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 8651ee38..5f0c25d4 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
@@ -31,6 +31,7 @@ public interface LauncherConstant {
     /**
      * nacos dev 地址
      */
+
     //String NACOS_DEV_ADDR = "192.168.249.27:8848";
     String NACOS_DEV_ADDR = "127.0.0.1:8848";
 
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 75154a1c..c61fb2e4 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
@@ -201,6 +201,14 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
             }
         }
 
+        // 7. 任务取消，将终点站点设置为空闲,将任务设置为失败
+        if (method.equals(TaskExecuteRecord.STATUS_CANCEL)){
+            boolean conCtuReturn = taskCancelled(agvCallBack.getTaskCode());
+            if (!conCtuReturn) {
+                return R.fail("任务取消失败");
+            }
+        }
+
 
         // 回调处理成功
         log.info("AGV回调成功：任务单号{}的执行记录已更新，状态为{}", agvCallBack.getTaskCode(), method);
@@ -210,6 +218,71 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
         return r;
     }
 
+    @Transactional(rollbackFor = Exception.class)
+    private boolean taskCancelled(String taskCode) {
+        try {
+            TaskExecuteRecord taskExecuteRecord = baseMapper.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;
+            }
+            log.info("任务取消,taskCode:{}", taskCode);
+            log.info("任务取消,开始位置:{},结束位置:{}", taskExecuteRecord.getStartPos(), taskExecuteRecord.getEndPos());
+
+            // 1. 将任务设置为失败
+            Task task = taskService.getById(taskExecuteRecord.getTaskId());
+            if (task == null) {
+                log.error("任务不存在, taskId:{}", taskExecuteRecord.getTaskId());
+                return false;
+            }
+            task.setTaskStatus(Task.STATUS_FAILING);
+            boolean taskUpdate = taskService.updateById(task);
+            if (!taskUpdate) {
+                log.error("任务更新失败, taskId:{}", task.getId());
+                return false;
+            }
+
+            // 2. 释放终点位置
+            String positionCode = taskExecuteRecord.getEndPos();
+
+            // 2.1 站点：需要释放
+            Station station = stationService.getByStationCode(positionCode);
+            if (station != null) {
+                station.setStationStatus(Station.STATUS_FREE);
+                boolean update = stationService.updateById(station);
+                if (update) {
+                    log.info("站点释放成功：{}", station.getStationCode());
+                    return true;
+                } else {
+                    log.error("站点释放失败：{}", station.getStationCode());
+                    return false;
+                }
+            }
+
+            // 2.2 梳齿架/库位：需要释放
+            Location location = locationService.selectByLocationCode(positionCode, 0);
+            if (location != null) {
+                location.setLocationStatus(Location.STATUS_FREE);
+                boolean update = locationService.updateById(location);
+                if (update) {
+                    log.info("库位/梳齿架释放成功：{}", location.getLocationCode());
+                    return true;
+                } else {
+                    log.error("库位/梳齿架释放失败：{}", location.getLocationCode());
+                    return false;
+                }
+            }
+
+            // 2.3 输送线终点：不处理
+            log.info("输送线终点无需释放，positionCode:{}", positionCode);
+            return true;
+
+        } catch (Exception e) {
+            log.error("taskCancelled执行异常，taskCode：{}", taskCode, e);
+            throw new RuntimeException("任务取消失败", e);
+        }
+    }
+
     @Override
     public boolean releaseSite(String taskCode) {
         try {