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 dc58b1a..4935ebf 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
@@ -417,6 +417,9 @@ public class AgvServiceImpl implements AgvService {
         if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
             String instcode = inst.getInstruction_code();
             int type = Integer.parseInt(inst.getInstruction_type());
+            if (type == 3) {
+                type = 1;
+            }
             int priority = Integer.parseInt(inst.getPriority()) + 128;
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
             DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
diff --git a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
index 7511df9..dc7f89a 100644
--- a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
+++ b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
@@ -829,6 +829,10 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 break;
                             case 1:
                                 TaskDto taskDto = taskService.findByCode(inst.getTask_code());
+                                boolean tag = false;
+                                if (!StrUtil.startWith(inst.getTask_code(), "-") || StrUtil.equals(taskDto.getTask_type(),"3")) {
+                                    tag = true;
+                                }
 
                                 //开始任务/上报订单号（无车id及状态）
                                 if (phase == 0x01) {
@@ -879,17 +883,24 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     }
                                     if (device.getDeviceDriver() instanceof StorageConveyorDeviceDriver) {
                                         storageConveyorDeviceDriver = (StorageConveyorDeviceDriver) device.getDeviceDriver();
-                                        HttpResponse response = acsToXrlkService.isTakePermission(device.getDevice_code());
-                                        if (response.getStatus() == 200) {
-                                            JSONObject jo = JSONObject.fromObject(response.body());
-                                            if (StrUtil.equals(jo.get("result").toString(), "1")) {
-                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+
+                                        //如果为acs创建的任务并且任务类型为3，那么就不需要调用立库接口
+                                        if (!tag) {
+                                            HttpResponse response = acsToXrlkService.isTakePermission(device.getDevice_code());
+                                            if (response.getStatus() == 200) {
+                                                JSONObject jo = JSONObject.fromObject(response.body());
+                                                if (StrUtil.equals(jo.get("result").toString(), "1")) {
+                                                    data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                } else {
+                                                    log.info("AGV请求取货设备{}，立库WMS不允许取货", device_code);
+                                                }
                                             } else {
-                                                log.info("AGV请求取货设备{}，立库WMS不允许取货", device_code);
+                                                log.info("AGV请求取货设备{}，接口请求立库WMS失败", device_code);
                                             }
                                         } else {
-                                            log.info("AGV请求取货设备{}，接口请求立库WMS失败", device_code);
+                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
                                         }
+
                                     }
                                     if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
                                         standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver();
@@ -947,18 +958,23 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     }
                                     if (device.getDeviceDriver() instanceof StorageConveyorDeviceDriver) {
                                         storageConveyorDeviceDriver = (StorageConveyorDeviceDriver) device.getDeviceDriver();
-                                        HttpResponse response = acsToXrlkService.AGVWorkStatus(device.getDevice_code(), "2");
-                                        if (response.getStatus() == 200) {
-                                            JSONObject jo = JSONObject.fromObject(response.body());
-                                            if (StrUtil.equals(jo.get("result").toString(), "1")) {
-                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+
+                                        //如果为acs创建的任务并且任务类型为3，那么就不需要调用立库接口
+                                        if (!tag) {
+                                            HttpResponse response = acsToXrlkService.AGVWorkStatus(device.getDevice_code(), "2");
+                                            if (response.getStatus() == 200) {
+                                                JSONObject jo = JSONObject.fromObject(response.body());
+                                                if (StrUtil.equals(jo.get("result").toString(), "1")) {
+                                                    data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                } else {
+                                                    log.info("AGV取货完成反馈设备{},{}", device_code, jo.getString("message"));
+                                                }
                                             } else {
-                                                log.info("AGV取货完成反馈设备{},{}", device_code, jo.getString("message"));
+                                                log.info("AGV取货完成反馈设备{}，接口请求立库WMS失败", device_code);
                                             }
                                         } else {
-                                            log.info("AGV取货完成反馈设备{}，接口请求立库WMS失败", device_code);
+                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
                                         }
-
                                     }
                                     if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                                         standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -1100,16 +1116,22 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     }
                                     if (device.getDeviceDriver() instanceof StorageConveyorDeviceDriver) {
                                         storageConveyorDeviceDriver = (StorageConveyorDeviceDriver) device.getDeviceDriver();
-                                        HttpResponse response = acsToXrlkService.isPutPermission(device.getDevice_code());
-                                        if (response.getStatus() == 200) {
-                                            JSONObject jo = JSONObject.fromObject(response.body());
-                                            if (StrUtil.equals(jo.get("result").toString(), "1")) {
-                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+
+                                        //如果为acs创建的任务并且任务类型为3，那么就不需要调用立库接口
+                                        if (!tag) {
+                                            HttpResponse response = acsToXrlkService.isPutPermission(device.getDevice_code());
+                                            if (response.getStatus() == 200) {
+                                                JSONObject jo = JSONObject.fromObject(response.body());
+                                                if (StrUtil.equals(jo.get("result").toString(), "1")) {
+                                                    data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                } else {
+                                                    log.info("AGV请求放货设备{}，立库WMS不允许放货", device_code);
+                                                }
                                             } else {
-                                                log.info("AGV请求放货设备{}，立库WMS不允许放货", device_code);
+                                                log.info("AGV请求放货设备{}，接口请求立库WMS失败", device_code);
                                             }
                                         } else {
-                                            log.info("AGV请求放货设备{}，接口请求立库WMS失败", device_code);
+                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
                                         }
                                     }
                                     if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
@@ -1272,18 +1294,23 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     }
                                     if (device.getDeviceDriver() instanceof StorageConveyorDeviceDriver) {
                                         storageConveyorDeviceDriver = (StorageConveyorDeviceDriver) device.getDeviceDriver();
-                                        HttpResponse response = acsToXrlkService.AGVWorkStatus(device.getDevice_code(), "1");
-                                        if (response.getStatus() == 200) {
-                                            JSONObject jo = JSONObject.fromObject(response.body());
-                                            if (StrUtil.equals(jo.get("result").toString(), "1")) {
-                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
+
+                                        //如果为acs创建的任务并且任务类型为3，那么就不需要调用立库接口
+                                        if (!tag) {
+                                            HttpResponse response = acsToXrlkService.AGVWorkStatus(device.getDevice_code(), "1");
+                                            if (response.getStatus() == 200) {
+                                                JSONObject jo = JSONObject.fromObject(response.body());
+                                                if (StrUtil.equals(jo.get("result").toString(), "1")) {
+                                                    data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                } else {
+                                                    log.info("AGV放货完成反馈设备{},{}", device_code, jo.getString("message"));
+                                                }
                                             } else {
-                                                log.info("AGV放货完成反馈设备{},{}", device_code, jo.getString("message"));
+                                                log.info("AGV放货完成反馈设备{}，接口请求立库WMS失败", device_code);
                                             }
                                         } else {
-                                            log.info("AGV放货完成反馈设备{}，接口请求立库WMS失败", device_code);
+                                            data = AgvService.sendAgvOneModeInst(phase, index, 0);
                                         }
-
                                     }
                                 }
                                 //任务完毕
@@ -1336,17 +1363,23 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                         }
                                         if (relevance_device.getDeviceDriver() instanceof StorageConveyorDeviceDriver) {
                                             storageConveyorDeviceDriver = (StorageConveyorDeviceDriver) device.getDeviceDriver();
-                                            HttpResponse response = acsToXrlkService.invokeDoor(device.getDevice_code());
-                                            if (response.getStatus() == 200) {
-                                                JSONObject jo = JSONObject.fromObject(response.body());
-                                                if (StrUtil.equals(jo.get("result").toString(), "1")) {
-                                                    data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                            //如果为acs创建的任务并且任务类型为3，那么就不需要调用立库接口
+                                            if (!tag) {
+                                                HttpResponse response = acsToXrlkService.invokeDoor(device.getDevice_code());
+                                                if (response.getStatus() == 200) {
+                                                    JSONObject jo = JSONObject.fromObject(response.body());
+                                                    if (StrUtil.equals(jo.get("result").toString(), "1")) {
+                                                        data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                                    } else {
+                                                        log.info("AGV请求进入{},{}", device_code, jo.getString("message"));
+                                                    }
                                                 } else {
-                                                    log.info("AGV请求进入{},{}", device_code, jo.getString("message"));
+                                                    log.info("AGV请求进入设备{}，接口请求立库WMS失败", device_code);
                                                 }
                                             } else {
-                                                log.info("AGV请求进入设备{}，接口请求立库WMS失败", device_code);
+                                                data = AgvService.sendAgvOneModeInst(phase, index, 0);
                                             }
+
                                         }
                                     }