();
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
index 28b49fda6..e48474712 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
@@ -1,11 +1,10 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
+import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
-import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationPageReqVO;
-import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVo;
-import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskPageReqVO;
-import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskSaveReqVO;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
@@ -169,7 +168,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
 
         //查找库位
         if (MoveAllEnum.NO.getType().equals(createReqVO.getDoMoveAll())) {
-            setSingleLocationIdNo(createReqVO.getTaskDetailList(),task.getId());
+            setSingleLocationIdNo(createReqVO.getTaskDetailList(),task);
         } else {
             setAllLocationIdNo(createReqVO,task.getId());
         }
@@ -323,91 +322,230 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @return
      */
     @Transactional(rollbackFor = Exception.class)
-    public void setSingleLocationIdNo(List<RobotTaskDetailAddVo> taskDetailList, Long taskId){
+    public void setSingleLocationIdNo(List<RobotTaskDetailAddVo> taskDetailList, RobotTaskDO task){
         List<Long> locationIds = new ArrayList<>();
         for (RobotTaskDetailAddVo robotTaskVo : taskDetailList) {
-            Set<Long> mapIds = new HashSet<>();
-            if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
-                RobotInformationPageReqVO pageReqVO = new RobotInformationPageReqVO();
-                pageReqVO.setRobotNo(robotTaskVo.getRobotNo());
-                mapIds = informationMapper.selectPage(pageReqVO).getList()
-                        .stream()
-                        .findFirst()
-                        .map(RobotInformationDO::getFloorAreaJson)
-                        .orElse(new HashSet<>());
+            robotTaskVo.setRobotTaskId(task.getId());
+            robotTaskVo.setPriority(task.getPriority());
+            RobotTaskTypeEnum robotTaskType = RobotTaskTypeEnum.getRobotTaskType(robotTaskVo.getTaskType());
+            switch (robotTaskType){
+                case TAKE_RELEASE:
+                    doTakeRelease(robotTaskVo,locationIds);
+                    break;
+                case PARK:
+                    doPark(robotTaskVo);
+                    break;
+                case CHARGE:
+                    doCharge(robotTaskVo);
+                    break;
+                case MOVE:
+                    doMove(robotTaskVo);
+                    break;
+                case TAKE:
+                    doTake(robotTaskVo);
+                    break;
+                case RELEASE:
+                    doRelease(robotTaskVo);
+                    break;
+                case SCAN:
+                    doScan(robotTaskVo);
+                    break;
+                case DETECTING_TRAYS:
+                    doDetectingTrays(robotTaskVo);
+                    break;
+                default :
+                    log.error("任务类型不存在 ");
+                    throw new RuntimeException("任务类型不存在");
             }
-
-            //校验放货库位
-            if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getReleaseType())) {
-                WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getReleaseId()).build();
-                WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
-                robotTaskVo.setToLocationNo(locationDO.getLocationNo());
-                robotTaskVo.setToLocationId(robotTaskVo.getReleaseId());
-                robotTaskVo.setToLocationStorey(locationDO.getLocationStorey());
-                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 new RuntimeException("机器人不能在此放货库位放货 "+ robotTaskVo.getReleaseId());
-                }
-            } else {
-                WareHouseLocationDO wareHouseLocationDO =
-                        locationMapper.selectByTypeAndId(LocationUseStatusEnum.NO.getType(), robotTaskVo.getReleaseType()
-                                ,robotTaskVo.getReleaseId(),locationIds,mapIds);
-                if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
-                    log.error("放货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getReleaseId());
-                    throw new RuntimeException("放货库位为空或者已锁定或者机器人取放货区域受限制 "+ robotTaskVo.getReleaseId());
-                }
-                robotTaskVo.setToLocationNo(wareHouseLocationDO.getLocationNo());
-                robotTaskVo.setToLocationId(wareHouseLocationDO.getId());
-                robotTaskVo.setToLocationStorey(wareHouseLocationDO.getLocationStorey());
-            }
-            robotTaskVo.setPriority(robotTaskVo.getPriority());
-            locationIds.add(robotTaskVo.getToLocationId());
-            //校验取货库位
-            if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getTakeType())) {
-                WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getTakeId()).build();
-                WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
-                robotTaskVo.setFromLocationNo(locationDO.getLocationNo());
-                robotTaskVo.setFromLocationId(robotTaskVo.getTakeId());
-                robotTaskVo.setFromLocationStorey(locationDO.getLocationStorey());
-                if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
-                    log.error("机器人不能在此取货库位取货 :{}, 机器人编号 :{}", locationDO.getLocationNo(),robotTaskVo.getRobotNo());
-                    throw new RuntimeException("机器人不能在此取货库位取货 "+ robotTaskVo.getTakeId());
-                }
-            } else {
-                WareHouseLocationDO wareHouseLocationDO =
-                        locationMapper.selectByTypeAndId(LocationUseStatusEnum.YES.getType(),robotTaskVo.getTakeType(),
-                                robotTaskVo.getTakeId(),locationIds,mapIds);
-                if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
-                    log.error("取货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getTakeId());
-                    throw new RuntimeException("取货库位为空或者已锁定或者机器人取放货区域受限制 "+ robotTaskVo.getTakeId());
-                }
-                robotTaskVo.setFromLocationNo(wareHouseLocationDO.getLocationNo());
-                robotTaskVo.setFromLocationId(wareHouseLocationDO.getId());
-                robotTaskVo.setFromLocationStorey(wareHouseLocationDO.getLocationStorey());
-            }
-            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());
-            List<RobotTaskDetailDO> doingTasks = taskDetailMapper.queryDoingTaskByIds(set);
-            if (ObjectUtil.isNotEmpty(doingTasks)) {
-                log.error("取货库位,存在未完成的任务 :{}", robotTaskVo.getTakeId());
-                throw new RuntimeException("取货库位,存在未完成的任务");
-            }
-
-            //设置为锁定
-            locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,taskId);
-            locationMapper.updateLocationLockStatus(robotTaskVo.getFromLocationId(),0,taskId);
         }
     }
 
+    /**
+     * 检测托盘类型
+     * @param robotTaskVo
+     */
+    private void doDetectingTrays(RobotTaskDetailAddVo robotTaskVo) {
+
+    }
+
+    /**
+     * 扫描码
+     * @param robotTaskVo
+     */
+    private void doScan(RobotTaskDetailAddVo robotTaskVo) {
+
+    }
+
+    /**
+     * 仅放货
+     * @param robotTaskVo
+     */
+    private void doRelease(RobotTaskDetailAddVo robotTaskVo) {
+        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
+    }
+
+    /**
+     * 仅取货
+     * @param robotTaskVo
+     */
+    private void doTake(RobotTaskDetailAddVo robotTaskVo) {
+        locationMapper.updateLocationLockStatus(robotTaskVo.getFromLocationId(),0,robotTaskVo.getRobotTaskId());
+    }
+
+    /**
+     * 移动
+     * @param robotTaskVo
+     */
+    private void doMove(RobotTaskDetailAddVo robotTaskVo) {
+
+    }
+
+    /**
+     * 充电
+     * @param robotTaskVo
+     */
+    private void doCharge(RobotTaskDetailAddVo robotTaskVo) {
+
+    }
+
+    /**
+     * 停车
+     * @param robotTaskVo
+     */
+    private void doPark(RobotTaskDetailAddVo robotTaskVo) {
+
+    }
+
+    /**
+     * 查询此机器人对应的楼层/区域(json)
+     * @param robotNo
+     * @return
+     */
+    public Set<Long> getMapIdsByRobotNo(String robotNo) {
+        if (ObjectUtil.isNotEmpty(robotNo)) {
+            RobotInformationPageReqVO pageReqVO = new RobotInformationPageReqVO();
+            pageReqVO.setRobotNo(robotNo);
+            return  informationMapper.selectPage(pageReqVO).getList()
+                    .stream()
+                    .findFirst()
+                    .map(RobotInformationDO::getFloorAreaJson)
+                    .orElse(new HashSet<>());
+        }
+        return new HashSet<>();
+    }
+
+    /**
+     * 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
+        if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getReleaseType())) {
+            WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getReleaseId()).build();
+            WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
+            robotTaskVo.setToLocationNo(locationDO.getLocationNo());
+            robotTaskVo.setToLocationId(robotTaskVo.getReleaseId());
+            robotTaskVo.setToLocationStorey(locationDO.getLocationStorey());
+            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 new RuntimeException("机器人不能在此放货库位放货 "+ robotTaskVo.getReleaseId());
+            }
+        } else {
+            WareHouseLocationDO wareHouseLocationDO =
+                    locationMapper.selectByTypeAndId(LocationUseStatusEnum.NO.getType(), robotTaskVo.getReleaseType()
+                            ,robotTaskVo.getReleaseId(),locationIds,mapIds);
+            if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
+                log.error("放货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getReleaseId());
+                throw new RuntimeException("放货库位为空或者已锁定或者机器人取放货区域受限制 "+ robotTaskVo.getReleaseId());
+            }
+            robotTaskVo.setToLocationNo(wareHouseLocationDO.getLocationNo());
+            robotTaskVo.setToLocationId(wareHouseLocationDO.getId());
+            robotTaskVo.setToLocationStorey(wareHouseLocationDO.getLocationStorey());
+        }
+        locationIds.add(robotTaskVo.getToLocationId());
+        //校验取货库位
+        if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getTakeType())) {
+            WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getTakeId()).build();
+            WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
+            robotTaskVo.setFromLocationNo(locationDO.getLocationNo());
+            robotTaskVo.setFromLocationId(robotTaskVo.getTakeId());
+            robotTaskVo.setFromLocationStorey(locationDO.getLocationStorey());
+            if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
+                log.error("机器人不能在此取货库位取货 :{}, 机器人编号 :{}", locationDO.getLocationNo(),robotTaskVo.getRobotNo());
+                throw new RuntimeException("机器人不能在此取货库位取货 "+ robotTaskVo.getTakeId());
+            }
+        } else {
+            WareHouseLocationDO wareHouseLocationDO =
+                    locationMapper.selectByTypeAndId(LocationUseStatusEnum.YES.getType(),robotTaskVo.getTakeType(),
+                            robotTaskVo.getTakeId(),locationIds,mapIds);
+            if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
+                log.error("取货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getTakeId());
+                throw new RuntimeException("取货库位为空或者已锁定或者机器人取放货区域受限制 "+ robotTaskVo.getTakeId());
+            }
+            robotTaskVo.setFromLocationNo(wareHouseLocationDO.getLocationNo());
+            robotTaskVo.setFromLocationId(wareHouseLocationDO.getId());
+            robotTaskVo.setFromLocationStorey(wareHouseLocationDO.getLocationStorey());
+        }
+        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());
+        List<RobotTaskDetailDO> doingTasks = taskDetailMapper.queryDoingTaskByIds(set);
+        if (ObjectUtil.isNotEmpty(doingTasks)) {
+            log.error("取货库位,存在未完成的任务 :{}", robotTaskVo.getTakeId());
+            throw new RuntimeException("取货库位,存在未完成的任务");
+        }
+
+        //设置为锁定
+        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
+        locationMapper.updateLocationLockStatus(robotTaskVo.getFromLocationId(),0,robotTaskVo.getRobotTaskId());
+    }
+
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void updateTask(RobotTaskSaveReqVO updateReqVO) {
-        // 校验存在
-        validateTaskExists(updateReqVO.getId());
-        // 更新
-        RobotTaskDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskDO.class);
-        taskMapper.updateById(updateObj);
+        RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
+        if (lock.tryLock()){
+            try {
+                // 校验存在
+                validateTaskExists(updateReqVO.getId());
+                if (ObjectUtil.isEmpty(updateReqVO.getId())) {
+                    throw exception(TASK_CHECK_ID_EXCEPTION);
+                }
+                // 更新
+                //修改优先级需要订单状态为未开始
+                RobotTaskDO robotTaskDO = taskMapper.selectById(updateReqVO.getId());
+                if (ObjectUtil.isNotEmpty(updateReqVO.getPriority())) {
+                    if (!RobotTaskStatusEnum.NEW.getType().equals(robotTaskDO.getTaskStatus())) {
+                        throw exception(TASK_CHECK_TASK_PRIORITY);
+                    }
+                    List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.queryByTaskId(updateReqVO.getId());
+                    for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
+                        taskDetailDO.setPriority(updateReqVO.getPriority());
+                        taskDetailMapper.updateRobotDetailById(taskDetailDO);
+                    }
+                }
+                //修改订单状态
+                if (ObjectUtil.isNotEmpty(updateReqVO.getTaskStatus()) &&
+                        RobotTaskStatusEnum.DONE.getType().equals(robotTaskDO.getTaskStatus())) {
+                    throw exception(TASK_CHECK_TASK_STATUS);
+                }
+                RobotTaskDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskDO.class);
+                taskMapper.updateById(updateObj);
+            } catch (Exception e) {
+                log.error("下发任务给车机出现异常 :{}",e.getMessage());
+            } finally {
+                lock.unlock();
+            }
+        } else {
+            throw exception(REDISSON_NOT_OBTAIN_LOCK);
+        }
     }
 
     @Override
@@ -430,8 +568,23 @@ public class RobotTaskServiceImpl implements RobotTaskService {
     }
 
     @Override
-    public PageResult<RobotTaskDO> getTaskPage(RobotTaskPageReqVO pageReqVO) {
-        return taskMapper.selectPage(pageReqVO);
+    public PageResult<RobotTaskRespVO> getTaskPage(RobotTaskPageReqVO pageReqVO) {
+        PageResult<RobotTaskDO> pageResult = taskMapper.selectPage(pageReqVO);
+        PageResult<RobotTaskRespVO> dataPage = new PageResult<>();
+        dataPage.setTotal(pageResult.getTotal());
+        List<RobotTaskDO> list = pageResult.getList();
+        List<RobotTaskRespVO> targetList = BeanUtil.copyToList(list, RobotTaskRespVO.class);
+        for (RobotTaskRespVO robotTaskRespVO : targetList) {
+            robotTaskRespVO.setDetails(taskDetailMapper.queryByTaskId(robotTaskRespVO.getId()));
+        }
+        dataPage.setList(targetList);
+        return dataPage;
+    }
+
+    @Override
+    public String getTaskNo() {
+        String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
+        return taskNo+ DateUtils.getYearMonthDay()+incrementByKey;
     }
 
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/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 56f199377..08b1bfac9 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
@@ -1,11 +1,13 @@
 package cn.iocoder.yudao.module.system.service.robot.job;
 
+import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
 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.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.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
@@ -51,9 +53,15 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             return;
         }
 
-        List<RobotTaskDetailDO> taskDetailDOS = robotTaskDetailMapper.getUnDoTask();
+        List<Long> taskIds = robotTaskMapper.getUnDoAndDoingTaskIds();
+        if (ObjectUtil.isEmpty(taskIds)) {
+            log.info("暂无需要处理的主任务");
+            return;
+        }
+
+        List<RobotTaskDetailDO> taskDetailDOS = robotTaskDetailMapper.getUnDoTask(taskIds);
         if (taskDetailDOS.isEmpty()) {
-            log.info("暂无需要处理的任务");
+            log.info("暂无需要处理的明细任务");
             return;
         }
 
@@ -170,7 +178,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         detailDO.setStartTime(LocalDateTime.now());
         detailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
         robotTaskDetailMapper.updateRobotDetailById(detailDO);
-        robotTaskMapper.updateRobotStatus(taskDetailDO.getRobotTaskId(), RobotTaskStatusEnum.DOING.getType());
+
+        RobotTaskDO robotTaskDO = new RobotTaskDO();
+        robotTaskDO.setId(taskDetailDO.getRobotTaskId());
+        robotTaskDO.setStartTime(LocalDateTime.now());
+        robotTaskDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+        robotTaskMapper.updateRobot(robotTaskDO);
     }
 
 
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 421828df5..cefd08154 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
@@ -251,6 +251,13 @@
         where
             task_status = '0'
             and deleted = '0'
+        <if test="taskIds != null and taskIds.size() > 0">
+            and robot_task_id in
+            <foreach collection="taskIds" item="taskId" index="index" open="(" close=")"
+                     separator=",">
+                #{taskId}
+            </foreach>
+        </if>
         order by priority, create_time asc
     </select>
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml
index 2b09b2ec5..482151f85 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml
@@ -227,7 +227,15 @@
         </where>
     </select>
 
-
+    <select id="getUnDoAndDoingTaskIds" resultType="java.lang.Long">
+        select
+            id
+        from
+            robot_task
+        where
+            deleted = '0'
+        and task_status in ('0','1')
+    </select>
 
 
     <!--新增所有列-->
@@ -294,7 +302,7 @@
     </insert>
 
     <!--通过主键修改数据-->
-    <update id="update">
+    <update id="updateRobot">
         update robot_task
         <set>
             <if test="montageTask != null">
@@ -360,22 +368,10 @@
             <if test="deleted != null">
                 deleted = #{deleted},
             </if>
-            <if test="tenantId != null">
-                tenant_id = #{tenantId},
-            </if>
         </set>
         where id = #{id}
     </update>
 
-
-    <update id="updateRobotStatus">
-        update
-            robot_task
-        set
-            task_status = #{taskStatus}
-        where id = #{id}
-    </update>
-
     <!--通过主键删除-->
     <delete id="deleteById">
         delete