diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java
index a8176fd6e..b478f680a 100644
--- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java
+++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java
@@ -16,6 +16,8 @@ public class RobotStatusDataPoseDTO {
     public String floor;
     //区域
     public String area;
+    //货叉高度
+    public Double forkHeight;
     //电池剩余容量   废弃  从ROBOT_INFORMATION_SOC 获取电量
 //    public String batSoc;
 }
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 c727a14a0..b446c48fb 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
@@ -224,6 +224,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CREATE_FAIL = new ErrorCode(1-002-035-110, "任务创建失败:");
     ErrorCode ROBOT_DO_TASK_FAIL = new ErrorCode(1-002-035-112, "车机反馈不能接任务");
     ErrorCode TASK_COMMONG_FAIL = new ErrorCode(1-002-035-113, "下发失败");
+    ErrorCode TASK_ASSIGN_OTHER_ROBOT = new ErrorCode(1-002-035-114, "此任务已经转移给其他车辆");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "车辆任务明细不存在");
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
index 2f3816a78..f133411be 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
@@ -7,6 +7,7 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.system.api.robot.dto.*;
 import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotReactiveStatusDTO;
 import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
 import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
@@ -87,6 +88,14 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         robotStatusDataPoseDTO.setRobotNo(robotNo);
         robotStatusDataPoseDTO.setFloor(floorZoneDTO.getFloor());
         robotStatusDataPoseDTO.setArea(floorZoneDTO.getArea());
+
+        String speedKey = RobotTaskChcheConstant.ROBOT_SPEED_FORK_HEIGHT + robotNo;
+        Object speedObject = redisUtil.get(speedKey);
+        if (ObjectUtil.isNotEmpty(speedObject)) {
+            RobotReactiveStatusDTO data = JSON.parseObject(speedObject.toString(), RobotReactiveStatusDTO.class);
+            robotStatusDataPoseDTO.setForkHeight(data.getForkHeight());
+        }
+
         redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
 
         //机器人身上是否有货
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 d63cc2c66..019921bd6 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
@@ -10,6 +10,7 @@ import cn.iocoder.yudao.module.system.api.robot.dto.RobotCommandStateDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotSkuInfoDTO;
 import cn.iocoder.yudao.module.system.constant.CommonConstant;
+import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@@ -111,6 +112,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Value("${zn.robot_doing_action.doing_action_cache_time:2*24*60*60}")
     private Long doingActionCacheTime;
 
+    @Value("${zn.is_simulation:false}")
+    private Boolean isSimulation;
+
     @Transactional(rollbackFor = Exception.class)
     public void doRobotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
         log.info("机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
@@ -492,6 +496,11 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         //同步任务完成给PP
         pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
                 , "", PathIsReachEnum.END_WORK.getType());
+
+        if (!isSimulation) {
+            String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + robotCompleteTaskDTO.getOrderId();
+            redisUtil.del(plantingKey);
+        }
     }
 
 
@@ -579,6 +588,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
         logOne.setRobotNo(robotNo);
+        logOne.setOriginalRobotNo(robotNo);
         logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
         logOne.setTaskStage(robotTaskDetailDO.getTaskStage());
         logOne.setCommandType(PathTaskTypeEnum.getTaskType(robotTaskDetailDO.getTaskType()));
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 70cd7f3ab..5d28a6c8c 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
@@ -57,4 +57,6 @@ public class RobotTaskDetailActionLogPageReqVO extends PageParam {
     @Schema(description = "是否已经统计(0:未统计、1：已经统计)")
     private Integer alreadyCounted;
 
+    @Schema(description = "这条任务第一次执行的AGV编号")
+    private String originalRobotNo;
 }
\ 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 7ac77d6b7..5fd6ca7f0 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
@@ -69,4 +69,7 @@ public class RobotTaskDetailActionLogRespVO {
     @ExcelProperty("是否已经统计(0:未统计、1：已经统计)")
     private Integer alreadyCounted;
 
+    @Schema(description = "这条任务第一次执行的AGV编号")
+    @ExcelProperty("这条任务第一次执行的AGV编号")
+    private String originalRobotNo;
 }
\ 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 70db63906..876f9dbb2 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
@@ -52,4 +52,7 @@ public class RobotTaskDetailActionLogSaveReqVO {
 
     @Schema(description = "是否已经统计(0:未统计、1：已经统计)")
     private Integer alreadyCounted;
+
+    @Schema(description = "这条任务第一次执行的AGV编号")
+    private String originalRobotNo;
 }
\ 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/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 6bdb5819d..5539a6ab0 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
@@ -87,5 +87,9 @@ public class RobotTaskDetailActionLogDO extends BaseDO {
      * 时长,单位分钟
      */
     private Long duration;
+    /**
+     * 这条任务第一次执行的AGV编号
+     */
+    private String originalRobotNo;
 
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/schedul/ScheduledTasks.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java
similarity index 96%
rename from yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/schedul/ScheduledTasks.java
rename to yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java
index 05a34e645..87573c3d9 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/schedul/ScheduledTasks.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java
@@ -1,4 +1,4 @@
-package cn.iocoder.yudao.module.system.api.robot.schedul;
+package cn.iocoder.yudao.module.system.schedul;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
@@ -7,7 +7,6 @@ import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
-import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogService.java
index bbfc771f5..248875114 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogService.java
@@ -60,7 +60,7 @@ public interface RobotTaskDetailActionLogService {
     RobotTaskDetailActionLogDO setPreviousTaskDoneByOrderId(Long orderId);
 
     /**
-     * 获取车辆的最后一条任务
+     * 获取车辆的最后一条任务(限处理中的任务使用)
      * @param robotNo
      * @return
      */
@@ -84,4 +84,10 @@ public interface RobotTaskDetailActionLogService {
      */
     List<RobotTaskDetailActionLogDO> getUnStatisticsDurationLog();
 
+    /**
+     * 获取这台车最后一次执行的任务(查真实的分配记录)
+     * @param robotNo
+     * @return
+     */
+    RobotTaskDetailActionLogDO getOriginalLastTaskByRobotNo(String robotNo);
 }
\ 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/log/RobotTaskDetailActionLogServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogServiceImpl.java
index 40bd56562..e43ef1f68 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogServiceImpl.java
@@ -2,19 +2,12 @@ package cn.iocoder.yudao.module.system.service.log;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
-import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogPageReqVO;
 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.robot.RobotChargeLogDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
-import cn.iocoder.yudao.module.system.enums.robot.RobotTaskStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
-import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
-import com.alibaba.fastjson.JSON;
-import org.springframework.beans.factory.annotation.Value;
-import org.springframework.scheduling.annotation.Async;
+import cn.iocoder.yudao.module.system.enums.robot.actionlog.CommandIdEnum;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
 import org.springframework.validation.annotation.Validated;
@@ -134,4 +127,18 @@ public class RobotTaskDetailActionLogServiceImpl implements RobotTaskDetailActio
         return taskDetailActionLogMapper.getUnStatisticsDurationLog();
     }
 
+    /**
+     * 查这台车最后一次分配的任务
+     * @param robotNo
+     * @return
+     */
+    @Override
+    public RobotTaskDetailActionLogDO getOriginalLastTaskByRobotNo(String robotNo) {
+        return taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()
+                .eq(RobotTaskDetailActionLogDO::getOriginalRobotNo, robotNo)
+                .eq(RobotTaskDetailActionLogDO::getCommandId, CommandIdEnum.TASK.getType())
+                .orderByDesc(RobotTaskDetailActionLogDO::getCreateTime)
+                .last("limit 1"));
+    }
+
 }
\ 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/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
index fba1e938f..910d097f1 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
@@ -546,7 +546,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         }
 
         List<PositionMapItemDO> itemDOList = new ArrayList<>();
-        List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.WAIT.getType());
+        List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.STOP.getType());
         if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) {
             List<PositionMapItemDO> itemPoses = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.PATH.getType());
             itemDOList.addAll(itemPoses);
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 052571e68..ab86bb5fe 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
@@ -57,6 +57,8 @@ import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeToRobotEnum;
 import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
+import cn.iocoder.yudao.module.system.enums.robot.LocationLockEnum;
+import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum;
@@ -92,6 +94,7 @@ import java.util.function.Function;
 import java.util.stream.Collectors;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
 
 /**
@@ -162,6 +165,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Value("${zn.full_electricity:95}")
     private String fullElectricity;
 
+    @Value("${zn.path_planning.task_chche_time:604800}")
+    private Long taskChcheTime;
+
     @Resource
     private RobotCameraService cameraService;
 
@@ -313,6 +319,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
     /**
      * 查询车辆所在的地图id
+     *
      * @param robotNo
      * @return
      */
@@ -1073,10 +1080,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Transactional(rollbackFor = Exception.class)
     public void doTaskContinue(String robotNo) {
 
-        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo,CommandIdEnum.TASK.getType());
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getOriginalLastTaskByRobotNo(robotNo);
         if (ObjectUtil.isEmpty(actionLog)) {
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
+
+        if (!actionLog.getRobotNo().equals(actionLog.getOriginalRobotNo())) {
+            throw exception0(TASK_ASSIGN_OTHER_ROBOT.getCode(), TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo(),
+                    TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo());
+        }
+
         String mac = getMacByRobotNo(robotNo);
         robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
 
@@ -1158,6 +1171,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
         pathPlanningList.add(pathPlanning);
+
+        String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
+        redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), taskChcheTime);
+
         log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
         commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
     }
@@ -1175,7 +1192,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             takeTask(pathPlanning, isRemote);
         } else if (PathTaskTypeEnum.RELEASE.getType().equals(actionLog.getCommandType())) {
             releaseTask(pathPlanning);
-        } else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())) {
+        } else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())
+            || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
 
         }
     }
@@ -1214,11 +1232,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param pathPlanning
      */
     private void takeReleaseTask(TaskToPathPlanningDTO pathPlanning, Boolean isRemote) {
+
         RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        if (!RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetail.getTaskStage())
-                && !RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())
-                && !RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())) {
-            //只要放货
+        String robotNo = pathPlanning.getRobotNoLimitationAreaDTOS().get(0).getRobotNo();
+        String mac = getMacByRobotNo(robotNo);
+        String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
+        Object cargoDetected = redisUtil.get(cargoDetectedKey);
+        if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
+            //说明取货完成
             pathPlanning.setTakeLevel(null);
             pathPlanning.setTakeGroupId(null);
             pathPlanning.setTakeLocationNumber(null);
@@ -1226,7 +1247,15 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             pathPlanning.setTakeOffsetHeight(null);
             pathPlanning.setTakeOffsetHeight(null);
             pathPlanning.setTaskType(PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType());
-        } else {
+            WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
+            if (wareHouseLocation.getTaskId().equals(robotTaskDetail.getTakeId()) && LocationLockEnum.NO.getType().equals(wareHouseLocation.getLocationLock())) {
+                wareHouseLocation.setSkuInfo(null);
+                wareHouseLocation.setSkuNumber(0L);
+                wareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
+                wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
+                wareHouseLocationMapper.updateById(wareHouseLocation);
+            }
+        }else {
             takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
         }
         releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
@@ -1511,14 +1540,15 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void rmoteTransferTaskToNewFreeRobo(String oldRobotNo, Long id, String robotNo) {
-        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo,CommandIdEnum.TASK.getType());
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getOriginalLastTaskByRobotNo(oldRobotNo);
         if (ObjectUtil.isEmpty(actionLog)) {
             log.info("车辆前一个任务不存在或已经完成");
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
-        if (!actionLog.getTaskDetailId().equals(id)) {
-            log.info("车辆最新的任务id是 ：{}, 车辆的前一个任务是 :{}", id, actionLog.getTaskDetailId());
-            throw exception(ROBOT_LAST_TASK_NO_EXISTS);
+        if (!oldRobotNo.equals(actionLog.getRobotNo())) {
+            log.info("此任务已经被转移到车辆 :{}", actionLog.getRobotNo());
+            throw exception0(TASK_ASSIGN_OTHER_ROBOT.getCode(), TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo(),
+                    TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo());
         }
 
         if (ActionStatusEnum.DONE.getType().equals(actionLog.getActionStatus())) {
@@ -1562,6 +1592,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         resendToPPData(pathPlanning, actionLog, robotInformationDO, true);
 
+        String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
+        redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), taskChcheTime);
+
         List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
         pathPlanningList.add(pathPlanning);
         log.info("远遥任务转移, 任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
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 1f585d631..9826c7111 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
@@ -585,6 +585,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         String actionMsg = taskAssignDTO.getRobotActionMsg() + robotTaskDO.getTaskNo();
         logOne.setActionMsg(actionMsg);
         logOne.setRobotNo(taskAssignDTO.getRobotNo());
+        logOne.setOriginalRobotNo(taskAssignDTO.getRobotNo());
         logOne.setStartTime(LocalDateTime.now());
         logOne.setTaskNo(robotTaskDO.getTaskNo());
         logOne.setCommandId(-1L);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgServiceImpl.java
index ebb8a91bb..0d4f32398 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgServiceImpl.java
@@ -177,13 +177,26 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
     @Override
     public Map<String, List<RobotWarnMsgClassificationDTO>> robotWarnMsgClassification(String type) {
 
-
         if (TimeTypeEnum.WEEK.getType().equals(type)) {
             List<RobotWarnMsgClassificationDTO> data = warnMsgMapper.getRobotWarnMsgClassification(type);
             if (ObjectUtil.isEmpty(data)) {
                 return null;
             }
-            return data.stream().collect(Collectors.groupingBy(RobotWarnMsgClassificationDTO::getWarnTime));
+
+            Map<String, List<RobotWarnMsgClassificationDTO>> map =
+                    data.stream().collect(Collectors.groupingBy(RobotWarnMsgClassificationDTO::getWarnTime));
+
+            Calendar now = Calendar.getInstance();
+            now.setTime(new Date());
+            for (int i = 0; i < 7; i++) {
+                String timeStr = DateUtils.getYYYMMDD(now.getTime());
+                if (!map.containsKey(timeStr)) {
+                    map.put(timeStr,new ArrayList<>());
+                }
+                now.set(Calendar.DATE, now.get(Calendar.DATE) - 1);
+            }
+
+            return map;
         }
 
         //季度是90天，分成10份，是9. getMonthData已经扣了1，所以是8
@@ -198,7 +211,7 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
     /**
      * 按月查询
      *
-     * @param data
+     * @param day
      * @return
      */
     private LinkedHashMap<String, List<RobotWarnMsgClassificationDTO>> getMonthData(int day) {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml
index d47481ba4..ac88c26e2 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml
@@ -55,12 +55,6 @@
                 <when test="type == 1">
                     AND DATE_SUB(CURDATE(), INTERVAL 7 DAY) &lt;= date(create_time)
                 </when>
-                <when test="type == 2">
-                    AND DATE_SUB(CURDATE(), INTERVAL 30 DAY) &lt;= date(create_time)
-                </when>
-                <when test="type == 3">
-                    AND DATE_SUB(CURDATE(), INTERVAL 90 DAY) &lt;= date(create_time)
-                </when>
             </choose>
         </where>
         GROUP BY warnTime ,warn_level