diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
index aa23773..de828f9 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
@@ -20,6 +20,7 @@ import org.nl.acs.device_driver.magic3.Magic3DeviceDriver;
 import org.nl.acs.device_driver.ndxy_special_two.NdxySpecialTwoDeviceDriver;
 import org.nl.acs.device_driver.special_ordinary_site.SpecialOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
+import org.nl.acs.device_driver.standard_emptypallet_site.StandardEmptyPalletSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_manipulator_inspect_site.StandardManipulatorInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
@@ -811,20 +812,40 @@ public class AgvServiceImpl implements AgvService {
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
         SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver;
         YzjaSpecialDeviceDriver yzjaSpecialDeviceDriver;
+        StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver;
         //请求进入
         if ("onEntry".equals(type)) {
 
-            if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+            if (addressdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
+                standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) addressdevice.getDeviceDriver();
                 //请求取货
                 if ("Load".equals(action)) {
-                    if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
+                    if (standardEmptyPalletSiteDeviceDriver.getMode() == 2 && standardEmptyPalletSiteDeviceDriver.getMove() > 0) {
                         inst.setExecute_status("1");
                         is_feedback = true;
                     }
                     //请求放货
                 } else if ("Unload".equals(action)) {
-                    if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
+                    int number = standardEmptyPalletSiteDeviceDriver.getNumber();
+                    int max_emptypalletnum = standardEmptyPalletSiteDeviceDriver.getMax_emptypalletnum();
+                    if (standardEmptyPalletSiteDeviceDriver.getMode() == 2 && number < max_emptypalletnum) {
+                        inst.setExecute_status("3");
+                        is_feedback = true;
+                    }
+                }
+            }
+
+            if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                //请求取货
+                if ("Load".equals(action)) {
+                    if (standardInspectSiteDeviceDriver.getMove() > 0) {
+                        inst.setExecute_status("1");
+                        is_feedback = true;
+                    }
+                    //请求放货
+                } else if ("Unload".equals(action)) {
+                    if (standardInspectSiteDeviceDriver.getMove() == 0) {
                         inst.setExecute_status("3");
                         is_feedback = true;
                     }
@@ -851,16 +872,16 @@ public class AgvServiceImpl implements AgvService {
                 standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
                 //请求取货
                 if ("Load".equals(action)) {
-                    if (addressdevice.getHas_goods() > 0) {
+                    //if (addressdevice.getHas_goods() > 0) {
                         inst.setExecute_status("1");
                         is_feedback = true;
-                    }
+                  //  }
                     //请求放货
                 } else if ("Unload".equals(action)) {
-                    if (addressdevice.getHas_goods() == 0) {
+                    //if (addressdevice.getHas_goods() == 0) {
                         inst.setExecute_status("3");
                         is_feedback = true;
-                    }
+                   // }
                 }
             }
             if (addressdevice.getDeviceDriver() instanceof YzjaSpecialDeviceDriver) {
@@ -919,23 +940,52 @@ public class AgvServiceImpl implements AgvService {
         } else if ("onStation".equals(type)) {
 
             System.out.println("取放货完成");
-            if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+
+            if (addressdevice.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
+                standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) addressdevice.getDeviceDriver();
+                Integer beforeNUm = 0;
+                String start_point_code = inst.getStart_point_code();
+                if (start_point_code.contains(".")){
+                    String[] split = start_point_code.split("\\.");
+                    beforeNUm = Integer.parseInt(split[split.length - 1]);
+                }
                 //取货完成
                 if ("Load".equals(action)) {
-                    if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
+                    if (standardEmptyPalletSiteDeviceDriver.getMode() == 2 && (standardEmptyPalletSiteDeviceDriver.getMove() == 0 || beforeNUm > standardEmptyPalletSiteDeviceDriver.getNumber())) {
                         inst.setExecute_device_code(processingVehicle);
                         inst.setExecute_status("2");
                         is_feedback = true;
                     }
-                    //放货完成
+                    //放过完成
                 } else if ("Unload".equals(action)) {
-                    if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
+                    int number = standardEmptyPalletSiteDeviceDriver.getNumber();
+                    if (standardEmptyPalletSiteDeviceDriver.getMode() == 2 && number > beforeNUm) {
                         inst.setExecute_device_code(address);
                         inst.setExecute_status("4");
                         is_feedback = true;
                     }
                 }
+            }
+
+            if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                //取货完成
+                if ("Load".equals(action)) {
+                    if (standardInspectSiteDeviceDriver.getMove() == 0) {
+                        inst.setExecute_device_code(processingVehicle);
+                        inst.setExecute_status("2");
+                        standardInspectSiteDeviceDriver.writing(1,2);
+                        is_feedback = true;
+                    }
+                    //放货完成
+                } else if ("Unload".equals(action)) {
+                    if (standardInspectSiteDeviceDriver.getMove() > 0) {
+                        inst.setExecute_device_code(address);
+                        inst.setExecute_status("4");
+                        standardInspectSiteDeviceDriver.writing(1,3);
+                        is_feedback = true;
+                    }
+                }
 
             }
             if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
@@ -988,7 +1038,7 @@ public class AgvServiceImpl implements AgvService {
             String param = "";
             JSONObject jo = new JSONObject();
             if (str.length() > 0) {
-                backaddress = backaddress + str;
+                backaddress = address + str;
             }
             if ("onEntry".equals(type)) {
                 param = "EntryPermitted-" + backaddress + action;
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index ba925ec..bb4a3e5 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -946,14 +946,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
                 }
             }
             removeByCodeFromCache(entity.getInstruction_code());
-            JSONObject jo1 = new JSONObject();
-            jo1.put("device_code",task.getStart_device_code());
-            jo1.put("islock", "0");
-            deviceService.changeDeviceStatus(jo1);
-            JSONObject jo2 = new JSONObject();
-            jo2.put("device_code",task.getNext_device_code());
-            jo2.put("islock", "0");
-            deviceService.changeDeviceStatus(jo2);
         }
 
     }
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index 4c7dc9b..7648f1b 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -1128,6 +1128,14 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                 agvService.markComplete(entity.getTask_code());
             }
         }
+        JSONObject jo1 = new JSONObject();
+        jo1.put("device_code",entity.getStart_device_code());
+        jo1.put("islock", "0");
+        deviceService.changeDeviceStatus(jo1);
+        JSONObject jo2 = new JSONObject();
+        jo2.put("device_code",entity.getNext_device_code());
+        jo2.put("islock", "0");
+        deviceService.changeDeviceStatus(jo2);
     }
 
     @Override