diff --git a/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/controller/AcsFeedbackController.java b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/controller/AcsFeedbackController.java
new file mode 100644
index 00000000..6ca2d92e
--- /dev/null
+++ b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/controller/AcsFeedbackController.java
@@ -0,0 +1,39 @@
+package cn.code.nl.module.task.controller;
+
+import cn.code.nl.framework.common.pojo.CommonResult;
+import cn.code.nl.module.task.dto.AcsFeedbackReqDTO;
+import cn.code.nl.module.task.service.transporttask.TransportTaskFeedbackService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.annotation.Resource;
+import jakarta.validation.Valid;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import static cn.code.nl.framework.common.pojo.CommonResult.success;
+
+/**
+ * ACS 状态反馈接口
+ * <p>
+ * 接收 ACS 的任务状态回调，处理执行中/取货完成/完成/取消
+ */
+@Tag(name = "ACS 反馈")
+@RestController
+@RequestMapping("/api/task/transport")
+@Validated
+public class AcsFeedbackController {
+
+    @Resource
+    private TransportTaskFeedbackService feedbackService;
+
+    @PostMapping("/acs-feedback")
+    @Operation(summary = "接收 ACS 状态反馈")
+    public CommonResult<Boolean> receiveAcsFeedback(@Valid @RequestBody AcsFeedbackReqDTO reqDTO) {
+        feedbackService.receiveAcsFeedback(reqDTO);
+        // 始终返回成功，避免 ACS 因业务异常而重试
+        return success(true);
+    }
+}
diff --git a/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/controller/TaskCallbackController.java b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/controller/TaskCallbackController.java
new file mode 100644
index 00000000..6c8fb27f
--- /dev/null
+++ b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/controller/TaskCallbackController.java
@@ -0,0 +1,37 @@
+package cn.code.nl.module.task.controller;
+
+import cn.code.nl.framework.common.pojo.CommonResult;
+import cn.code.nl.module.task.dto.TaskCallbackResultReqDTO;
+import cn.code.nl.module.task.enums.ApiConstants;
+import cn.code.nl.module.task.service.transporttask.TransportTaskCallbackService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.annotation.Resource;
+import jakarta.validation.Valid;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import static cn.code.nl.framework.common.pojo.CommonResult.success;
+
+/**
+ * LMS/WMS 业务回调结果接口
+ */
+@Tag(name = "业务回调")
+@RestController
+@RequestMapping(ApiConstants.PREFIX)
+@Validated
+public class TaskCallbackController {
+
+    @Resource
+    private TransportTaskCallbackService callbackService;
+
+    @PostMapping("/transport/callback-result")
+    @Operation(summary = "接收 LMS/WMS 业务处理结果")
+    public CommonResult<Boolean> receiveCallbackResult(@Valid @RequestBody TaskCallbackResultReqDTO reqDTO) {
+        callbackService.receiveCallbackResult(reqDTO);
+        return success(true);
+    }
+}
diff --git a/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/mq/TaskEventProducer.java b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/mq/TaskEventProducer.java
new file mode 100644
index 00000000..ab119a52
--- /dev/null
+++ b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/mq/TaskEventProducer.java
@@ -0,0 +1,48 @@
+package cn.code.nl.module.task.mq;
+
+import cn.code.nl.module.task.dto.TaskEventMessage;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.rocketmq.spring.core.RocketMQTemplate;
+import org.springframework.stereotype.Component;
+
+import jakarta.annotation.Resource;
+import java.util.UUID;
+
+/**
+ * 任务事件 MQ 生产者
+ * <p>
+ * Topic: TASK_EVENT_TOPIC
+ * Tag: ownerService (LMS / WMS)
+ */
+@Slf4j
+@Component
+public class TaskEventProducer {
+
+    private static final String TOPIC = "TASK_EVENT_TOPIC";
+
+    @Resource
+    private RocketMQTemplate rocketMQTemplate;
+
+    /**
+     * 发布任务完成/取消事件
+     *
+     * @param message 事件消息
+     */
+    public void publishEvent(TaskEventMessage message) {
+        // 补齐 eventId
+        if (message.getEventId() == null || message.getEventId().isEmpty()) {
+            message.setEventId(UUID.randomUUID().toString());
+        }
+
+        String destination = TOPIC + ":" + message.getOwnerService();
+        try {
+            rocketMQTemplate.syncSend(destination, message);
+            log.info("MQ 发送成功, destination={}, taskId={}, eventType={}",
+                    destination, message.getTaskId(), message.getEventType());
+        } catch (Exception e) {
+            log.error("MQ 发送失败, destination={}, taskId={}, error={}",
+                    destination, message.getTaskId(), e.getMessage(), e);
+            throw new RuntimeException("MQ 发送失败: " + e.getMessage(), e);
+        }
+    }
+}
diff --git a/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskCallbackService.java b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskCallbackService.java
new file mode 100644
index 00000000..6cfa1716
--- /dev/null
+++ b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskCallbackService.java
@@ -0,0 +1,19 @@
+package cn.code.nl.module.task.service.transporttask;
+
+import cn.code.nl.module.task.dto.TaskCallbackResultReqDTO;
+import jakarta.validation.Valid;
+
+/**
+ * 业务回调结果处理服务接口
+ *
+ * @author 诺力管理员
+ */
+public interface TransportTaskCallbackService {
+
+    /**
+     * 接收 LMS/WMS 的业务处理结果
+     *
+     * @param reqDTO 回调结果
+     */
+    void receiveCallbackResult(@Valid TaskCallbackResultReqDTO reqDTO);
+}
diff --git a/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskCallbackServiceImpl.java b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskCallbackServiceImpl.java
new file mode 100644
index 00000000..1c5e53c4
--- /dev/null
+++ b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskCallbackServiceImpl.java
@@ -0,0 +1,72 @@
+package cn.code.nl.module.task.service.transporttask;
+
+import cn.code.nl.module.task.dal.dataobject.transporttask.TransportTaskDO;
+import cn.code.nl.module.task.dal.mysql.transporttask.TransportTaskMapper;
+import cn.code.nl.module.task.dto.TaskCallbackResultReqDTO;
+import cn.code.nl.module.task.enums.CallbackStatusEnum;
+import cn.code.nl.module.task.enums.TransportTaskStatusEnum;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+import org.springframework.validation.annotation.Validated;
+
+import jakarta.annotation.Resource;
+
+/**
+ * 业务回调结果处理服务实现
+ *
+ * @author 诺力管理员
+ */
+@Slf4j
+@Service
+@Validated
+public class TransportTaskCallbackServiceImpl implements TransportTaskCallbackService {
+
+    @Resource
+    private TransportTaskMapper transportTaskMapper;
+
+    @Override
+    public void receiveCallbackResult(TaskCallbackResultReqDTO reqDTO) {
+        // 1. 查询任务
+        TransportTaskDO task = transportTaskMapper.selectById(reqDTO.getTaskId());
+        if (task == null) {
+            log.warn("回调 taskId 不存在, taskId={}", reqDTO.getTaskId());
+            return;
+        }
+
+        // 2. 幂等：已是终态则直接返回
+        String currentStatus = task.getTaskStatus();
+        String finalFinished = statusCode(TransportTaskStatusEnum.FINISHED);
+        String finalCancelled = statusCode(TransportTaskStatusEnum.CANCELLED);
+        if (finalFinished.equals(currentStatus) || finalCancelled.equals(currentStatus)) {
+            log.info("任务已处终态, taskId={}, status={}, 忽略回调",
+                    reqDTO.getTaskId(), currentStatus);
+            return;
+        }
+
+        // 3. 根据结果处理
+        boolean success = "SUCCESS".equalsIgnoreCase(reqDTO.getResult());
+        if (success) {
+            // 根据当前状态决定目标终态
+            if (statusCode(TransportTaskStatusEnum.FINISHED_CALLBACK_PENDING).equals(currentStatus)) {
+                task.setTaskStatus(finalFinished);
+            } else if (statusCode(TransportTaskStatusEnum.CANCEL_CALLBACK_PENDING).equals(currentStatus)) {
+                task.setTaskStatus(finalCancelled);
+            }
+            task.setCallbackStatus(CallbackStatusEnum.SUCCESS.getCode());
+        } else {
+            // 业务处理失败：记录失败信息，增加重试次数
+            task.setCallbackStatus(CallbackStatusEnum.FAILED.getCode());
+            task.setCallbackErrorMsg(reqDTO.getMessage());
+            task.setCallbackRetryCount(task.getCallbackRetryCount() != null
+                    ? task.getCallbackRetryCount() + 1 : 1);
+        }
+
+        transportTaskMapper.updateById(task);
+        log.info("业务回调结果已处理, taskId={}, result={}, newStatus={}",
+                reqDTO.getTaskId(), reqDTO.getResult(), task.getTaskStatus());
+    }
+
+    private String statusCode(TransportTaskStatusEnum statusEnum) {
+        return String.format("%03d", statusEnum.getCode());
+    }
+}
diff --git a/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskFeedbackService.java b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskFeedbackService.java
new file mode 100644
index 00000000..fc3b21db
--- /dev/null
+++ b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskFeedbackService.java
@@ -0,0 +1,19 @@
+package cn.code.nl.module.task.service.transporttask;
+
+import cn.code.nl.module.task.dto.AcsFeedbackReqDTO;
+import jakarta.validation.Valid;
+
+/**
+ * ACS 反馈处理服务接口
+ *
+ * @author 诺力管理员
+ */
+public interface TransportTaskFeedbackService {
+
+    /**
+     * 接收 ACS 状态反馈并处理
+     *
+     * @param reqDTO 反馈请求
+     */
+    void receiveAcsFeedback(@Valid AcsFeedbackReqDTO reqDTO);
+}
diff --git a/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskFeedbackServiceImpl.java b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskFeedbackServiceImpl.java
new file mode 100644
index 00000000..051d9be9
--- /dev/null
+++ b/nl-module-task/nl-module-task-server/src/main/java/cn/code/nl/module/task/service/transporttask/TransportTaskFeedbackServiceImpl.java
@@ -0,0 +1,239 @@
+package cn.code.nl.module.task.service.transporttask;
+
+import cn.code.nl.module.task.client.TransportTaskStatusClient;
+import cn.code.nl.module.task.dal.dataobject.transporttask.TransportTaskDO;
+import cn.code.nl.module.task.dal.mysql.transporttask.TransportTaskMapper;
+import cn.code.nl.module.task.dto.AcsFeedbackReqDTO;
+import cn.code.nl.module.task.dto.TaskEventMessage;
+import cn.code.nl.module.task.dto.TaskStatusCallbackReqDTO;
+import cn.code.nl.module.task.dto.TaskStatusCallbackRespDTO;
+import cn.code.nl.module.task.enums.CallbackStatusEnum;
+import cn.code.nl.module.task.enums.TaskEventTypeEnum;
+import cn.code.nl.module.task.enums.TransportTaskStatusEnum;
+import cn.code.nl.module.task.mq.TaskEventProducer;
+import cn.hutool.core.util.StrUtil;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+import org.springframework.validation.annotation.Validated;
+
+import jakarta.annotation.Resource;
+import java.util.Map;
+
+/**
+ * ACS 反馈处理服务实现
+ *
+ * @author 诺力管理员
+ */
+@Slf4j
+@Service
+@Validated
+public class TransportTaskFeedbackServiceImpl implements TransportTaskFeedbackService {
+
+    @Resource
+    private TransportTaskMapper transportTaskMapper;
+
+    @Resource
+    private TransportTaskStatusClient transportTaskStatusClient;
+
+    @Resource
+    private TaskEventProducer taskEventProducer;
+
+    private static final ObjectMapper OBJECT_MAPPER = new ObjectMapper();
+
+    @Override
+    public void receiveAcsFeedback(AcsFeedbackReqDTO reqDTO) {
+        // 1. 查询任务
+        TransportTaskDO task = transportTaskMapper.selectById(reqDTO.getTaskId());
+        if (task == null) {
+            log.warn("ACS 反馈 taskId 不存在, taskId={}, 直接返回成功", reqDTO.getTaskId());
+            return;
+        }
+
+        // 2. 幂等判断：已经是终态（完成/取消）则不重复处理
+        String currentStatus = task.getTaskStatus();
+        if (isFinalStatus(currentStatus)) {
+            log.info("任务已处终态, taskId={}, currentStatus={}, 忽略反馈",
+                    reqDTO.getTaskId(), currentStatus);
+            return;
+        }
+
+        // 3. 保存 resultParam
+        if (reqDTO.getPayload() != null) {
+            try {
+                task.setResultParam(OBJECT_MAPPER.writeValueAsString(reqDTO.getPayload()));
+            } catch (Exception e) {
+                log.warn("resultParam 序列化失败, taskId={}", reqDTO.getTaskId(), e);
+            }
+        }
+
+        // 4. 按状态路由
+        String feedbackStatus = reqDTO.getStatus();
+        if ("EXECUTING".equalsIgnoreCase(feedbackStatus)) {
+            handleExecuting(task);
+        } else if ("PICKED".equalsIgnoreCase(feedbackStatus)) {
+            handlePicked(task, reqDTO);
+        } else if ("FINISHED".equalsIgnoreCase(feedbackStatus)) {
+            handleFinished(task, reqDTO);
+        } else if ("CANCELLED".equalsIgnoreCase(feedbackStatus)) {
+            handleCancelled(task, reqDTO);
+        } else {
+            log.warn("未知 ACS 反馈状态, taskId={}, status={}", reqDTO.getTaskId(), feedbackStatus);
+        }
+    }
+
+    // ==================== 各状态处理方法 ====================
+
+    /**
+     * 处理执行中(60)：直接更新状态，不做业务回调
+     */
+    private void handleExecuting(TransportTaskDO task) {
+        if (!isAllowedFrom(task.getTaskStatus(), "040", "050", "060")) {
+            log.warn("执行中反馈状态校验不通过, taskId={}, currentStatus={}",
+                    task.getTaskId(), task.getTaskStatus());
+            return;
+        }
+        task.setTaskStatus(statusCode(TransportTaskStatusEnum.EXECUTING));
+        transportTaskMapper.updateById(task);
+        log.info("任务执行中, taskId={}", task.getTaskId());
+    }
+
+    /**
+     * 处理取货完成(61)：更新状态 + 同步 HTTP 回调 LMS/WMS
+     */
+    private void handlePicked(TransportTaskDO task, AcsFeedbackReqDTO reqDTO) {
+        if (!isAllowedFrom(task.getTaskStatus(), "060", "061")) {
+            log.warn("取货完成反馈状态校验不通过, taskId={}, currentStatus={}",
+                    task.getTaskId(), task.getTaskStatus());
+            return;
+        }
+        // 更新状态
+        task.setTaskStatus(statusCode(TransportTaskStatusEnum.PICKED));
+        transportTaskMapper.updateById(task);
+        log.info("任务已取货, taskId={}", task.getTaskId());
+
+        // 同步 HTTP 回调 LMS/WMS
+        TaskStatusCallbackReqDTO callbackReq = buildCallbackReq(task, reqDTO);
+        TaskStatusCallbackRespDTO resp = transportTaskStatusClient.notifyStatus(callbackReq);
+
+        if (resp != null && Boolean.TRUE.equals(resp.getSuccess())) {
+            log.info("取货完成同步回调成功, taskId={}", task.getTaskId());
+        } else {
+            // 回调失败：记录但不阻塞 ACS 返回
+            task.setCallbackStatus(CallbackStatusEnum.FAILED.getCode());
+            task.setCallbackErrorMsg(resp != null ? resp.getMessage() : "回调无响应");
+            transportTaskMapper.updateById(task);
+            log.warn("取货完成同步回调失败, taskId={}, msg={}",
+                    task.getTaskId(), task.getCallbackErrorMsg());
+        }
+    }
+
+    /**
+     * 处理完成(67)：更新状态 + 异步 MQ 通知 LMS/WMS
+     */
+    private void handleFinished(TransportTaskDO task, AcsFeedbackReqDTO reqDTO) {
+        if (!isAllowedFrom(task.getTaskStatus(), "050", "060", "061", "067")) {
+            log.warn("完成反馈状态校验不通过, taskId={}, currentStatus={}",
+                    task.getTaskId(), task.getTaskStatus());
+            return;
+        }
+        // 已是 067 则只发 MQ，不改状态
+        if (!statusCode(TransportTaskStatusEnum.FINISHED_CALLBACK_PENDING).equals(task.getTaskStatus())) {
+            task.setTaskStatus(statusCode(TransportTaskStatusEnum.FINISHED_CALLBACK_PENDING));
+        }
+        task.setCallbackStatus(CallbackStatusEnum.PENDING.getCode());
+        transportTaskMapper.updateById(task);
+
+        publishEvent(task, TaskEventTypeEnum.TASK_FINISHED, reqDTO.getPayload());
+    }
+
+    /**
+     * 处理取消(69)：更新状态 + 异步 MQ 通知 LMS/WMS
+     */
+    private void handleCancelled(TransportTaskDO task, AcsFeedbackReqDTO reqDTO) {
+        if (!isAllowedFrom(task.getTaskStatus(), "040", "050", "060", "061", "069")) {
+            log.warn("取消反馈状态校验不通过, taskId={}, currentStatus={}",
+                    task.getTaskId(), task.getTaskStatus());
+            return;
+        }
+        if (!statusCode(TransportTaskStatusEnum.CANCEL_CALLBACK_PENDING).equals(task.getTaskStatus())) {
+            task.setTaskStatus(statusCode(TransportTaskStatusEnum.CANCEL_CALLBACK_PENDING));
+        }
+        task.setCallbackStatus(CallbackStatusEnum.PENDING.getCode());
+        transportTaskMapper.updateById(task);
+
+        publishEvent(task, TaskEventTypeEnum.TASK_CANCELLED, reqDTO.getPayload());
+    }
+
+    // ==================== 工具方法 ====================
+
+    /**
+     * 发布 MQ 事件。发送失败时记录 callbackStatus=FAILED
+     */
+    private void publishEvent(TransportTaskDO task, TaskEventTypeEnum eventType,
+                              Map<String, Object> payload) {
+        TaskEventMessage msg = new TaskEventMessage();
+        msg.setEventType(eventType.getCode());
+        msg.setTaskId(task.getTaskId());
+        msg.setTaskCode(task.getTaskCode());
+        msg.setOwnerService(task.getOwnerService());
+        msg.setBizType(task.getBizType());
+        msg.setBizId(task.getBizId());
+        msg.setHandleCode(task.getHandleCode());
+        msg.setPayload(payload);
+
+        try {
+            taskEventProducer.publishEvent(msg);
+        } catch (Exception e) {
+            log.error("MQ 发布失败, taskId={}, eventType={}",
+                    task.getTaskId(), eventType.getCode(), e);
+            task.setCallbackStatus(CallbackStatusEnum.FAILED.getCode());
+            task.setCallbackErrorMsg(StrUtil.maxLength(e.getMessage(), 500));
+            transportTaskMapper.updateById(task);
+        }
+    }
+
+    /**
+     * 构建同步回调请求 DTO
+     */
+    private TaskStatusCallbackReqDTO buildCallbackReq(TransportTaskDO task,
+                                                       AcsFeedbackReqDTO reqDTO) {
+        TaskStatusCallbackReqDTO req = new TaskStatusCallbackReqDTO();
+        req.setTaskId(task.getTaskId());
+        req.setTaskCode(task.getTaskCode());
+        req.setStatus(statusCode(TransportTaskStatusEnum.PICKED));
+        req.setOwnerService(task.getOwnerService());
+        req.setBizType(task.getBizType());
+        req.setBizId(task.getBizId());
+        req.setHandleCode(task.getHandleCode());
+        req.setPayload(reqDTO.getPayload());
+        return req;
+    }
+
+    /**
+     * 判断是否已是终态（已完成/已取消）
+     */
+    private boolean isFinalStatus(String status) {
+        return statusCode(TransportTaskStatusEnum.FINISHED).equals(status)
+                || statusCode(TransportTaskStatusEnum.CANCELLED).equals(status);
+    }
+
+    /**
+     * 判断当前状态是否在允许的前置状态列表中
+     */
+    private boolean isAllowedFrom(String current, String... allowed) {
+        for (String s : allowed) {
+            if (s.equals(current)) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    /**
+     * 获取枚举对应的三位状态码字符串
+     */
+    private String statusCode(TransportTaskStatusEnum statusEnum) {
+        return String.format("%03d", statusEnum.getCode());
+    }
+}