diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/AGVDockingController.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/AGVDockingController.java
index 4bc9184c..83f32964 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/AGVDockingController.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/AGVDockingController.java
@@ -22,7 +22,7 @@ import org.springframework.web.bind.annotation.RestController;
  */
 @RestController
 @AllArgsConstructor
-@RequestMapping("没呢   ")
+@RequestMapping("/agv")
 @Tag(name = "agv小车接口", description = "agv小车对接接口")
 public class AGVDockingController {
 
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/OrderBindController.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/OrderBindController.java
index f5732c76..4226f561 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/OrderBindController.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/OrderBindController.java
@@ -81,4 +81,12 @@ public class OrderBindController {
     public R getBoxcodelist() throws BusinessException {
         return iOrderBindService.getBoxcodelist();
     }
+
+    @GetMapping("/demo")
+    @ApiOperationSupport(order = 6)
+    public R demo(@RequestParam String boxCode) throws BusinessException {
+        return iOrderBoxService.getWcId(boxCode);
+    }
+
+
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/PipelineController.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/PipelineController.java
index ebdd6ee7..b819c6db 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/PipelineController.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/controller/PipelineController.java
@@ -35,7 +35,10 @@ import org.springblade.core.boot.ctrl.BladeController;
 import org.springblade.core.log.exception.ServiceException;
 import org.springblade.core.tool.api.R;
 import org.springblade.desk.basic.util.StatusCountMap;
+import org.springblade.desk.logistics.pojo.dto.ReturnToWarehouseDto;
 import org.springblade.desk.logistics.pojo.entity.Station;
+import org.springblade.desk.logistics.service.IOrderBindService;
+import org.springblade.desk.logistics.service.IOrderBoxService;
 import org.springblade.desk.logistics.service.IPipelineService;
 import org.springblade.desk.logistics.utils.AgvTaskTypeUtil;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -60,6 +63,8 @@ public class PipelineController extends BladeController {
 
 	@Autowired
 	IPipelineService pipelineService;
+	@Autowired
+	IOrderBoxService iOrderBoxService;
 
 
 	/**
@@ -75,7 +80,17 @@ public class PipelineController extends BladeController {
 		}
 
 		BigDecimal estimatedWeight = pipelineService.getMaterialBoxWeight(boxBarcode);
-
+		ReturnToWarehouseDto returnToWarehouseDto = new ReturnToWarehouseDto();
+		returnToWarehouseDto.setBoxBarcode(boxBarcode);
+		R wcIdR = iOrderBoxService.getWcId(boxBarcode);
+        if (!wcIdR.isSuccess()) {
+		return wcIdR;
+        }
+		returnToWarehouseDto.setEndWcId((Long) wcIdR.getData());
+		R taskR = iOrderBoxService.saveTask(returnToWarehouseDto, false);
+        if (!taskR.isSuccess()) {
+            return taskR;
+        }
 		return R.data(estimatedWeight);
 	}
 
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IOrderBoxService.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IOrderBoxService.java
index 87385bf9..f863e93f 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IOrderBoxService.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/IOrderBoxService.java
@@ -47,4 +47,5 @@ public interface IOrderBoxService {
     R receive(String stationCode);
 
     R saveTask(ReturnToWarehouseDto returnToWarehouseDto,Boolean agvSend);
+    R getWcId(String boxBarcode);
 }
\ No newline at end of file
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/IOrderBoxServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/IOrderBoxServiceImpl.java
index fe456623..cd5a9f55 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/IOrderBoxServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/IOrderBoxServiceImpl.java
@@ -352,8 +352,15 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
 
     }
 
-
-
+    @Override
+    public R getWcId(String boxBarcode) {
+        List<OrderBind> orderBindList = iOrderBindService.list(new LambdaQueryWrapper<OrderBind>().eq(OrderBind::getBoxBarcode, boxBarcode).eq(OrderBind::getBindingStatus, OrderBind.STATUS_BOUND));
+        if (orderBindList==null||orderBindList.isEmpty()) {
+            return R.fail("该箱子没有绑定数据");
+        }
+        Long wcId=iYieldOrderService.getWcId(orderBindList.get(0).getOrderId());
+        return R.data(wcId);
+    }
 
 
     /**
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/order/mapper/YieldOrderMapper.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/order/mapper/YieldOrderMapper.java
index 7d9cc48f..c404146e 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/order/mapper/YieldOrderMapper.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/order/mapper/YieldOrderMapper.java
@@ -38,4 +38,6 @@ public interface YieldOrderMapper extends BaseMapper<YieldOrder> {
 	 */
 	List<YieldOrder> pageMaterialApply(IPage page, Long wcId, Integer materialType, Integer overHalfMon,
 									   List<YieldOrderEnum> yieldTypeList, List<YieldOrderEnum> yieldStatusList);
+
+    Long getWcId(Long orderId);
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/order/mapper/YieldOrderMapper.xml b/blade-service/blade-desk/src/main/java/org/springblade/desk/order/mapper/YieldOrderMapper.xml
index 9cc0e7c2..12cb4de3 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/order/mapper/YieldOrderMapper.xml
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/order/mapper/YieldOrderMapper.xml
@@ -93,5 +93,23 @@
             </foreach>
         </if>
     </select>
-
+    <select id = "getWcId" resultType = "java.lang.Long">
+        SELECT ts.WC_ID
+        FROM MES_YIELD_ORDER yo
+                 LEFT JOIN MES_WORK_ORDER wo
+                           ON yo.ID = wo.YO_ID
+                 LEFT JOIN (
+            SELECT wp.WO_ID,
+                   wp.MAKE_TEAM,
+                   ROW_NUMBER() OVER (PARTITION BY wp.WO_ID ORDER BY wp.ORDERS ASC) AS rn
+            FROM MES_WORK_PLAN wp
+            WHERE wp.WO_ID IS NOT NULL
+        ) wp
+                           ON wo.ID = wp.WO_ID
+                               AND wp.rn = 1
+                 LEFT JOIN BS_TEAM_SET ts
+                           ON wp.MAKE_TEAM = ts.ID
+        WHERE yo.ID = #{orderId}
+          AND ROWNUM = 1;
+    </select>
 </mapper>
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/order/service/IYieldOrderService.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/order/service/IYieldOrderService.java
index 7323317b..fe589c31 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/order/service/IYieldOrderService.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/order/service/IYieldOrderService.java
@@ -214,4 +214,5 @@ public interface IYieldOrderService extends BaseService<YieldOrder> {
 	 */
     String getNewCardNo(String cardNo);
 
+    Long getWcId(Long orderId);
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/order/service/impl/YieldOrderServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/order/service/impl/YieldOrderServiceImpl.java
index 97593db1..577cfe59 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/order/service/impl/YieldOrderServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/order/service/impl/YieldOrderServiceImpl.java
@@ -715,6 +715,11 @@ public class YieldOrderServiceImpl extends BaseServiceImpl<YieldOrderMapper, Yie
 		return "";
 	}
 
+	@Override
+	public Long getWcId(Long orderId) {
+		return baseMapper.getWcId(orderId);
+	}
+
 	/**
 	 * 验证零件子件信息
 	 *