diff --git a/wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java b/wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
index 3910fbd..cabd27d 100644
--- a/wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
+++ b/wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
@@ -13,6 +13,7 @@ import org.checkerframework.checker.units.qual.K;
 import org.nl.exception.BadRequestException;
 import org.nl.modules.system.util.CodeUtil;
 import org.nl.utils.SecurityUtils;
+import org.nl.utils.SpringContextHolder;
 import org.nl.wms.WorkProcedureEnum;
 import org.nl.wms.common.KilnUtil;
 import org.nl.wms.common.PointUpdateUtil;
@@ -22,7 +23,9 @@ import org.nl.wms.ext.acs.service.AcsToWmsService;
 import org.nl.wms.sch.manage.AreaEnum;
 import org.nl.wms.sch.manage.TaskStatusEnum;
 import org.nl.wms.sch.manage.buss.*;
+import org.nl.wms.sch.service.PointService;
 import org.nl.wms.sch.service.TaskService;
+import org.nl.wms.sch.service.dto.PointDto;
 import org.nl.wms.sch.service.dto.TaskDto;
 import org.nl.wms.sch.task.AcsTaskDto;
 import org.nl.wql.WQL;
@@ -72,7 +75,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             case "1":
                 jsonObject.put("start_point_code", device_code);
                 jsonObject.put("create_mode", "01");
-                jsonObject.put("group_id",group_id);
+                jsonObject.put("group_id", group_id);
 
                 if (StrUtil.isEmpty(is_full)) {
                     throw new BadRequestException("托盘是否满托不能为空！");
@@ -182,7 +185,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
                     }
                     //需要更新覆膜机的托盘类型
                     JSONArray pointarr = WQL.getWO("ACSTOMES_001").addParam("area_type", "05").addParam("flag", "4").process().getResultJSONArray(0);
-                   // PointUpdateUtil.updatePoint(pointarr);
+                    // PointUpdateUtil.updatePoint(pointarr);
                 }
                 if (ObjectUtil.isEmpty(produceInfoByCode)) {
                     throw new BadRequestException("未找到点位为'" + device_code + "'对应机械手的生产工单！");
@@ -239,7 +242,6 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Map<String, Object> manipulatorApply(Map jsonObject) {
-        //如果是码垛机械手下料的地方不需要组盘，等到扫码器扫到的时候再组盘
         String device_code = (String) jsonObject.get("device_code");
         if (StrUtil.isEmpty(device_code)) {
             throw new BadRequestException("设备点位不能为空！");
@@ -257,7 +259,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         JSONObject groubObj = new JSONObject();
         String group_id = IdUtil.getSnowflake(1, 1).nextId() + "";
         groubObj.put("group_id", group_id);
-        groubObj.put("vehicle_code", vehicle_code);
+
         groubObj.put("material_id", material_id);
         groubObj.put("material_code", materialObj.getString("material_code"));
         groubObj.put("material_name", materialObj.getString("material_name"));
@@ -330,6 +332,17 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             is_autopackage = "0";
         }
         groubObj.put("is_autopackage", is_autopackage);
+        //假如是分拣机械手，并且托盘为空，则托盘从点位上取
+        if ((StrUtil.equals(device_code, "FJJXSXLW201") ||
+                StrUtil.equals(device_code, "FJJXSXLW202") ||
+                StrUtil.equals(device_code, "FJJXSXLW301") ||
+                StrUtil.equals(device_code, "FJJXSXLW302")) && StrUtil.isEmpty(vehicle_code)
+        ) {
+            PointService pointService = SpringContextHolder.getBean(PointService.class);
+            PointDto startPoint = pointService.findByCode(device_code);
+            vehicle_code = startPoint.getVehicle_code();
+        }
+        groubObj.put("vehicle_code", vehicle_code);
         WQLObject.getWQLObject("st_buss_vehiclegroup").insert(groubObj);
         jsonObject.put("type", "1");
         jsonObject.put("group_id", group_id);
@@ -362,7 +375,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
         String task_id = taskTable.query("task_code='" + task_code + "'").uniqueResult(0).getString("task_id");
         //将之前的托盘信息删除
-        groupTable.delete("vehicle_code='"+vehicle_code+"' and task_id <>'"+task_id+"'");
+        groupTable.delete("vehicle_code='" + vehicle_code + "' and task_id <>'" + task_id + "'");
         JSONObject groupObj = groupTable.query("task_id='" + task_id + "'").uniqueResult(0);
         if (ObjectUtil.isEmpty(groupObj)) {
             throw new BadRequestException("未找到指令为'" + task_id + "'的组盘信息！");
diff --git a/wms/hd/nladmin-system/src/main/java/org/nl/wms/sch/manage/buss/SendMaterialTask.java b/wms/hd/nladmin-system/src/main/java/org/nl/wms/sch/manage/buss/SendMaterialTask.java
index e0ee6ba..eaac571 100644
--- a/wms/hd/nladmin-system/src/main/java/org/nl/wms/sch/manage/buss/SendMaterialTask.java
+++ b/wms/hd/nladmin-system/src/main/java/org/nl/wms/sch/manage/buss/SendMaterialTask.java
@@ -328,7 +328,7 @@ public class SendMaterialTask extends AbstractAcsTask {
         taskObj.put("is_delete", "0");
         taskTable.insert(taskObj);
 
-        // 如果是压制下料需要更新组盘信息，将task_id 更新
+        // 如果是压料制下需要更新组盘信息，将task_id 更新
         JSONObject workInfo = WQL.getWO("QSTRUCT_RULE").addParam("flag", "1").addParam("code", start_point_code)
                 .process().uniqueResult(0);
         if (StrUtil.equals(WorkProcedureEnum.YZGX.getCode(), workInfo.getString("workprocedure_code"))) {
diff --git a/wms/hd/nladmin-system/src/main/java/org/nl/wms/sch/service/impl/TaskServiceImpl.java b/wms/hd/nladmin-system/src/main/java/org/nl/wms/sch/service/impl/TaskServiceImpl.java
index 047d7ae..7255992 100644
--- a/wms/hd/nladmin-system/src/main/java/org/nl/wms/sch/service/impl/TaskServiceImpl.java
+++ b/wms/hd/nladmin-system/src/main/java/org/nl/wms/sch/service/impl/TaskServiceImpl.java
@@ -172,7 +172,7 @@ public class TaskServiceImpl implements TaskService {
     }
 
     /**
-     * 
+     *
      * @param map
      */
     @Override