diff --git a/blade-common/src/main/java/org/springblade/common/constant/LauncherConstant.java b/blade-common/src/main/java/org/springblade/common/constant/LauncherConstant.java
index 73debd58..6dfc16cd 100644
--- a/blade-common/src/main/java/org/springblade/common/constant/LauncherConstant.java
+++ b/blade-common/src/main/java/org/springblade/common/constant/LauncherConstant.java
@@ -12,9 +12,9 @@ public interface LauncherConstant {
     /**
      * nacos 命名空间
      */
-//	String NACOS_NAMESPACE = "feaf627f-a847-463b-8b73-24a0538f526e";
+	String NACOS_NAMESPACE = "feaf627f-a847-463b-8b73-24a0538f526e";
 	// 生产环境
-	String NACOS_NAMESPACE = "db3f4da1-ae19-4104-8c17-6d9b8f069401";
+//	String NACOS_NAMESPACE = "db3f4da1-ae19-4104-8c17-6d9b8f069401";
 	// 测试环境
 //	String NACOS_NAMESPACE = "6cdd0310-0d61-4f54-891a-7fb06224d9b8";
 
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/LocationMapper.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/LocationMapper.java
index 9ed2adb4..34abb32b 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/LocationMapper.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/LocationMapper.java
@@ -13,4 +13,6 @@ public interface LocationMapper extends BaseMapper<Location> {
     List<Location> selectByLocationStatus(@Param("statusFree") Integer statusFree);
 
     List<Location> selectByStatus(@Param("status") Integer status);
+
+    Location selectByLocationCode(@Param("locationCode") String locationCode, @Param("status")int status);
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/LocationMapper.xml b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/LocationMapper.xml
index 43f0926d..9ce902e7 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/LocationMapper.xml
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/LocationMapper.xml
@@ -13,4 +13,8 @@
         select id, location_name, location_code, location_status, status, create_user, create_time, create_dept, update_user, update_time, is_deleted, remark
         from LM_LOCATION where IS_DELETED = 0 and status = #{status} and LOCATION_STATUS = 0;
     </select>
+    <select id="selectByLocationCode" resultType="org.springblade.desk.logistics.pojo.entity.Location">
+        select id, location_name, location_code, location_status, status, create_user, create_time, create_dept, update_user, update_time, is_deleted, remark
+        from LM_LOCATION where IS_DELETED = 0 and status = #{status} and LOCATION_CODE = #{locationCode};
+    </select>
 </mapper>
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ILocationService.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ILocationService.java
index 9d288c81..174c0cdf 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ILocationService.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ILocationService.java
@@ -52,4 +52,12 @@ public interface ILocationService extends BaseService<Location> {
      * @return
      */
     List<Location> selectByStatus(Integer status);
+
+    /**
+     * 根据库位编码 和 层数 查询
+     * @param locationCode 库位编码
+     * @param status 层数
+     * @return
+     */
+    Location selectByLocationCode(String locationCode, int status);
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java
index ab980b02..b4fdc6c1 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/ITaskExecuteRecordService.java
@@ -75,7 +75,7 @@ public interface ITaskExecuteRecordService extends BaseService<TaskExecuteRecord
      * @param taskCode
      * @return
      */
-    boolean containerToEmpty(String taskCode);
+    boolean containerToCtu(String taskCode);
 
     /**
      * CTU调用接口
@@ -87,5 +87,12 @@ public interface ITaskExecuteRecordService extends BaseService<TaskExecuteRecord
      * @param type
      * @return
      */
-    boolean genCtuSchedulingTask(String taskTyp,String ctnrTyp, String ctnrCode,String startPos, String endPos, String type);
+    AgvSchedulingTaskVO genCtuSchedulingTask(String taskTyp,String ctnrTyp, String ctnrCode,String startPos, String endPos, String type);
+
+    /**
+     * agv调用前置接口
+     * @param taskCode
+     * @return
+     */
+    boolean containerToAgv(String taskCode);
 }
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 b98a23a1..cea929da 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
@@ -2,7 +2,6 @@ package org.springblade.desk.logistics.service.impl;
 
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import groovy.lang.Lazy;
 import lombok.extern.slf4j.Slf4j;
 import org.springblade.core.secure.utils.AuthUtil;
 import org.springblade.core.tool.api.R;
@@ -15,7 +14,6 @@ import org.springblade.desk.logistics.service.*;
 import org.springblade.desk.logistics.utils.AgvTaskTypeUtil;
 import org.springblade.desk.order.pojo.entity.YieldOrder;
 import org.springblade.desk.order.service.IYieldOrderService;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.Assert;
 import org.springframework.util.CollectionUtils;
@@ -25,9 +23,7 @@ import java.util.*;
 import java.util.stream.Collectors;
 
 import static org.springblade.desk.logistics.constant.AgvConstant.EQUIPMENT_TYPE_AGV;
-import static org.springblade.desk.logistics.pojo.entity.OrderBind.STATUS_UNBINDED;
 import static org.springblade.desk.logistics.pojo.entity.Station.*;
-import static org.springblade.desk.logistics.utils.CollectionCheckUtil.isFieldInCollection;
 
 /**
  * 订单箱业务实现类
@@ -63,7 +59,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
 
     private final AgvTaskTypeUtil agvTaskTypeUtil;
     private final IBsWorkCenterService bsWorkCenterService;
-    private final IPipelineService iPipelineOrderBoxService;
+    private final IPipelineService pipelineService;
 
     /**
      * 任务运行中状态集合：包含任务从启动到待入库的所有中间状态
@@ -83,7 +79,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         RUNNING_STATUSES.add(Task.STATUS_BACK_TO_STORAGE);// 返库状态
     }
 
-    public IOrderBoxServiceImpl(IYieldOrderService iYieldOrderService, ITaskService iTaskService, IOrderBindService iOrderBindService, IStationService iStationService, ILocationService iLocationService, AgvTaskTypeUtil agvTaskTypeUtil, IBsWorkCenterService bsWorkCenterService, IPipelineService iPipelineOrderBoxService) {
+    public IOrderBoxServiceImpl(IYieldOrderService iYieldOrderService, ITaskService iTaskService, IOrderBindService iOrderBindService, IStationService iStationService, ILocationService iLocationService, AgvTaskTypeUtil agvTaskTypeUtil, IBsWorkCenterService bsWorkCenterService, IPipelineService iPipelineOrderBoxService, IPipelineService pipelineService) {
         this.iYieldOrderService = iYieldOrderService;
         this.iTaskService = iTaskService;
         this.iOrderBindService = iOrderBindService;
@@ -91,7 +87,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         this.iLocationService = iLocationService;
         this.agvTaskTypeUtil = agvTaskTypeUtil;
         this.bsWorkCenterService = bsWorkCenterService;
-        this.iPipelineOrderBoxService = iPipelineOrderBoxService;
+        this.pipelineService = pipelineService;
     }
 
     /**
@@ -328,7 +324,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         try {
             // 2. 获取AGV任务类型并调用调度接口
             String taskType = agvTaskTypeUtil.getTaskType(Integer.valueOf(targetStation.getStationPosition()), true);
-            boolean agvResult = iPipelineOrderBoxService.genAgvSchedulingTask(
+            boolean agvResult = pipelineService.genAgvSchedulingTask(
                     taskType, stationCode, DROPOFF_CONVEYOR_LINE, EQUIPMENT_TYPE_AGV, taskList.get(0)
             );
 
@@ -362,7 +358,7 @@ public class IOrderBoxServiceImpl implements IOrderBoxService {
         try {
             // 3. 获取AGV任务类型并调用调度接口
             String taskType = agvTaskTypeUtil.getTaskType(Integer.valueOf(targetStation.getStationPosition()), false);
-            boolean agvResult = iPipelineOrderBoxService.genAgvSchedulingTask(
+            boolean agvResult = pipelineService.genAgvSchedulingTask(
                     taskType, sourceStationCode, endStation.getStationCode(), EQUIPMENT_TYPE_AGV, taskList.get(0)
             );
 
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/LocationServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/LocationServiceImpl.java
index 1e6a47cc..8d828287 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/LocationServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/LocationServiceImpl.java
@@ -60,4 +60,9 @@ public class LocationServiceImpl extends BaseServiceImpl<LocationMapper, Locatio
     public List<Location> selectByStatus(Integer status) {
         return locationMapper.selectByStatus(status);
     }
+
+    @Override
+    public Location selectByLocationCode(String locationCode, int status) {
+        return locationMapper.selectByLocationCode(locationCode,status);
+    }
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/StorageMonitoringServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/StorageMonitoringServiceImpl.java
index ba0da8a6..5d446f39 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/StorageMonitoringServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/StorageMonitoringServiceImpl.java
@@ -1,16 +1,16 @@
 package org.springblade.desk.logistics.service.impl;
 
+import cn.hutool.core.collection.CollUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
+import org.springblade.desk.logistics.constant.AgvConstant;
 import org.springblade.desk.logistics.pojo.entity.Location;
 import org.springblade.desk.logistics.pojo.entity.Station;
 import org.springblade.desk.logistics.pojo.entity.Task;
-import org.springblade.desk.logistics.service.ILocationService;
-import org.springblade.desk.logistics.service.IStationService;
-import org.springblade.desk.logistics.service.IStorageMonitoringService;
-import org.springblade.desk.logistics.service.ITaskService;
-import org.springframework.scheduling.annotation.Scheduled;
+import org.springblade.desk.logistics.pojo.vo.AgvSchedulingTaskVO;
+import org.springblade.desk.logistics.service.*;
 import org.springframework.stereotype.Service;
+import org.springframework.util.CollectionUtils;
 
 import java.util.List;
 
@@ -51,6 +51,8 @@ public class StorageMonitoringServiceImpl implements IStorageMonitoringService {
      */
     private final ILocationService locationService;
 
+    private final ITaskExecuteRecordService taskExecuteRecordService;
+
     /**
      * 构造器注入依赖（Spring官方推荐方式）
      * <p>
@@ -58,15 +60,16 @@ public class StorageMonitoringServiceImpl implements IStorageMonitoringService {
      * 1. 强制依赖注入，避免NPE（空指针异常）
      * 2. 便于单元测试时模拟依赖
      * 3. 符合依赖倒置原则，降低耦合
-     *
-     * @param taskService      任务服务Bean（Spring自动注入）
+     *  @param taskService      任务服务Bean（Spring自动注入）
      * @param stationService   站点服务Bean（Spring自动注入）
      * @param locationService  库位服务Bean（Spring自动注入）
+     * @param taskExecuteRecordService
      */
-    public StorageMonitoringServiceImpl(ITaskService taskService, IStationService stationService, ILocationService locationService) {
+    public StorageMonitoringServiceImpl(ITaskService taskService, IStationService stationService, ILocationService locationService, ITaskExecuteRecordService taskExecuteRecordService) {
         this.taskService = taskService;
         this.stationService = stationService;
         this.locationService = locationService;
+        this.taskExecuteRecordService = taskExecuteRecordService;
     }
 
     /**
@@ -167,8 +170,25 @@ public class StorageMonitoringServiceImpl implements IStorageMonitoringService {
                 // ========== 步骤2.5：触发AGV小车移动指令（待实现） ==========
                 log.info("【仓储监控】站点ID：{} - 准备调用AGV接口，任务ID：{}，库位ID：{}",
                         station.getId(), firstTask.getId(), locationId);
-                // todo: 调用AGV接口传递任务ID和站点ID，触发小车移动
-                // agvService.dispatchAgv(firstTask.getId(), station.getId());
+
+                // 调用AGV接口传递任务ID和站点ID，触发小车移动
+                // 查询空闲梳齿架子
+                List<Location> locationList = locationService.selectByStatus(1);
+                if(CollectionUtils.isEmpty(locationList)){
+                    log.error("库位暂时没有空闲梳齿架子");
+                    return;
+                }
+                String locationCode = locationList.get(0).getLocationCode();
+
+                //调用ctu
+                AgvSchedulingTaskVO ctuSchedulingTask = taskExecuteRecordService.genCtuSchedulingTask("CTu2", "1", firstTask.getBoxBarcode(), location.getLocationCode(),
+                        locationCode, AgvConstant.EQUIPMENT_TYPE_CTU);
+
+                //调用成功 添加任务
+                if(null != ctuSchedulingTask){
+                    // 添加任务
+                    boolean record = taskExecuteRecordService.inboundRecord(ctuSchedulingTask, firstTask);
+                }
 
                 processedCount++; // 成功处理计数+1
 
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java
index 6ddeb793..d2f224da 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/TaskExecuteRecordServiceImpl.java
@@ -14,12 +14,12 @@ import org.springblade.desk.logistics.constant.AgvConstant;
 import org.springblade.desk.logistics.mapper.TaskExecuteRecordMapper;
 import org.springblade.desk.logistics.pojo.dto.AGVCallBackDto;
 import org.springblade.desk.logistics.pojo.entity.Location;
+import org.springblade.desk.logistics.pojo.entity.Station;
 import org.springblade.desk.logistics.pojo.entity.Task;
 import org.springblade.desk.logistics.pojo.entity.TaskExecuteRecord;
 import org.springblade.desk.logistics.pojo.vo.AgvSchedulingTaskVO;
-import org.springblade.desk.logistics.service.ILocationService;
-import org.springblade.desk.logistics.service.ITaskExecuteRecordService;
-import org.springblade.desk.logistics.service.ITaskService;
+import org.springblade.desk.logistics.service.*;
+import org.springblade.desk.logistics.utils.AgvTaskTypeUtil;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.StringUtils;
@@ -28,6 +28,9 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
+import static org.springblade.desk.logistics.constant.AgvConstant.EQUIPMENT_TYPE_AGV;
+import static org.springblade.desk.logistics.pojo.entity.Station.DROPOFF_CONVEYOR_LINE;
+
 /**
  * 物流AGV小车任务执行记录服务实现类
  * <p>
@@ -52,6 +55,18 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
     @Autowired
     ILocationService locationService;
 
+    @Autowired
+    ITaskExecuteRecordService taskExecuteRecordService;
+
+    @Autowired
+    IStationService stationService;
+
+    @Autowired
+    IPipelineService iPipelineService;
+
+    @Autowired
+    AgvTaskTypeUtil agvTaskTypeUtil;
+
     /**
      * AGV小车任务状态回调接口
      * <p>
@@ -125,7 +140,10 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
             log.info("任务单号{}已完成，准备调用东哥接口", agvCallBack.getTaskCode());
 
             //判断是否需要调用ctu接口
-            containerToEmpty(agvCallBack.getTaskCode());
+            containerToCtu(agvCallBack.getTaskCode());
+
+            //判断是否需要调用agv接口
+            containerToAgv(agvCallBack.getTaskCode());
         }
 
         // 回调处理成功
@@ -260,7 +278,7 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
     }
 
     @Override
-    public boolean containerToEmpty(String taskCode) {
+    public boolean containerToCtu(String taskCode) {
 
         TaskExecuteRecord taskExecuteRecord = taskExecuteRecordMapper.selectByTaskCode(taskCode);
         if(null == taskExecuteRecord){
@@ -286,21 +304,23 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
 
         Location location = locationService.getById(task.getLocationId());
 
-        boolean ctuSchedulingTask = genCtuSchedulingTask
+        AgvSchedulingTaskVO ctuSchedulingTask = genCtuSchedulingTask
                 ("CTu2", "1", task.getBoxBarcode(), taskExecuteRecord.getEndPos(), location.getLocationCode(), AgvConstant.EQUIPMENT_TYPE_CTU);
 
-        if(!ctuSchedulingTask){
+        if(null != ctuSchedulingTask){
             task.setTaskStatus(Task.STATUS_LOCATION);
             boolean taskUpdate = taskService.updateById(task);
             if(!taskUpdate){
                 log.error("Task状态修改失败");
             }
+            // 添加任务
+            boolean record = taskExecuteRecordService.inboundRecord(ctuSchedulingTask, task);
         }
         return true;
     }
 
     @Override
-    public boolean genCtuSchedulingTask(String taskTyp, String ctnrTyp, String ctnrCode,
+    public AgvSchedulingTaskVO genCtuSchedulingTask(String taskTyp, String ctnrTyp, String ctnrCode,
                                         String startPos, String endPos, String type) {
         // 接口地址
         String url = "http://172.22.252.10:8181/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
@@ -346,7 +366,7 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
 
             if (!StringUtils.hasText(responseStr)) {
                 log.error("调用CTU调度任务接口失败，响应为空");
-                return false;
+                return new AgvSchedulingTaskVO();
             }
 
             // 解析响应
@@ -358,19 +378,64 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
             if ("0".equals(code)) {
                 log.info("CTU调度任务创建成功，任务类型：{}，任务单号：{}，容器编号：{}，起始位置：{}，目标位置：{}",
                         taskTyp, taskCode, ctnrCode, startPos, endPos);
-                return true;
+                return AgvSchedulingTaskVO.success(taskCode,taskTyp,startPos,endPos,type);
             } else {
                 // code不等于0，输出错误信息
                 log.error("CTU调度任务创建失败，错误码：{}，错误信息：{}，任务类型：{}，容器编号：{}，起始位置：{}，目标位置：{}",
                         code, message, taskTyp, ctnrCode, startPos, endPos);
-                return false;
+                return AgvSchedulingTaskVO.fail(code,message);
             }
 
         } catch (Exception e) {
             log.error("调用CTU调度任务接口异常，任务类型：{}，容器编号：{}，起始位置：{}，目标位置：{}",
                     taskTyp, ctnrCode, startPos, endPos, e);
+            return new AgvSchedulingTaskVO();
+        }
+    }
+
+    @Override
+    public boolean containerToAgv(String taskCode) {
+        TaskExecuteRecord taskExecuteRecord = taskExecuteRecordMapper.selectByTaskCode(taskCode);
+        if(null == taskExecuteRecord){
+            log.error("未根据taskCode查询到有效数据，请求参数：{}", taskCode);
+            return false;
+        }
+
+        Task task = taskService.getById(taskExecuteRecord.getTaskId());
+        if(null == task){
+            log.error("查询不到Task数据，请求参数：{}", taskExecuteRecord.getTaskId());
             return false;
         }
+
+        String endPos = taskExecuteRecord.getEndPos();
+
+        Location location = locationService.selectByLocationCode(endPos,1);
+        if(null != location){
+            //拿到站点
+            Long stationId = task.getStationId();
+            if(null == stationId){
+                log.error("查询不到Task的站点数据，请求参数：{}", taskCode);
+                return false;
+            }
+            Station station = stationService.getById(task.getStationId());
+            if(null == station){
+                log.error("查询不到站点数据，请求参数：{}", task.getStationId());
+                return false;
+            }
+
+            //调用agv小车
+            // 调用AGV
+            String taskType = agvTaskTypeUtil.getTaskType(Integer.valueOf(station.getStationPosition()));
+
+            boolean agvResult = iPipelineService.genAgvSchedulingTask(
+                    taskType, location.getLocationCode(),station.getStationCode() , EQUIPMENT_TYPE_AGV, task
+            );
+
+            return agvResult;
+
+        }
+
+        return false;
     }
 
     /**