diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RequestProcessor.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RequestProcessor.java
index 843a9e20b..fcf562561 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RequestProcessor.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RequestProcessor.java
@@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.api.robot;
 
 import cn.hutool.core.map.MapUtil;
 import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
+import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
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 82cb07491..fdf0bfdb9 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
@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.api.robot;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
@@ -11,6 +12,7 @@ import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
+import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.*;
@@ -29,6 +31,7 @@ import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
 import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
 import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
+import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
@@ -67,6 +70,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Resource
     private RobotTaskDetailActionLogMapper taskDetailActionLogMapper;
 
+    @Resource
+    private RobotTaskDetailActionLogService taskDetailActionLogService;
+
     @Autowired
     private RobotInformationService robotInformationService;
 
@@ -134,17 +140,37 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         }
     }
 
+    /**
+     * 上一条明细设置为完成
+     * @param mac
+     * @return
+     */
+    public RobotTaskDetailActionLogDO setLastLogDone(String mac){
+        String robotNo = robotInformationService.getRobotNoByMac(mac);
+        RobotTaskDetailActionLogDO lastLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo);
+        if (ObjectUtil.isNotEmpty(lastLog)) {
+            lastLog.setEndTime(LocalDateTime.now());
+            lastLog.setActionStatus(ActionStatusEnum.DONE.getType());
+            RobotTaskDetailActionLogSaveReqVO updateObj = BeanUtils.toBean(lastLog, RobotTaskDetailActionLogSaveReqVO.class);
+            taskDetailActionLogService.updateTaskDetailActionLog(updateObj);
+        }
+        return lastLog;
+    }
+
     /**
      * @param robotCompleteTaskDTO
      */
     private void robotTaskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
+        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+        RobotTaskDetailActionLogDO lastLog = setLastLogDone(robotCompleteTaskDTO.getMac());
+
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            chargeDoing(robotCompleteTaskDTO, robotDoingActionKey);
+            chargeDoing(robotCompleteTaskDTO, robotDoingActionKey,lastLog);
         } else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
             logOne.setActionMsg("车辆正在前往等待点");
-            String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
             logOne.setRobotNo(robotNo);
+            logOne.setStartTime(LocalDateTime.now());
             logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
             taskDetailActionLogMapper.insert(logOne);
             redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
@@ -191,6 +217,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      * @param robotCompleteTaskDTO
      */
     private void robotTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+        setLastLogDone(robotCompleteTaskDTO.getMac());
         //todo 后面考虑下充电，车机目前对充电的逻辑未定义
         if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
@@ -302,21 +329,27 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      *
      * @param robotCompleteTaskDTO
      */
-    private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
+    private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey,RobotTaskDetailActionLogDO lastLog) {
         RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
         RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
         Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType();
         if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
             RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
             logOne.setActionMsg("车辆正在前往充电点" + robotChargeLogDO.getDeviceNo());
+            logOne.setTaskStage(RobotTaskStageEnum.MOVE.getType());
             taskStatus = ChargeTaskStatusEnum.DOING.getType();
         } else if (ObjectUtil.isNotEmpty(commandStatus)) {
             logOne.setActionMsg("车辆正在充电");
+            logOne.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
         }
 
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
         logOne.setRobotNo(robotNo);
         logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
+
+        logOne.setCommandType(lastLog.getCommandType());
+        logOne.setTaskNo(lastLog.getTaskNo());
+        logOne.setStartTime(LocalDateTime.now());
         taskDetailActionLogMapper.insert(logOne);
         redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
         RobotChargeLogDO build = RobotChargeLogDO
@@ -380,6 +413,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
         Long taskStage = robotTaskDetailDO.getTaskStage();
 
+        RobotTaskDO robotTask = robotTaskMapper.selectById(robotTaskDetailDO.getRobotTaskId());
+
         RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
         String commandType = commandStatus.getCommandType();
 
@@ -441,6 +476,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
         logOne.setRobotNo(robotNo);
         logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
+        logOne.setTaskStage(robotTaskDetailDO.getTaskStage());
+        logOne.setCommandType(PathTaskTypeEnum.getTaskType(robotTaskDetailDO.getTaskType()));
+        logOne.setTaskNo(robotTask.getTaskNo());
+        logOne.setStartTime(LocalDateTime.now());
         taskDetailActionLogMapper.insert(logOne);
         redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
         robotTaskDetailMapper.updateById(robotTaskDetailDO);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogPageReqVO.java
index 2e946c8a5..6d49d4036 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogPageReqVO.java
@@ -26,7 +26,7 @@ public class RobotTaskDetailActionLogPageReqVO extends PageParam {
     @Schema(description = "车辆当前正在做的动作")
     private String actionMsg;
 
-    @Schema(description = "动作状态(0:未开始、1:正在进行、2:完成)", example = "2")
+    @Schema(description = "动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)", example = "2")
     private Integer actionStatus;
 
     @Schema(description = "AGV编号")
@@ -39,4 +39,16 @@ public class RobotTaskDetailActionLogPageReqVO extends PageParam {
     @Schema(description = "robot_task_detail的id")
     private Long taskDetailId;
 
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
+    private Long taskStage;
+
+    @Schema(description = "任务号")
+    private String taskNo;
+
+    @Schema(description = "开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    private LocalDateTime endTime;
+
 }
\ 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/log/vo/RobotTaskDetailActionLogRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogRespVO.java
index 4ec0be31b..fdc740e06 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogRespVO.java
@@ -31,8 +31,8 @@ public class RobotTaskDetailActionLogRespVO {
     @ExcelProperty("车辆当前正在做的动作")
     private String actionMsg;
 
-    @Schema(description = "动作状态(0:未开始、1:正在进行、2:完成)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
-    @ExcelProperty("动作状态(0:未开始、1:正在进行、2:完成)")
+    @Schema(description = "动作状态(动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常))", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("动作状态(动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常))")
     private Integer actionStatus;
 
     @Schema(description = "AGV编号")
@@ -46,4 +46,19 @@ public class RobotTaskDetailActionLogRespVO {
     @Schema(description = "robot_task_detail的id")
     private Long taskDetailId;
 
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
+    private Long taskStage;
+
+    @Schema(description = "任务号")
+    @ExcelProperty("任务号")
+    private String taskNo;
+
+    @Schema(description = "开始时间")
+    @ExcelProperty("开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    @ExcelProperty("结束时间")
+    private LocalDateTime endTime;
+
 }
\ 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/log/vo/RobotTaskDetailActionLogSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogSaveReqVO.java
index 88f72c267..484f5d03a 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogSaveReqVO.java
@@ -4,6 +4,7 @@ import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
 import javax.validation.constraints.*;
+import java.time.LocalDateTime;
 
 @Schema(description = "管理后台 - 车辆动作记录新增/修改 Request VO")
 @Data
@@ -24,8 +25,8 @@ public class RobotTaskDetailActionLogSaveReqVO {
     @Schema(description = "车辆当前正在做的动作")
     private String actionMsg;
 
-    @Schema(description = "动作状态(0:未开始、1:正在进行、2:完成)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
-    @NotNull(message = "动作状态(0:未开始、1:正在进行、2:完成)不能为空")
+    @Schema(description = "动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)不能为空")
     private Integer actionStatus;
 
     @Schema(description = "AGV编号")
@@ -34,4 +35,13 @@ public class RobotTaskDetailActionLogSaveReqVO {
     @Schema(description = "robot_task_detail的id")
     private Long taskDetailId;
 
+    @Schema(description = "任务号")
+    private String taskNo;
+
+    @Schema(description = "开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    private LocalDateTime endTime;
+
 }
\ 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/RobotTaskDetailController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskDetailController.java
index 18e87f064..df3c683ca 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskDetailController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskDetailController.java
@@ -92,4 +92,12 @@ public class RobotTaskDetailController {
                         BeanUtils.toBean(list, RobotTaskDetailRespVO.class));
     }
 
+    @PostMapping("/manuallyCompleted")
+    @Operation(summary = "人工完成")
+    @PreAuthorize("@ss.hasPermission('robot:task-detail:manuallyCompleted')")
+    public CommonResult manuallyCompleted(@RequestParam("id") Long id) {
+        taskDetailService.manuallyCompleted(id);
+        return success(true);
+    }
+
 }
\ 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/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 1de374568..929549fd3 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
@@ -56,7 +56,7 @@ public class RobotTaskDetailPageReqVO extends PageParam {
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)", example = "1")
     private Integer taskStatus;
 
-    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
     private Long taskStage;
 
     @Schema(description = "开始时间")
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 98b8b0849..ea26e8ff9 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
@@ -62,8 +62,8 @@ public class RobotTaskDetailRespVO {
     @ExcelProperty("任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)")
     private Integer taskStatus;
 
-    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
-    @ExcelProperty("任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
+    @ExcelProperty("任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
     private Long taskStage;
 
     @Schema(description = "开始时间")
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 a61f01d11..386727c32 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
@@ -62,7 +62,7 @@ public class RobotTaskDetailSaveReqVO {
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)", example = "1")
     private Integer taskStatus;
 
-    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
     private Long taskStage;
 
     @Schema(description = "开始时间")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/RobotTaskDetailActionLogDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/RobotTaskDetailActionLogDO.java
index 1c4bab51c..3061aeb55 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/RobotTaskDetailActionLogDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/RobotTaskDetailActionLogDO.java
@@ -1,9 +1,12 @@
 package cn.iocoder.yudao.module.system.dal.dataobject.log;
 
+import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import com.baomidou.mybatisplus.annotation.*;
 import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
 
+import java.time.LocalDateTime;
+
 /**
  * 车辆动作记录 DO
  *
@@ -41,7 +44,7 @@ public class RobotTaskDetailActionLogDO extends BaseDO {
      */
     private String actionMsg;
     /**
-     * 动作状态(0:未开始、1:正在进行、2:完成)
+     * 动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)
      */
     private Integer actionStatus;
     /**
@@ -53,4 +56,24 @@ public class RobotTaskDetailActionLogDO extends BaseDO {
      */
     private Long taskDetailId;
 
+    /**
+     * 任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)
+     */
+    private Long taskStage;
+
+    /**
+     * 任务号
+     */
+    private String taskNo;
+
+    /**
+     * 开始时间
+     */
+    private LocalDateTime startTime;
+
+    /**
+     * 结束时间
+     */
+    private LocalDateTime endTime;
+
 }
\ 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/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 f93ed4aa5..d04fe069e 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
@@ -96,7 +96,7 @@ public class RobotTaskDetailDO extends BaseDO {
      */
     private Integer taskStatus;
     /**
-     * 任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)
+     * 任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)
      */
     private Long taskStage;
     /**
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
index bb48170ff..deac22f1f 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
@@ -22,10 +22,12 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
                 .eqIfPresent(RobotTaskDetailActionLogDO::getCommandType, reqVO.getCommandType())
                 .eqIfPresent(RobotTaskDetailActionLogDO::getCommandMsg, reqVO.getCommandMsg())
                 .likeIfPresent(RobotTaskDetailActionLogDO::getActionMsg, reqVO.getActionMsg())
+                .likeIfPresent(RobotTaskDetailActionLogDO::getTaskNo, reqVO.getTaskNo())
+                .eqIfPresent(RobotTaskDetailActionLogDO::getTaskStage, reqVO.getTaskStage())
                 .eqIfPresent(RobotTaskDetailActionLogDO::getActionStatus, reqVO.getActionStatus())
                 .eqIfPresent(RobotTaskDetailActionLogDO::getRobotNo, reqVO.getRobotNo())
                 .betweenIfPresent(RobotTaskDetailActionLogDO::getCreateTime, reqVO.getCreateTime())
-                .orderByDesc(RobotTaskDetailActionLogDO::getId));
+                .orderByDesc(RobotTaskDetailActionLogDO::getCreateTime));
     }
 
     /**
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java
index 1566799df..ec385b837 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java
@@ -14,7 +14,9 @@ public enum RobotTaskStageEnum {
     DONE(5L,"结束"),
     MOVE(6L,"移动中"),
     CHARGEING(7L,"待执行正在充电"),
-    CLOSE(8L,"任务已取消");
+    CLOSE(8L,"任务已取消"),
+    MANUALLY_COMPLETED(9L,"人工完成"),
+    EXCEPTION(10L,"异常");
     /**
      * 类型
      */
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java
index f8bc93c30..1fb972fbf 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java
@@ -17,13 +17,19 @@ import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.tool.ToolsService;
 import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.google.gson.Gson;
+import com.google.gson.reflect.TypeToken;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
+import java.lang.reflect.Type;
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
+import java.util.Map;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.CONFIG_NOT_EXISTS;
@@ -99,17 +105,20 @@ public class CommonConfigServiceImpl implements CommonConfigService {
         String onceStartTime = s.format(formatter);
         String onceEndTime = e.format(formatter);
 
-        JSONObject jsonObject = new JSONObject(config.getConfigStr());
-        jsonObject.put("onceStartTime", onceStartTime);
-        jsonObject.put("onceEndTime", onceEndTime);
+        Gson gson = new Gson();
+        Type type = new TypeToken<Map<String, String>>(){}.getType();
+        Map<String, String> map = gson.fromJson(config.getConfigStr(), type);
+        map.put("onceStartTime", onceStartTime);
+        map.put("onceEndTime", onceEndTime);
 
-        String str = JSON.toJSONString(jsonObject);
+        String str = JSON.toJSONString(map);
 
         config.setConfigStr(str);
 
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void updateConfig(CommonConfigSaveReqVO updateReqVO) {
         // 校验存在
         validateConfigExists(updateReqVO.getId());
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 b19d403c6..d6302f362 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
@@ -141,13 +141,13 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     public void deleteInformation(Long id) {
         // 校验存在
         validateInformationExists(id);
-        // 删除
-        informationMapper.deleteById(id);
-
         DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("删除设备 " + deviceInformationDO.getDeviceNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+        // 删除
+        informationMapper.deleteById(id);
+
         userOperationLogService.createUserOperationLog(operationLog);
     }
 
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 9ff303567..edef9c9f1 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
@@ -150,4 +150,12 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * @param robotNo
      */
     void doTaskContinue(String robotNo);
+
+    /**
+     *
+     * @param id
+     * @param mac
+     * @param orderType
+     */
+    void robotCloseTaskDetail(String id, String mac, String orderType);
 }
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 6ba2f07fb..a2de04f06 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
@@ -259,16 +259,15 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
     @Override
     public void deleteInformation(Long id) {
-        // 校验存在
-        validateInformationExists(id);
-        // 删除
-        informationMapper.deleteById(id);
-
         RobotInformationDO robotInformationDO = informationMapper.selectById(id);
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("删除车辆 " + robotInformationDO.getRobotNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
+        // 校验存在
+        validateInformationExists(id);
+        // 删除
+        informationMapper.deleteById(id);
     }
 
     private void validateInformationExists(Long id) {
@@ -1030,6 +1029,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param mac
      * @param orderType
      */
+    @Override
     public void robotCloseTaskDetail(String id, String mac, String orderType) {
         RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
         robotTask.setOrderId(id);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java
index 8b9e3b0ea..a8f6ee716 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java
@@ -66,4 +66,11 @@ public interface RobotTaskDetailService {
      * @param taskDetailId
      */
     RobotTaskDetailDO closeTaskDetail(Long taskDetailId);
+
+    /**
+     *
+     * @param id
+     * @return
+     */
+    void manuallyCompleted(Long id);
 }
\ 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 7baacca8d..4e004801c 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
@@ -6,12 +6,15 @@ import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailA
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 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.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskStatusEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
+import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
@@ -46,6 +49,12 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     @Resource
     private RobotTaskMapper robotTaskMapper;
 
+    @Resource
+    private RobotTaskDetailActionLogService taskDetailActionLogService;
+
+    @Resource
+    private RobotInformationService informationService;
+
     @Override
     public Long createTaskDetail(RobotTaskDetailSaveReqVO createReqVO) {
         // 插入
@@ -119,4 +128,28 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
         log.info("车机上报异常， 把任务取消 :{}", taskDetailId);
         return robotTaskDetailDO;
     }
+
+    @Override
+    public void manuallyCompleted(Long taskDetailId) {
+        RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectById(taskDetailId);
+        Long taskStage = robotTaskDetailDO.getTaskStage();
+        robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
+        robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MANUALLY_COMPLETED.getType());
+        taskDetailMapper.updateById(robotTaskDetailDO);
+
+        RobotTaskDetailActionLogDO log = taskDetailActionLogService.getLastTaskByRobotNo(robotTaskDetailDO.getRobotNo());
+        if (ObjectUtil.isEmpty(log) || !log.getTaskDetailId().equals(taskDetailId)) {
+            return;
+        }
+
+        if (RobotTaskStageEnum.DONE.getType().equals(taskStage)
+            || RobotTaskStageEnum.CLOSE.getType().equals(taskStage)
+            || RobotTaskStageEnum.MANUALLY_COMPLETED.getType().equals(taskStage)
+            || RobotTaskStageEnum.EXCEPTION.getType().equals(taskStage) ) {
+            return;
+        }
+
+        String mac = informationService.getMacByRobotNo(robotTaskDetailDO.getRobotNo());
+        informationService.robotCloseTaskDetail(String.valueOf(taskDetailId),mac,"");
+    }
 }
\ No newline at end of file