diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
index f66eb5572..b71c2b5eb 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
@@ -244,7 +244,9 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
             }
 
             if (move != 0 && task > 0) {
-                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }
                 CompletableFuture.runAsync(() -> {
                     // 异步更新指令状态
                     try {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java
index 62f16ae9a..671bd2e86 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java
@@ -200,8 +200,9 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             }
 
             if (move != 0 && task > 0) {
-                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
-                update_instruction_status();
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }                update_instruction_status();
             }
         } catch (Exception var17) {
             var17.printStackTrace();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java
index f32a4dcb8..88b5365b2 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java
@@ -196,8 +196,9 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
             }
             if (move != 0 && task > 0) {
-                inst_message = "当前指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + "  载具号：" + inst.getVehicle_code();
-                update_instruction_status();
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }                update_instruction_status();
             }
         } catch (Exception var17) {
             var17.printStackTrace();
@@ -363,11 +364,20 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
 
                 apply.put("vehicle_code", material_barcode);
 
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("申请AGV任务,请求参数:" + apply)
+                        .build();
+                luceneExecuteLogService.deviceExecuteLog(logDto);
                 String str = acsToWmsService.applySendOutTwo(apply);
                 logServer.deviceExecuteLog(this.device_code, "", "", "申请AGV任务,请求参数:" + apply + ",响应参数");
 
                 JSONObject jo = JSON.parseObject(str);
-
+                LuceneLogDto logDto2 = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("申请AGV任务,参数,接口返回:" + jo)
+                        .build();
+                luceneExecuteLogService.deviceExecuteLog(logDto2);
                 message = "申请AGV任务,参数,接口返回:" + jo;
                 if (jo.getInteger("status") == 200) {
                     List list = new ArrayList();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
index d367fbd0e..c608b2a05 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
@@ -190,7 +190,9 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
-                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }
                 updateInstrction();
             }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
index 800ce85a7..866f2ec9a 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
@@ -160,7 +160,9 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             }
             // 更新指令状态
             if (mode == 3 && task > 0 && !requireActionSucess) {
-                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }
                 updateInstructionStatus();
             }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
index 719a5dc77..2a4e902d2 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
@@ -173,8 +173,9 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
             // 更新指令状态
             if (mode == 3 && task > 0) {
-                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
-
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }
                 updateInstructionStatus();
             }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
index e07988161..435dced02 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
@@ -168,8 +168,9 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
-                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
-
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }
                 updateInstructionStatus();
             }
 
@@ -362,9 +363,11 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                     List<TaskDto> taskDtos =  taskserver.findByTrappedManipulatorReady();
                     List<TaskDto> taskDtosReady = new ArrayList<>();
                     TaskDto taskDto = new TaskDto();
-                    for (TaskDto taskDto1 : taskDtos) {
-                        if (getDeviceCodeList.contains(taskDto1.getStart_device_code())){
-                            taskDtosReady.add(taskDto1);
+                    if (CollUtil.isNotEmpty(taskDtos)) {
+                        for (TaskDto taskDto1 : taskDtos) {
+                            if (getDeviceCodeList.contains(taskDto1.getStart_device_code())) {
+                                taskDtosReady.add(taskDto1);
+                            }
                         }
                     }
                     if (CollUtil.isNotEmpty(taskDtosReady)) {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java
index 855d074fe..c67a73278 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java
@@ -187,8 +187,9 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
-                inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() ;
-
+                if (null!=inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                }
                 updateInstructionStatus();
             }