diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
index 7ddac7db0..d9ac003bc 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
@@ -440,9 +440,6 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                             notCreateInstMessage = "手动创建指令未下发电气信号原因->取货位:" + start_device_code + ",放货位:" + next_device_code + ",存在关联的同一列烘箱设备未关门!指令号:" + instruction.getInstruction_code();
                             return false;
                         }
-                        instruction.setInstruction_status("1");
-                        instruction.setUpdate_time(DateUtil.now());
-                        instructionService.update(instruction);
                         Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
                         Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
                         if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))) {
@@ -454,7 +451,7 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         String start_addr = startDevice.getExtraValue().get("address").toString();
                         String next_addr = nextDevice.getExtraValue().get("address").toString();
                         logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
-                                + instruction.getInstruction_code() + ",指令起点:" + instruction.getStart_device_code()
+                                + instruction.getInstruction_code() + "任务号="+ taskDto.getTask_code() + ",指令起点:" + instruction.getStart_device_code()
                                 + ",指令终点:" + instruction.getNext_device_code());
                         this.writing("to_onset", start_addr);
                         this.writing("to_target", next_addr);
@@ -622,10 +619,15 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     logServer.deviceExecuteLog(this.getDevice_code(), "", "", "设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
                     throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
                 }
+                Instruction byInsructionCode = instructionService.findByInsructionCode(instdto.getInstruction_code());
+                if(ObjectUtil.isEmpty(byInsructionCode)){
+                    logServer.deviceExecuteLog(this.getDevice_code(), "", "", "未找到指令号: "+instdto.getInstruction_code());
+                    return false;
+                }
                 String start_addr = startDevice.getExtraValue().get("address").toString();
                 String next_addr = nextDevice.getExtraValue().get("address").toString();
                 logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
-                        + instdto.getInstruction_code() +";指令号: "+ CodeUtil.getNewCode("INSTRUCT_NO")  + ",指令起点:" + instdto.getStart_device_code()
+                        + instdto.getInstruction_code()+ "任务号: "+ task.getTask_code()  + ",指令起点:" + instdto.getStart_device_code()
                         + ",指令终点:" + instdto.getNext_device_code());
                 this.writing("to_onset", start_addr);
                 this.writing("to_target", next_addr);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index 5d89569a3..59f633ce6 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -80,55 +80,191 @@ public class NDCAgvServiceImpl implements NDCAgvService {
         log.info("sendAgvInstToNDC 指令下发NDC:" + "inst_code:" + inst.getInstruction_code()  +  ",agv_system_type:" + agv_system_type + ",agv_inst_type:" + inst.getAgv_inst_type() +
                 ",priority:" + inst.getPriority() + ",startAddress:" +  inst.getStart_point_code() +
                 ",nextAddress:" + inst.getNext_point_code());
-        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
-            String instcode = inst.getInstruction_code();
-            int type = Integer.parseInt(inst.getInstruction_type());
-            int priority = Integer.parseInt(inst.getPriority()) + 128;
-            DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-            DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
-            int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
-            int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
-            byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
-            byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
-            byte typehigh = (byte) IntToHexHigh(type);
-            byte typelow = (byte) IntToHexLow(type);
-            byte qhdhigh = (byte) IntToHexHigh(startAddress);
-            byte qhdlow = (byte) IntToHexLow(startAddress);
-            byte fhdhigh = (byte) IntToHexHigh(nextAddress);
-            byte fhdlow = (byte) IntToHexLow(nextAddress);
-            byte prioritylow = (byte) IntToHexLow(priority);
-            String str = "十进制下发：";
-            String str1 = "十六进制下发：";
-            str += "ikey:" + (Integer.parseInt(instcode));
-            str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
-            str += "/type:" + (type);
-            str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
-            str += "/qhd:" + (startAddress);
-            str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
-            str += "/fhd:" + (nextAddress);
-            str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
-            str += "/priority:" + (priority);
-            str1 += "/priority:" + hexToString(prioritylow & 0xFF);
-            System.out.println(str);
-            System.out.println(str1);
-            byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
-                    (byte) 0X00, (byte) 0X08,
-                    (byte) 0X00, (byte) 0X12,
-                    (byte) 0X00, (byte) 0X01,
-                    (byte) 0X00, (byte) 0X71,
-                    (byte) 0X00, (byte) 0X0E,
-                    (byte) 0X01, prioritylow,
-                    (byte) 0X00, (byte) 0X01,
-                    (byte) ikeyhigh, (byte) ikeylow,
-                    (byte) ikeyhigh, (byte) ikeylow,
-                    (byte) typehigh, (byte) typelow,
-                    (byte) qhdhigh, (byte) qhdlow,
-                    (byte) fhdhigh, (byte) fhdlow
-            };
-            log.info("下发AGV作业指令--{}", str1);
-//            OneNDCSocketConnectionAutoRun.write(b);
-            TwoNDCSocketConnectionAutoRun.write(b);
-            System.out.println("下发agv指令数据:" + Bytes2HexString(b));
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
+            if (!StrUtil.equals(agv_system_type, "1")) {
+                String instcode = inst.getInstruction_code();
+                int type = Integer.parseInt(inst.getAgv_inst_type());
+                int priority = Integer.parseInt(inst.getPriority()) + 128;
+                DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+                DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
+                int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
+                int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
+                int startAddress2 = deviceService.queryAddressBydeviceCode(inst.getStart_point_code2());
+                int nextAddress2 = deviceService.queryAddressBydeviceCode(inst.getNext_point_code2());
+                byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
+                byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
+                byte typehigh = (byte) IntToHexHigh(type);
+                byte typelow = (byte) IntToHexLow(type);
+                byte qhdhigh = (byte) IntToHexHigh(startAddress);
+                byte qhdlow = (byte) IntToHexLow(startAddress);
+                byte qhdhigh2 = (byte) IntToHexHigh(startAddress2);
+                byte qhdlow2 = (byte) IntToHexLow(startAddress2);
+                byte fhdhigh = (byte) IntToHexHigh(nextAddress);
+                byte fhdlow = (byte) IntToHexLow(nextAddress);
+                byte fhdhigh2 = (byte) IntToHexHigh(nextAddress2);
+                byte fhdlow2 = (byte) IntToHexLow(nextAddress2);
+                byte prioritylow = (byte) IntToHexLow(priority);
+
+                String str = "十进制下发：";
+                String str1 = "十六进制下发：";
+                str += "任务号 ikey:" + (Integer.parseInt(instcode));
+                str1 += "任务号 ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
+
+                str += "指令类型 /type:" + (type);
+                str1 += "指令类型 /type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
+
+                str += "取货点 /qhd:" + (startAddress);
+                str1 += "取货点 /qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
+                str += "放货点 /fhd:" + (nextAddress);
+                str1 += "放货点 /fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
+
+                str += "取货点2 /qhd2:" + (startAddress2);
+                str1 += "取货点2 /qhd2:" + hexToString(qhdhigh2 & 0xFF) + hexToString(qhdlow2 & 0xFF);
+                str += "放货点2 /fhd2:" + (nextAddress2);
+                str1 += "放货点2 /fhd2:" + hexToString(fhdhigh2 & 0xFF) + hexToString(fhdlow2 & 0xFF);
+
+                str += "优先级 /priority:" + (priority);
+                str1 += "优先级 /priority:" + hexToString(prioritylow & 0xFF);
+
+                byte[] b = new byte[]{};
+                if (type == 1) {
+                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X00, (byte) 0X16,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X71,
+                            (byte) 0X00, (byte) 0X12,
+                            (byte) 0X01, prioritylow,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) typehigh, (byte) typelow,
+                            (byte) qhdhigh, (byte) qhdlow,
+                            (byte) qhdhigh2, (byte) qhdlow2,
+                            (byte) fhdhigh, (byte) fhdlow,
+                            (byte) fhdhigh2, (byte) fhdlow2
+                    };
+                } else if (type == 2) {
+                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X00, (byte) 0X16,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X71,
+                            (byte) 0X00, (byte) 0X12,
+                            (byte) 0X01, prioritylow,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) typehigh, (byte) typelow,
+                            (byte) qhdhigh, (byte) qhdlow,
+                            (byte) 0X00, (byte) 0X00,
+                            (byte) fhdhigh, (byte) fhdlow,
+                            (byte) 0X00, (byte) 0X00
+                    };
+                } else if (type == 3) {
+                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X00, (byte) 0X16,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X71,
+                            (byte) 0X00, (byte) 0X12,
+                            (byte) 0X01, prioritylow,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) typehigh, (byte) typelow,
+                            (byte) qhdhigh, (byte) qhdlow,
+                            (byte) qhdhigh2, (byte) qhdlow2,
+                            (byte) fhdhigh, (byte) fhdlow,
+                            (byte) fhdhigh2, (byte) fhdlow2
+                    };
+                }
+                log.info("下发AGV作业指令 --{}", str1);
+                log.info("下发AGV作业指令--{}", str);
+                log.info("下发agv指令数据--{}", Bytes2HexString(b));
+
+                if (StrUtil.equals(agv_system_type, "2")) {
+                    TwoNDCSocketConnectionAutoRun.write(b);
+                }
+            } else {
+
+                String instcode = inst.getInstruction_code();
+                int startHeight = Integer.parseInt(StrUtil.isEmpty(inst.getStart_height()) ? "0" : inst.getStart_height());
+                int nextHeight = Integer.parseInt(StrUtil.isEmpty(inst.getNext_height()) ? "0" : inst.getNext_height());
+                //默认取货放货高度都为0
+                //int type = Integer.parseInt(inst.getInstruction_type());
+                int type = 4;
+                if (startHeight != 0 && nextHeight != 0) {
+                    //取货放货高度都不为0
+                    type = 1;
+                } else if (startHeight != 0 && nextHeight == 0) {
+                    //取货高度不为0 放货高度为0
+                    type = 2;
+                } else if (startHeight == 0 && nextHeight != 0) {
+                    //取货高度为0 放货高度不为0
+                    type = 3;
+                }
+                int priority = Integer.parseInt(inst.getPriority()) + 128;
+                DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+                DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
+                int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
+                int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
+
+                byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
+                byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
+                byte typehigh = (byte) IntToHexHigh(type);
+                byte typelow = (byte) IntToHexLow(type);
+                byte qhdhigh = (byte) IntToHexHigh(startAddress);
+                byte qhdlow = (byte) IntToHexLow(startAddress);
+                byte fhdhigh = (byte) IntToHexHigh(nextAddress);
+                byte fhdlow = (byte) IntToHexLow(nextAddress);
+                byte prioritylow = (byte) IntToHexLow(priority);
+
+                byte shhigh = (byte) IntToHexHigh(startHeight);
+                byte shlow = (byte) IntToHexLow(startHeight);
+
+                byte nhhigh = (byte) IntToHexHigh(nextHeight);
+                byte nhlow = (byte) IntToHexLow(nextHeight);
+
+                String str = "十进制下发：";
+                String str1 = "十六进制下发：";
+                str += "ikey:" + (Integer.parseInt(instcode));
+                str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
+
+                str += "/type:" + (type);
+                str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
+
+                str += "/qhd:" + (startAddress);
+                str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
+                str += "/fhd:" + (nextAddress);
+                str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
+
+                str += "/priority:" + (priority);
+                str1 += "/priority:" + hexToString(prioritylow & 0xFF);
+
+                System.out.println(str);
+                System.out.println(str1);
+                byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                        (byte) 0X00, (byte) 0X08,
+                        (byte) 0X00, (byte) 0X16,
+                        (byte) 0X00, (byte) 0X01,
+                        (byte) 0X00, (byte) 0X71,
+                        (byte) 0X00, (byte) 0X12,
+                        (byte) 0X01, prioritylow,
+                        (byte) 0X00, (byte) 0X01,
+                        (byte) ikeyhigh, (byte) ikeylow,
+                        (byte) ikeyhigh, (byte) ikeylow,
+                        (byte) typehigh, (byte) typelow,
+                        (byte) qhdhigh, (byte) qhdlow,
+                        (byte) fhdhigh, (byte) fhdlow,
+                        (byte) shhigh, (byte) shlow,
+                        (byte) nhhigh, (byte) nhlow
+                };
+                log.info("下发AGV作业指令 --{}", str1);
+                log.info("下发AGV作业指令--{}", str);
+                log.info("下发agv指令数据--{}", Bytes2HexString(b));
+                OneNDCSocketConnectionAutoRun.write(b);
+            }
         }
     }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
index 102900aaf..068c6efed 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
@@ -117,7 +117,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                 }
 
                 int[] arr = new int[count];
-                StringBuffer bs = new StringBuffer();
+            StringBuffer bs = new StringBuffer();
 
                 for (int i = 0; i < count; i++) {
                     int temp = b[i];
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index f1ffe5a51..848bfedf6 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -230,7 +230,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1 && standardInspectSiteDeviceDriver.getError() == 0)) {
+                if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1
+                        && standardInspectSiteDeviceDriver.getError() == 0)) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
                 } else {
                     message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + "报警信号:" + standardInspectSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
index 21a4e11df..cf482826e 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
@@ -489,6 +489,12 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     Integer start = 0;
                     String start_device_code = pathlist.get(start);
                     String next_device_code = pathlist.get(start+1);
+                    //判断有无出入库任务是相同路线
+                    TaskDto dto = taskserver.findByCodeAndExcute(taskdto.getNext_device_code(), taskdto.getStart_device_code());
+                    if (ObjectUtil.isNotEmpty(dto)){
+                        requireSucess = false;
+                        return false;
+                    }
                     packageInstrcutData(instdto, taskdto, taskid, taskcode, vehiclecode, priority,start_device_code,next_device_code);
                 }else {
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
index 1d695130d..a0da6c362 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
@@ -707,7 +707,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         if (linkDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
                             hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) linkDevice.getDeviceDriver();
                             //判断关联设备是否开门
-                            if (hongXiangConveyorDeviceDriver.getDoor() == 1) {
+                            if (hongXiangConveyorDeviceDriver.getDoor() == 1 || hongXiangConveyorDeviceDriver.getError1() != 0
+                                    || hongXiangConveyorDeviceDriver.getError() != 0) {
                                 isClose = true;
                                 notCreateInstMessage = start_device_code + "关联设备->" + deviceCode + "烘箱门未关闭！";
                                 break;
@@ -732,7 +733,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         if (linkDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
                             hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) linkDevice.getDeviceDriver();
                             //判断关联设备是否开门
-                            if (hongXiangConveyorDeviceDriver.getDoor() == 1) {
+                            if (hongXiangConveyorDeviceDriver.getDoor() == 1 || hongXiangConveyorDeviceDriver.getError1() != 0
+                                    || hongXiangConveyorDeviceDriver.getError() != 0) {
                                 isClose = true;
                                 notCreateInstMessage = next_device_code + "关联设备->" + deviceCode + "烘箱门未关闭！";
                                 break;
@@ -812,8 +814,9 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                         int door = hongXiangConveyorDeviceDriver.getDoor();
                         int action = hongXiangConveyorDeviceDriver.getAction();
                         int error1 = hongXiangConveyorDeviceDriver.getError1();
+                        int error = hongXiangConveyorDeviceDriver.getError();
                         int move = hongXiangConveyorDeviceDriver.getMove();
-                        if (mode == 1 && door == 1 && action == 1 && error1 == 0 && move == 1) {
+                        if (mode == 1 && door == 1 && action == 1 && error == 0 && error1 == 0 && move == 1) {
                             if (this.getNow_steps_type() == 2) {
                                 map.put("code", "to_command");
                                 map.put("value", "2");
@@ -920,8 +923,9 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     int door = hongXiangConveyorDeviceDriver.getDoor();
                     int action = hongXiangConveyorDeviceDriver.getAction();
                     int error1 = hongXiangConveyorDeviceDriver.getError1();
+                    int error = hongXiangConveyorDeviceDriver.getError();
                     int move = hongXiangConveyorDeviceDriver.getMove();
-                    if (mode == 1 && door == 1 && action == 1 && error1 == 0 && move == 0) {
+                    if (mode == 1 && door == 1 && action == 1 && error == 0 && error1 == 0 && move == 0) {
                         if (this.getNow_steps_type() == 4) {
                             map.put("code", "to_command");
                             map.put("value", "4");
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
index ce84c9005..8860df2ef 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
@@ -388,6 +388,15 @@ public interface TaskService extends CommonService<Task> {
      */
     TaskDto findByStartCodeAndReady(String device_code);
 
+    /**
+     * 根据起点设备编号查询当前是否有执行中任务
+     *
+     * @param start_code
+     * @param next_code
+     * @return
+     */
+    TaskDto findByCodeAndExcute(String start_code,String next_code);
+
 
     /**
      * 根据终点设备编号查询当前是否有就绪任务
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index 586a00b55..9a60e55ce 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -516,7 +516,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
     public List<TaskDto> findByTaskStatus(String status) {
         List<TaskDto> taskDtoList = new ArrayList<>();
         Iterator<TaskDto> iterator = tasks.iterator();
-        if (iterator.hasNext()) {
+        while (iterator.hasNext()) {
             TaskDto task = iterator.next();
             if (StrUtil.equals(task.getTask_status(), status)) {
                 taskDtoList.add(task);
@@ -1077,6 +1077,17 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         return optionalTask.orElse(null);
     }
 
+    @Override
+    public TaskDto findByCodeAndExcute(String start_code, String next_code) {
+        Task task = this.lambdaQuery()
+                .eq(Task::getStart_device_code, start_code)
+                .eq(Task::getNext_device_code, next_code)
+                .eq(Task::getTask_status, TaskStatusEnum.BUSY.getIndex())
+                .one();
+        TaskDto taskDto = BeanUtil.copyProperties(task, TaskDto.class);
+        return taskDto;
+    }
+
 
     @Override
     public TaskDto findByEndCodeAndReady(String device_code) {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
index 109c37d4d..63809dbb7 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
@@ -3,6 +3,7 @@ package org.nl.system.service.quartz.task;
 import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.ObjectUtils;
@@ -55,10 +56,14 @@ public class CreateDDJInst {
                 Device startDevice = appService.findDeviceByCode(start_device_code);
                 String next_device_code = taskDto.getNext_device_code();
                 Device nextDevice = appService.findDeviceByCode(next_device_code);
+                //判断有无出入库任务是相同路线
+                TaskDto dto = taskserver.findByCodeAndExcute(next_device_code, start_device_code);
+                if (ObjectUtil.isNotEmpty(dto)){
+                    return;
+                }
                 if (startDevice.getDevice_type().equals(DeviceType.storage.name()) &&
                         (nextDevice.getDevice_type().equals(DeviceType.conveyor.name()) || nextDevice.getDevice_type().equals(DeviceType.storage.name()))) {
                     taskDtoList.add(taskDto);
-
                 }
             }
             if (CollUtil.isNotEmpty(taskDtoList)) {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml
new file mode 100644
index 000000000..f13d96f5f
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<included>
+    <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
+    <property name="LOG_HOME" value="${logPath}"/>
+    <!-- 按照每天生成日志文件 -->
+    <appender name="FILE18" class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
+            <!--日志文件输出的文件名-->
+            <FileNamePattern>${LOG_HOME}/agv下发/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <!--日志文件保留天数-->
+            <maxHistory>15</maxHistory>
+            <!--单个日志最大容量 至少10MB才能看得出来-->
+            <maxFileSize>200MB</maxFileSize>
+            <!--所有日志最多占多大容量-->
+            <totalSizeCap>2GB</totalSizeCap>
+        </rollingPolicy>
+        <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
+            <!--格式化输出：%d表示日期，%thread表示线程名，%-5level：级别从左显示5个字符宽度%msg：日志消息，%n是换行符-->
+            <pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
+            <charset>${log.charset}</charset>
+        </encoder>
+
+    </appender>
+
+    <!--  <logger name="org.nl.start.Init" level="info" additivity="true">
+          <appender-ref ref="FILE3"/>
+      </logger>-->
+
+    <!-- 打印sql -->
+    <logger name="org.nl.acs.agv.server.impl.NDCAgvServiceImpl" level="info" additivity="true">
+        <appender-ref ref="FILE18"/>
+    </logger>
+</included>
diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
index f53004205..ab174d9ef 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
+++ b/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
@@ -21,6 +21,7 @@ https://juejin.cn/post/6844903775631572999
     <include resource="log/ACSToLMS.xml"/>
     <include resource="log/LMSToACS.xml"/>
     <include resource="log/TwoNDCSocketConnectionAutoRun.xml"/>
+    <include resource="log/NDCAgvServiceImpl.xml"/>
 
     <appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
         <!--withJansi 参数改为true-->