diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/TaskExecuteRecordMapper.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/TaskExecuteRecordMapper.java
index 7945fa61..deb95b49 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/TaskExecuteRecordMapper.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/TaskExecuteRecordMapper.java
@@ -1,10 +1,12 @@
 package org.springblade.desk.logistics.mapper;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Param;
 import org.springblade.desk.logistics.pojo.entity.TaskExecuteRecord;
 
 import java.util.List;
 
 public interface TaskExecuteRecordMapper extends BaseMapper<TaskExecuteRecord> {
 
+    TaskExecuteRecord selectByTaskCode(@Param("taskCode") String taskCode);
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/TaskExecuteRecordMapper.xml b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/TaskExecuteRecordMapper.xml
index 8b90d363..7f963f0b 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/TaskExecuteRecordMapper.xml
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/mapper/TaskExecuteRecordMapper.xml
@@ -4,4 +4,8 @@
         "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace = "org.springblade.desk.logistics.mapper.TaskExecuteRecordMapper">
 
+    <select id="selectByTaskCode" resultType="org.springblade.desk.logistics.pojo.entity.TaskExecuteRecord">
+        select id, task_id, task_code, method, start_pos, end_pos, robot_code, status, create_user, create_time, create_dept, update_user, update_time, is_deleted, remark
+        from LM_TASK_EXECUTE_RECORD where task_code = #{taskCode}
+    </select>
 </mapper>
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 98d0b585..ab980b02 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
@@ -52,7 +52,7 @@ public interface ITaskExecuteRecordService extends BaseService<TaskExecuteRecord
     boolean boundVirtualShelves(String virtualShelvesCode,String stationCode);
 
     /**
-     *  调用AGV小车 CTU
+     *  调用AGV小车
      * @param taskTyp 任务类型 (QM3,QM5,QM6,QM7)
      * @param startPos 开始位置
      * @param endPos 结束位置
@@ -69,4 +69,23 @@ public interface ITaskExecuteRecordService extends BaseService<TaskExecuteRecord
      * @return
      */
     boolean inboundRecord(AgvSchedulingTaskVO agvSchedulingTaskVO, Task task);
+
+    /**
+     * ctu调用前置接口
+     * @param taskCode
+     * @return
+     */
+    boolean containerToEmpty(String taskCode);
+
+    /**
+     * CTU调用接口
+     * @param taskTyp 任务模板
+     * @param ctnrTyp 容器类型
+     * @param ctnrCode 容器编号
+     * @param startPos 起点仓位
+     * @param endPos 终点仓位
+     * @param type
+     * @return
+     */
+    boolean genCtuSchedulingTask(String taskTyp,String ctnrTyp, String ctnrCode,String startPos, String endPos, String type);
 }
diff --git a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java
index 268179f8..bac53600 100644
--- a/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java
+++ b/blade-service/blade-desk/src/main/java/org/springblade/desk/logistics/service/impl/PipelineServiceImpl.java
@@ -234,7 +234,7 @@ public class PipelineServiceImpl implements IPipelineService {
 
 		// 没有空闲站点，走库位逻辑
 		log.info("无空闲站点，尝试将物料箱移入库位");
-		return handleLocationLogic(task.getBoxBarcode());
+		return handleLocationLogic(task);
 	}
 
 	/**
@@ -261,11 +261,11 @@ public class PipelineServiceImpl implements IPipelineService {
 	/**
 	 * 处理库位逻辑
 	 */
-	private boolean handleLocationLogic(String boxBarcode) {
+	private boolean handleLocationLogic(Task task) {
 		// 1. 查询空闲库位
 		List<Location> freeLocations = locationService.selectByLocationStatus(Location.STATUS_FREE);
 		if (CollectionUtils.isEmpty(freeLocations)) {
-			log.warn("没有空闲库位可用，物料箱：{}", boxBarcode);
+			log.warn("没有空闲库位可用，物料箱：{}", task.getBoxBarcode());
 			return false;
 		}
 		String targetLocationCode = freeLocations.get(0).getLocationCode();
@@ -274,7 +274,7 @@ public class PipelineServiceImpl implements IPipelineService {
 		// 2. 查询库位梳齿架子
 		List<Location> combLocations = locationService.selectByStatus(1);
 		if (CollectionUtils.isEmpty(combLocations)) {
-			log.warn("没有可用的库位梳齿架子，物料箱：{}", boxBarcode);
+			log.warn("没有可用的库位梳齿架子，物料箱：{}", task.getBoxBarcode());
 			return false;
 		}
 		String combLocationCode = combLocations.get(0).getLocationCode();
@@ -282,10 +282,12 @@ public class PipelineServiceImpl implements IPipelineService {
 
 		// 3. 两步操作
 		log.info("第一步：AGV将物料箱从输送线放入梳齿架子：{}", combLocationCode);
-		// TODO 调用AGV小车 将输送线物资放入梳齿架子
+		//  调用AGV小车 将输送线物资放入梳齿架子
+		boolean agvSchedulingTask = genAgvSchedulingTask
+				("QM7", Station.PICKUP_CONVEYOR_LINE, combLocationCode, AgvConstant.EQUIPMENT_TYPE_AGV, task);
 
+		//第二步 需要agv调用完成之后 给到mes通知接口
 		log.info("第二步：CTU将物料箱从梳齿架子送往库位：{}", targetLocationCode);
-		// TODO 调用CTU 将梳齿架子物资放入库位
 
 		return true;
 	}
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 4326f481..6ddeb793 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
@@ -7,14 +7,19 @@ import com.alibaba.fastjson2.JSON;
 import com.alibaba.fastjson2.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
+import org.redisson.executor.TasksService;
 import org.springblade.core.mp.base.BaseServiceImpl;
 import org.springblade.core.tool.api.R;
+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.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.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.StringUtils;
@@ -41,6 +46,12 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
     @Autowired
     TaskExecuteRecordMapper taskExecuteRecordMapper;
 
+    @Autowired
+    ITaskService taskService;
+
+    @Autowired
+    ILocationService locationService;
+
     /**
      * AGV小车任务状态回调接口
      * <p>
@@ -112,8 +123,9 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
         // 5. 任务结束状态：触发后续的东哥接口调用（待实现）
         if (method.equals(TaskExecuteRecord.STATUS_END)) {
             log.info("任务单号{}已完成，准备调用东哥接口", agvCallBack.getTaskCode());
-            //todo: 调用东哥接口
-            // eastBrotherService.notifyTaskComplete(agvCallBack.getTaskCode());
+
+            //判断是否需要调用ctu接口
+            containerToEmpty(agvCallBack.getTaskCode());
         }
 
         // 回调处理成功
@@ -160,7 +172,7 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
         // 接口地址
         String url = "http://172.22.252.10:8181/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
 
-        // 生成唯一标识（请求标识和任务标识使用相同值，便于追踪）
+        // 生成唯一标识
         String reqCode = generateReqCode("AGVT");
         String taskCode = reqCode;
 
@@ -247,6 +259,120 @@ public class TaskExecuteRecordServiceImpl extends BaseServiceImpl<TaskExecuteRec
         return insert > 0;
     }
 
+    @Override
+    public boolean containerToEmpty(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;
+        }
+        if(null == task.getLocationId()){
+            //证明不需要送到库位
+            //更新task状态 根据taskCode查询
+            task.setTaskStatus(Task.STATUS_STATION);
+            boolean taskUpdate = taskService.updateById(task);
+            if(!taskUpdate){
+                log.error("Task状态修改失败");
+            }
+            return true;
+        }
+
+        Location location = locationService.getById(task.getLocationId());
+
+        boolean ctuSchedulingTask = genCtuSchedulingTask
+                ("CTu2", "1", task.getBoxBarcode(), taskExecuteRecord.getEndPos(), location.getLocationCode(), AgvConstant.EQUIPMENT_TYPE_CTU);
+
+        if(!ctuSchedulingTask){
+            task.setTaskStatus(Task.STATUS_LOCATION);
+            boolean taskUpdate = taskService.updateById(task);
+            if(!taskUpdate){
+                log.error("Task状态修改失败");
+            }
+        }
+        return true;
+    }
+
+    @Override
+    public boolean 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";
+
+        // 生成唯一标识
+        String reqCode = generateReqCode("CTUT");
+        String taskCode = reqCode;
+
+        try {
+            // 构建请求参数
+            Map<String, Object> requestBody = new HashMap<>();
+            requestBody.put("reqCode", reqCode);
+            requestBody.put("taskCode", taskCode);
+            requestBody.put("taskTyp", taskTyp);
+            requestBody.put("ctnrTyp", ctnrTyp);
+            requestBody.put("ctnrCode", ctnrCode);
+
+            // 构建位置路径列表
+            List<Map<String, String>> positionCodePath = new ArrayList<>();
+
+            // 起始位置
+            Map<String, String> startPosition = new HashMap<>();
+            startPosition.put("positionCode", startPos);
+            startPosition.put("type", type);
+            positionCodePath.add(startPosition);
+
+            // 目标位置
+            Map<String, String> endPosition = new HashMap<>();
+            endPosition.put("positionCode", endPos);
+            endPosition.put("type", type);
+            positionCodePath.add(endPosition);
+
+            requestBody.put("positionCodePath", positionCodePath);
+
+            // 记录请求日志
+            log.info("调用CTU调度任务接口，请求参数：{}", JSON.toJSONString(requestBody));
+
+            // 发送POST请求
+            String responseStr = HttpUtil.post(url, JSON.toJSONString(requestBody));
+
+            // 记录响应日志
+            log.info("调用CTU调度任务接口，响应结果：{}", responseStr);
+
+            if (!StringUtils.hasText(responseStr)) {
+                log.error("调用CTU调度任务接口失败，响应为空");
+                return false;
+            }
+
+            // 解析响应
+            JSONObject response = JSON.parseObject(responseStr);
+            String code = response.getString("code");
+            String message = response.getString("message");
+
+            // 判断是否调用成功（code为0表示成功）
+            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;
+            } 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;
+            }
+
+        } 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 false;
+        }
+    }
+
     /**
      * 生成请求唯一标识
      * @param prefix 前缀