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 c6ee065..d8ac11d 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
@@ -812,6 +812,8 @@ public class AgvServiceImpl implements AgvService {
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
         SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver;
         YzjaSpecialDeviceDriver yzjaSpecialDeviceDriver;
+        StandardManipulatorInspectSiteDeviceDriver standardManipulatorInspectSiteDeviceDriver;
+
         //请求进入
         if ("onEntry".equals(type)) {
 
@@ -846,7 +848,24 @@ public class AgvServiceImpl implements AgvService {
                         is_feedback = true;
                     }
                 }
-
+            }
+            if (addressdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
+                standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                //请求取货
+                if ("Load".equals(action)) {
+                    if (standardManipulatorInspectSiteDeviceDriver.getMove() > 0
+                            && (standardManipulatorInspectSiteDeviceDriver.getIo_action() == 3 || standardManipulatorInspectSiteDeviceDriver.getIo_action() == 1)) {
+                        inst.setExecute_status("1");
+                        is_feedback = true;
+                    }
+                    //请求放货
+                } else if ("Unload".equals(action)) {
+                    if (standardManipulatorInspectSiteDeviceDriver.getMove() == 0
+                            && (standardManipulatorInspectSiteDeviceDriver.getIo_action() == 3 || standardManipulatorInspectSiteDeviceDriver.getIo_action() == 2)) {
+                        inst.setExecute_status("3");
+                        is_feedback = true;
+                    }
+                }
             }
             if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java
index b0256a2..d42da5b 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java
@@ -278,7 +278,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setUpdate_by(this.getDevice().getDevice_code());
 
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String device_code = "";
             StandardPhotoelectricInspectSiteDeviceDriver standardPhotoelectricInspectSiteDeviceDriver;
             List<RouteLineDto> list = routelineserver.getPathLinesByCode(this.device_code, "normal");
@@ -488,7 +488,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String start_device_code = "";
             List<RouteLineDto> list = routelineserver.getPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -557,7 +557,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -652,7 +652,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -730,7 +730,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -801,7 +801,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -871,7 +871,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index c91afac..9cb6efa 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -73,7 +73,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         try {
             //{"status":400,"timestamp":"2021-10-22 16:32:22","message":"业务类型不正确!"}
             result2 = HttpRequest.post(url)
-                    .header("Authorization", token)
+//                    .header("Authorization", token)
                     .body(String.valueOf(jo))
                     .execute();
             System.out.println(result2);
@@ -239,7 +239,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         String methods_url = addressDto.getMethods_url();
         try {
             result2 = HttpRequest.post(wmsurl + methods_url)
-                    .header("Authorization", token).body(String.valueOf(data))
+//                    .header("Authorization", token)
+                    .body(String.valueOf(data))
                     .execute();
         } catch (Exception e) {
             String msg = e.getMessage();
@@ -319,7 +320,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
         try {
             result2 = HttpRequest.post(url)
-                    .header("Authorization", token)
+//                    .header("Authorization", token)
                     .body(String.valueOf(jo))
                     .execute().body();
             System.out.println(result2);
@@ -345,7 +346,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         log.info("apply_OutEmpty----请求参数{}", jo);
         try {
             result2 = HttpRequest.post(url)
-                    .header("Authorization", token)
+//                    .header("Authorization", token)
                     .body(String.valueOf(jo))
                     .execute().body();
             System.out.println(result2);
@@ -457,7 +458,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
         try {
             result = HttpRequest.post(url)
-                    . header("Authorization", token).body(String.valueOf(from))
+//                    . header("Authorization", token)
+                    .body(String.valueOf(from))
                     .execute();
             System.out.println(result);
             log.info("feedWeighing----返回参数{}", result);
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 ed6343f..4d5b14f 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
@@ -2158,6 +2158,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                             instructionService.update(inst);
                                             data = AgvService.sendAgvOneModeInst(phase, index, 0);
                                             standardPhotoelectricInspectSiteDeviceDriver.writing(1, 8);
+                                            standardPhotoelectricInspectSiteDeviceDriver.writing(4, Integer.parseInt(inst.getVehicle_type()));
                                             flag = true;
                                         } else {
                                             log.info("AGV请求取货设备{}有货,无法反馈", device_code);
@@ -2346,7 +2347,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 else if (phase == 0x30) {
                                     flag = true;
                                     if (!ObjectUtil.isEmpty(inst)) {
-                                        data = AgvService.sendAgvOneModeInst(phase, index, 0);
+                                        data = AgvService.sendAgvOneModeInst(0x8F, index, 0);
                                     } else {
                                         log.info("未找到对应的指令无法删除");
                                         break;