diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java
index ffd25ed..b99ca42 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java
@@ -30,4 +30,12 @@ public interface ZheDaAgvService {
 
     public HttpResponse markComplete(String code);
 
+    /**
+     * 删除先知任务
+     *
+     * @param instCode
+     * @return
+     */
+    public HttpResponse deleteZDAgvInst(String instCode);
+
 }
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
index 9604370..b2be778 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
@@ -34,6 +34,7 @@ import org.springframework.stereotype.Service;
 @RequiredArgsConstructor
 public class ZheDaAgvServiceImpl implements ZheDaAgvService {
     private final ISysParamService paramService;
+    private final InstructionService instructionService;
     @LokiLog(type = LokiLogType.AGV)
     @Override
     public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception {
@@ -551,5 +552,27 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
         return destinationOrder;
     }
 
+    @LokiLog(type = LokiLogType.AGV)
+    @Override
+    public HttpResponse deleteZDAgvInst(String instCode) {
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
+            String agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue();
+            String agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
+            Instruction instruction = instructionService.findByCode(instCode);
+            if (instruction.getInstruction_type().equals("1")) {
+                agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
+            }
+            agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + instCode + "/withdrawal";
+            log.info("删除agv指令请求agvurl:{}", agvurl);
+            HttpResponse result = HttpRequest.post(agvurl)
+                    .body("{}")
+                    .timeout(20000)//超时，毫秒
+                    .execute();
+            log.info("删除agv指令请求反馈:{}", result);
+            return result;
+        } else {
+            return null;
+        }
+    }
 
 }