diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
index 0e67aee..23d9718 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
@@ -592,7 +592,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 lnshFoldDiscSiteDeviceDriver = (LnshFoldDiscSiteDeviceDriver) device.getDeviceDriver();
                 lnshFoldDiscSiteDeviceDriver.writing(5);
                 if (lnshFoldDiscSiteDeviceDriver.getMode() != 0
-                        && lnshFoldDiscSiteDeviceDriver.getContainer_qty() == 0
+//                        && lnshFoldDiscSiteDeviceDriver.getContainer_qty() == 0
 //                        && (lnshFoldDiscSiteDeviceDriver.getIo_action() == 3 || lnshFoldDiscSiteDeviceDriver.getIo_action() == 2)
                 ) {
                     inst.setExecute_status("5");
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java
index 7d8537d..8e71b4a 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java
@@ -255,7 +255,6 @@ public class LnshFoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implem
      * @param
      */
     public synchronized boolean apply_take_empty_vehicle() {
-        if(move == 1) {
             ApplyTaskRequest request = new ApplyTaskRequest();
             request.setDevice_code(this.getDevice_code());
             request.setRequest_medthod_code(Thread.currentThread().getStackTrace()[1].getMethodName());
@@ -272,11 +271,6 @@ public class LnshFoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implem
                 message = RequestMethodEnum.getName("apply_take_empty_vehicle") + "apply_take_empty_vehicle 接口请求失败" + resp.getMessage();;
             }
             return true;
-        } else {
-            message = RequestMethodEnum.getName("apply_take_empty_vehicle") + "apply_take_empty_vehicle 设备无货未请求LMS...";
-            lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message));
-            return false;
-        }
     }
 
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
index 9fd0be2..57dd458 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
@@ -747,6 +747,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("apply_put_full_vehicle") + "apply_put_full_vehicle 接口请求失败" + resp.getMessage();;
             }
             lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message));
@@ -780,6 +781,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("apply_put_empty_vehicle") + "apply_put_empty_vehicle 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -811,6 +813,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("apply_take_empty_vehicle") + "apply_take_empty_vehicle 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -856,6 +859,9 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 for (int i = 0; i < getDeviceCodeList.size(); i++) {
                     ApplyDeviceDto applyDeviceDto=new ApplyDeviceDto();
                     Device getDevice = deviceAppService.findDeviceByCode(getDeviceCodeList.get(i).toString());
+                    if(ObjectUtil.isEmpty(getDevice)){
+                        continue;
+                    }
                     if(getDevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver){
                         lnshPalletizingManipulatorSiteDeviceDriver=(LnshPalletizingManipulatorSiteDeviceDriver) getDevice.getDeviceDriver();
                         applyDeviceDto.setQty(String.valueOf(lnshPalletizingManipulatorSiteDeviceDriver.getEncoder_qty()));
@@ -877,6 +883,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("apply_take_full_vehicle") + "apply_take_full_vehicle 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -909,6 +916,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("apply_force_take_full_vehicle") + "apply_force_take_full_vehicle 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -941,6 +949,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("apply_force_take_full_vehicle_in_storage") + "apply_force_take_full_vehicle_in_storage 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -974,6 +983,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("barcode_success_apply") + "barcode_success_apply 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -1009,6 +1019,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("get_vehicle_info") + "get_vehicle_info 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -1040,6 +1051,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
                 this.setRequireSucess(true);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("force_no_package") + "force_no_package 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -1068,9 +1080,10 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
 
             if (resp.getCode() == 200) {
                 this.writing(200);
-                this.setRequireSucess(true);
+                this.setRequireSucess(false);
             } else {
                 this.writing(400);
+                this.setIserror(true);
                 message = RequestMethodEnum.getName("apply_labelling") + "apply_labelling 接口请求失败" + resp.getMessage();;
             }
             return true;
@@ -1240,7 +1253,13 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
             default:
                 action = "禁止取放";
         }
-
+        if (this.move == 0) {
+            move = "无货";
+            hasGoods = false;
+        } else {
+            move = "有货";
+            hasGoods = true;
+        }
         switch (this.io_action) {
             case 1:
                 io_action = "允许进入";