diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index 4683e7c..4b9c42b 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -488,10 +488,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     map3.put("code", "to_task");
                     map3.put("value", inst.getInstruction_code());
                     list.add(map3);
-                    Map map4 = new HashMap();
-                    map4.put("code", "to_barcode");
-                    map4.put("value", inst.getVehicle_code());
-                    list.add(map4);
                     beltConveyorDeviceDriver.writing(list);
                     data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                 } else {
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 acf8625..d726940 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
@@ -169,7 +169,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     String to_taskNum = null;
     String last_to_taskNum = null;
 
-    Integer outbound_task_num = null;
+    Integer outbound_task_num = 0;
 
     //子卷条码
     String material_barcode = null;
@@ -322,7 +322,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                         break;
                     case 6:
                         // 更新出库任务数
-                        if (move == 1 && !requireSucess) {
+                        if (move == 0 && !requireSucess) {
                             synchronized(this) { // 添加同步锁
                                 if (!requireSucess) { // 双重检查锁定
                                     try {
@@ -331,12 +331,6 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                                         updateAndSyncOutboundTaskNum(-1, true, true);
                                         Integer result = this.outbound_task_num;
 
-                                        // 更新task的出库完成数
-                                        TaskDto taskDto = new TaskDto();
-                                        taskDto.setTask_id(instruction.getTask_id());
-                                        taskDto.setOutbound_complete_flag(true);
-                                        taskserver.updateById(taskDto);
-
                                         List list1 = new ArrayList();
                                         Map map = new HashMap();
                                         map.put("code", "to_command");
@@ -349,7 +343,11 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                                         Map map3 = new HashMap();
                                         map3.put("code", "to_target");//下发出库楼层
                                         map3.put("value",  "0");
-                                        list1.add(map);
+                                        list1.add(map3);
+                                        Map map4 = new HashMap();
+                                        map4.put("code", "to_task");//下发出库楼层
+                                        map4.put("value",  "0");
+                                        list1.add(map4);
                                         this.writing(list1);
 
                                         // 只有成功后才设置标记
@@ -549,10 +547,13 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         return true;
     }
 
-    public synchronized Integer updateOutboundTaskNum(Integer num,Boolean addFlag) throws Exception {
-        if(addFlag) {
+    public synchronized Integer updateOutboundTaskNum(Integer num, Boolean addFlag) throws Exception {
+        if (addFlag) {
             this.outbound_task_num = this.outbound_task_num + num;
-        }  else{
+            if (this.outbound_task_num < 0) {
+                return 0;
+            }
+        } else {
             this.outbound_task_num = num;
         }
         return this.outbound_task_num;
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index a936b1f..0dd5611 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -459,10 +459,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             dto.setInstruction_type(task.getTask_type());
         }
 
-        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
         Device startdevice = appService.findDeviceByCode(dto.getStart_device_code());
 
-
         try {
             /*String start_device_code = dto.getStart_device_code();*/
             String next_device_code = dto.getNext_device_code();
@@ -520,6 +518,16 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 }
             }
         }
+
+        if (startdevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+            beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) startdevice.getDeviceDriver();
+            List list1 = new ArrayList();
+            Map map = new HashMap();
+            map.put("code", "to_command");
+            map.put("value", 5);
+            list1.add(map);
+            beltConveyorDeviceDriver.writing(list1);
+        }
     }
 
 
@@ -623,7 +631,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //            dto.setInstruction_type(task.getTask_type());
 //        }
 
-        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+
         Device startdevice = appService.findDeviceByCode(dto.getStart_device_code());
 
 
@@ -709,6 +717,15 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 }
             }
         }
+        if (startdevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+            beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) startdevice.getDeviceDriver();
+            List list1 = new ArrayList();
+            Map map = new HashMap();
+            map.put("code", "to_command");
+            map.put("value", 5);
+            list1.add(map);
+            beltConveyorDeviceDriver.writing(list1);
+        }
     }
 
     @Override
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/rfid_manage/service/impl/BmVehicleRfidServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/rfid_manage/service/impl/BmVehicleRfidServiceImpl.java
index 52d6f71..6c38efa 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/rfid_manage/service/impl/BmVehicleRfidServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/rfid_manage/service/impl/BmVehicleRfidServiceImpl.java
@@ -212,7 +212,7 @@ public class BmVehicleRfidServiceImpl extends ServiceImpl<BmVehicleRfidMapper, B
                 }
             }
         }
-        else if(!"heart_beat".equals(params.getEvent_type())) {
+        else if("heart_beat".equals(params.getEvent_type())) {
             update(new UpdateWrapper<BmVehicleRfid>().set("rfid", null).eq("device_code", params.getReader_name()));
         }
         return true;