diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/IotToWmsController.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/IotToWmsController.java
index 4a165f9..5d50a66 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/IotToWmsController.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/IotToWmsController.java
@@ -53,11 +53,19 @@ public class IotToWmsController {
         return new ResponseEntity<>(iotToWmsService.orders(iotOrdersReq), HttpStatus.OK);
     }
 
-    @PostMapping("/fjMaterialInfo")
-    @Log("sorting系统查询库存")
+    @PostMapping("/sortingMaterialInfo")
+    @Log("分拣系统查询库存")
     @ApiOperation("sorting系统查询库存")
+    public ResponseEntity<Object> sortingMaterialInfo(@RequestBody SortingReq sortingReq) {
+        return new ResponseEntity<>(iotToWmsService.sortingMaterialInfo(sortingReq), HttpStatus.OK);
+    }
+
+    @PostMapping("/sortingCallMaterial")
+    @Log("分拣系统下发叫料请求")
+    @ApiOperation("分拣系统下发叫料请求")
     public ResponseEntity<Object> fjMaterialInfo(@RequestBody SortingReq sortingReq) {
-        return new ResponseEntity<>(iotToWmsService.fjMaterialInfo(sortingReq), HttpStatus.OK);
+        return new ResponseEntity<>(iotToWmsService.sortingCallMaterial(sortingReq), HttpStatus.OK);
     }
 
+
 }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/IotToWmsService.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/IotToWmsService.java
index b711f55..0b98941 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/IotToWmsService.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/IotToWmsService.java
@@ -21,5 +21,7 @@ public interface IotToWmsService {
 
     BaseResponse orders(IotOrdersReq iotOrdersReq);
 
-    List<MaterialVehicleBind> fjMaterialInfo(SortingReq sortingReq);
+    List<MaterialVehicleBind> sortingMaterialInfo(SortingReq sortingReq);
+
+    BaseResponse sortingCallMaterial(SortingReq sortingReq);
 }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/dto/to/iot/SortingReq.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/dto/to/iot/SortingReq.java
index 777c6e8..c5aa046 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/dto/to/iot/SortingReq.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/dto/to/iot/SortingReq.java
@@ -8,4 +8,6 @@ import lombok.Data;
 @Data
 public class SortingReq {
     private String order;
+    private String startDeviceCode;
+    private String endDeviceCode;
 }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/IotToWmsServiceImpl.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/IotToWmsServiceImpl.java
index 8cd9c06..6d8a1c6 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/IotToWmsServiceImpl.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/IotToWmsServiceImpl.java
@@ -1,5 +1,6 @@
 package org.nl.wms.ext.service.impl;
 
+import cn.hutool.core.util.IdUtil;
 import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.wms.ext.service.AcsToWmsService;
@@ -8,6 +9,7 @@ import org.nl.wms.ext.service.dto.to.BaseResponse;
 import org.nl.wms.ext.service.dto.to.iot.IotOrdersReq;
 import org.nl.wms.ext.service.dto.to.iot.IotPartsReq;
 import org.nl.wms.ext.service.dto.to.iot.SortingReq;
+import org.nl.wms.pda.service.dao.vo.PdaResponseVo;
 import org.nl.wms.sch.materialBind.service.IMaterialVehicleBindService;
 import org.nl.wms.sch.materialBind.service.dao.MaterialVehicleBind;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -47,9 +49,20 @@ public class IotToWmsServiceImpl implements IotToWmsService {
     }
 
     @Override
-    public List<MaterialVehicleBind> fjMaterialInfo(SortingReq sortingReq) {
+    public List<MaterialVehicleBind> sortingMaterialInfo(SortingReq sortingReq) {
         String order = sortingReq.getOrder();
         return materialVehicleBindService.selectByOrder(order);
     }
 
+    @Override
+    public BaseResponse sortingCallMaterial(SortingReq sortingReq) {
+        JSONObject param = new JSONObject();
+        param.put("taskCode", IdUtil.getSnowflake(1, 1).nextIdStr());
+        param.put("taskType", "FJSLTask");
+        param.put("start_device_code",sortingReq.getStartDeviceCode());
+        param.put("end_device_code",sortingReq.getEndDeviceCode());
+        acsToWmsService.acsApply(param);
+        return BaseResponse.responseOk("任务下发成功");
+    }
+
 }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/controller/MaterialVehicleBindController.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/controller/MaterialVehicleBindController.java
new file mode 100644
index 0000000..ea114de
--- /dev/null
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/controller/MaterialVehicleBindController.java
@@ -0,0 +1,66 @@
+package org.nl.wms.sch.materialBind.controller;
+
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.common.base.TableDataInfo;
+import org.nl.common.domain.query.PageQuery;
+import org.nl.common.logging.annotation.Log;
+import org.nl.wms.sch.materialBind.service.IMaterialVehicleBindService;
+import org.nl.wms.sch.materialBind.service.dao.MaterialVehicleBind;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Map;
+import java.util.Set;
+/**
+* @author songxiaopeng
+* @date 2024-05-10
+**/
+@Slf4j
+@RestController
+@Api(tags = "载具物料信息绑定管理")
+@RequestMapping("/api/materialVehicleBind")
+public class MaterialVehicleBindController {
+
+    @Autowired
+    private IMaterialVehicleBindService materialVehicleBindService;
+
+    @GetMapping
+    @Log("查询载具物料信息绑定")
+    @ApiOperation("查询载具物料信息绑定")
+    //@SaCheckPermission("@el.check('materialVehicleBind:list')")
+    public ResponseEntity<Object> query(@RequestParam Map whereJson, PageQuery page){
+        return new ResponseEntity<>(TableDataInfo.build(materialVehicleBindService.queryAll(whereJson,page)),HttpStatus.OK);
+    }
+
+    @PostMapping
+    @Log("新增载具物料信息绑定")
+    @ApiOperation("新增载具物料信息绑定")
+    //@SaCheckPermission("@el.check('materialVehicleBind:add')")
+    public ResponseEntity<Object> create(@Validated @RequestBody MaterialVehicleBind entity){
+        materialVehicleBindService.create(entity);
+        return new ResponseEntity<>(HttpStatus.CREATED);
+    }
+
+    @PutMapping
+    @Log("修改载具物料信息绑定")
+    @ApiOperation("修改载具物料信息绑定")
+    //@SaCheckPermission("@el.check('materialVehicleBind:edit')")
+    public ResponseEntity<Object> update(@Validated @RequestBody MaterialVehicleBind entity){
+        materialVehicleBindService.update(entity);
+        return new ResponseEntity<>(HttpStatus.NO_CONTENT);
+    }
+
+    @Log("删除载具物料信息绑定")
+    @ApiOperation("删除载具物料信息绑定")
+    //@SaCheckPermission("@el.check('materialVehicleBind:del')")
+    @DeleteMapping
+    public ResponseEntity<Object> delete(@RequestBody Set<String> ids) {
+        materialVehicleBindService.deleteAll(ids);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+}
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/IMaterialVehicleBindService.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/IMaterialVehicleBindService.java
new file mode 100644
index 0000000..0597ed8
--- /dev/null
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/IMaterialVehicleBindService.java
@@ -0,0 +1,48 @@
+package org.nl.wms.sch.materialBind.service;
+
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import org.nl.common.domain.query.PageQuery;
+import com.baomidou.mybatisplus.extension.service.IService;
+import org.nl.wms.sch.materialBind.service.dao.MaterialVehicleBind;
+
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+
+/**
+* @description 服务接口
+* @author songxiaopeng
+* @date 2024-05-10
+**/
+public interface IMaterialVehicleBindService extends IService<MaterialVehicleBind> {
+
+    /**
+    * 查询数据分页
+    * @param whereJson 条件
+    * @param pageable 分页参数
+    * @return IPage<MaterialVehicleBind>
+    */
+    IPage<MaterialVehicleBind> queryAll(Map whereJson, PageQuery pageable);
+
+    /**
+    * 创建
+    * @param entity /
+    */
+    void create(MaterialVehicleBind entity);
+
+    /**
+    * 编辑
+    * @param entity /
+    */
+    void update(MaterialVehicleBind entity);
+
+    /**
+    * 多选删除
+    * @param ids /
+    */
+    void deleteAll(Set<String> ids);
+
+    List<MaterialVehicleBind> selectByOrder(String order);
+
+    void deleteByGroupId(String groupId);
+}
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/MaterialVehicleBind.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/MaterialVehicleBind.java
new file mode 100644
index 0000000..292973b
--- /dev/null
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/MaterialVehicleBind.java
@@ -0,0 +1,58 @@
+package org.nl.wms.sch.materialBind.service.dao;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.io.Serializable;
+
+/**
+* @description /
+* @author songxiaopeng
+* @date 2024-05-10
+**/
+@Data
+@EqualsAndHashCode(callSuper = false)
+@TableName("material_vehicle_bind")
+public class MaterialVehicleBind implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+    @TableId(value = "id", type = IdType.NONE)
+    @ApiModelProperty(value = "ID")
+    private String id;
+
+    @ApiModelProperty(value = "物料编码")
+    private String material_code;
+
+    @ApiModelProperty(value = "物料名称")
+    private String material_name;
+
+    @ApiModelProperty(value = "组盘表id")
+    private String group_id;
+
+    @ApiModelProperty(value = "托盘号")
+    private String vehicle_code;
+
+    @ApiModelProperty(value = "物料数量")
+    private String material_num;
+
+    @ApiModelProperty(value = "订单号")
+    private String order_code;
+
+    @ApiModelProperty(value = "位置")
+    private String position;
+
+    @ApiModelProperty(value = "创建时间")
+    private String create_time;
+
+    @ApiModelProperty(value = "修改时间")
+    private String update_time;
+
+    @ApiModelProperty(value = "是否删除")
+    private String is_delete;
+
+}
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/mapper/MaterialVehicleBindMapper.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/mapper/MaterialVehicleBindMapper.java
new file mode 100644
index 0000000..e5c8c3d
--- /dev/null
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/mapper/MaterialVehicleBindMapper.java
@@ -0,0 +1,12 @@
+package org.nl.wms.sch.materialBind.service.dao.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.nl.wms.sch.materialBind.service.dao.MaterialVehicleBind;
+
+/**
+* @author songxiaopeng
+* @date 2024-05-10
+**/
+public interface MaterialVehicleBindMapper extends BaseMapper<MaterialVehicleBind> {
+
+}
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/mapper/MaterialVehicleBindMapper.xml b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/mapper/MaterialVehicleBindMapper.xml
new file mode 100644
index 0000000..a4c6bee
--- /dev/null
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dao/mapper/MaterialVehicleBindMapper.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="org.nl.wms.sch.materialBind.service.dao.mapper.MaterialVehicleBindMapper">
+
+</mapper>
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dto/MaterialVehicleBindDto.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dto/MaterialVehicleBindDto.java
new file mode 100644
index 0000000..6eebf66
--- /dev/null
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dto/MaterialVehicleBindDto.java
@@ -0,0 +1,43 @@
+package org.nl.wms.sch.materialBind.service.dto;
+
+import lombok.Data;
+import java.io.Serializable;
+
+/**
+* @description /
+* @author songxiaopeng
+* @date 2024-05-10
+**/
+@Data
+public class MaterialVehicleBindDto implements Serializable {
+
+    /** ID */
+    private String id;
+
+    /** 物料编码 */
+    private String material_code;
+
+    /** 物料名称 */
+    private String material_name;
+
+    /** 托盘号 */
+    private String vehicle_code;
+
+    /** 物料数量 */
+    private String material_num;
+
+    /** 订单号 */
+    private String order_code;
+
+    /** 位置 */
+    private String position;
+
+    /** 创建时间 */
+    private String create_time;
+
+    /** 修改时间 */
+    private String update_time;
+
+    /** 是否删除 */
+    private String is_delete;
+}
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dto/MaterialVehicleBindQuery.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dto/MaterialVehicleBindQuery.java
new file mode 100644
index 0000000..dc2ff53
--- /dev/null
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/dto/MaterialVehicleBindQuery.java
@@ -0,0 +1,12 @@
+package org.nl.wms.sch.materialBind.service.dto;
+
+import org.nl.common.domain.query.BaseQuery;
+import org.nl.wms.sch.materialBind.service.dao.MaterialVehicleBind;
+
+/**
+* @author songxiaopeng
+* @date 2024-05-10
+**/
+public class MaterialVehicleBindQuery extends BaseQuery<MaterialVehicleBind> {
+
+}
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/impl/MaterialVehicleBindServiceImpl.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/impl/MaterialVehicleBindServiceImpl.java
new file mode 100644
index 0000000..26f657f
--- /dev/null
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/materialBind/service/impl/MaterialVehicleBindServiceImpl.java
@@ -0,0 +1,84 @@
+package org.nl.wms.sch.materialBind.service.impl;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.common.domain.query.PageQuery;
+import org.nl.common.exception.BadRequestException;
+import org.nl.common.utils.SecurityUtils;
+import org.nl.wms.sch.materialBind.service.IMaterialVehicleBindService;
+import org.nl.wms.sch.materialBind.service.dao.mapper.MaterialVehicleBindMapper;
+import org.nl.wms.sch.materialBind.service.dao.MaterialVehicleBind;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+
+/**
+ * @author songxiaopeng
+ * @description 服务实现
+ * @date 2024-05-10
+ **/
+@Slf4j
+@Service
+public class MaterialVehicleBindServiceImpl extends ServiceImpl<MaterialVehicleBindMapper, MaterialVehicleBind> implements IMaterialVehicleBindService {
+
+    @Autowired
+    private MaterialVehicleBindMapper materialVehicleBindMapper;
+
+    @Override
+    public IPage<MaterialVehicleBind> queryAll(Map whereJson, PageQuery page) {
+        LambdaQueryWrapper<MaterialVehicleBind> lam = new LambdaQueryWrapper<>();
+        IPage<MaterialVehicleBind> pages = new Page<>(page.getPage() + 1, page.getSize());
+        materialVehicleBindMapper.selectPage(pages, lam);
+        return pages;
+    }
+
+    @Override
+    public void create(MaterialVehicleBind entity) {
+        String now = DateUtil.now();
+        entity.setId(IdUtil.getSnowflake(1, 1).nextIdStr());
+        entity.setCreate_time(now);
+        entity.setUpdate_time(now);
+        materialVehicleBindMapper.insert(entity);
+    }
+
+    @Override
+    public void update(MaterialVehicleBind entity) {
+        MaterialVehicleBind dto = materialVehicleBindMapper.selectById(entity.getId());
+        if (dto == null) throw new BadRequestException("被删除或无权限，操作失败!");
+        String now = DateUtil.now();
+        entity.setUpdate_time(now);
+        materialVehicleBindMapper.updateById(entity);
+    }
+
+    @Override
+    public void deleteAll(Set<String> ids) {
+        // 真删除
+        materialVehicleBindMapper.deleteBatchIds(ids);
+    }
+
+    @Override
+    public List<MaterialVehicleBind> selectByOrder(String order) {
+        LambdaQueryWrapper<MaterialVehicleBind> lam = new LambdaQueryWrapper<>();
+        lam.eq(MaterialVehicleBind::getOrder_code, order)
+                .orderByDesc(MaterialVehicleBind::getCreate_time);
+        return materialVehicleBindMapper.selectList(lam);
+    }
+
+    @Override
+    public void deleteByGroupId(String groupId) {
+        LambdaQueryWrapper<MaterialVehicleBind> lam = new LambdaQueryWrapper<>();
+        lam.eq(MaterialVehicleBind::getGroup_id, groupId)
+                .orderByDesc(MaterialVehicleBind::getCreate_time);
+        materialVehicleBindMapper.delete(lam);
+    }
+
+}
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/FJSLTask.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/FJSLTask.java
index c51f5df..6295704 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/FJSLTask.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch/task_manage/task/tasks/fj/FJSLTask.java
@@ -7,6 +7,8 @@ import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang.StringUtils;
+import org.apache.poi.util.StringUtil;
 import org.nl.common.exception.BadRequestException;
 import org.nl.config.SpringContextHolder;
 import org.nl.system.service.param.impl.SysParamServiceImpl;
@@ -16,6 +18,7 @@ import org.nl.wms.ext.service.dto.to.iot.AgvStateParam;
 import org.nl.wms.pdm.service.IPdmBdWorkorderService;
 import org.nl.wms.sch.group.service.ISchBaseVehiclematerialgroupService;
 import org.nl.wms.sch.group.service.dao.SchBaseVehiclematerialgroup;
+import org.nl.wms.sch.materialBind.service.IMaterialVehicleBindService;
 import org.nl.wms.sch.point.service.ISchBasePointService;
 import org.nl.wms.sch.point.service.dao.SchBasePoint;
 import org.nl.wms.sch.task.service.ISchBaseTaskService;
@@ -50,10 +53,6 @@ import java.util.List;
 @Lazy
 public class FJSLTask extends AbstractTask {
     private static String TASK_CONFIG_CODE = "FJSLTask";
-    /**
-     * 入口
-     */
-    private static String ENTRANCE = "1";
     @Autowired
     private ISchBasePointService pointService;
     @Autowired
@@ -61,13 +60,9 @@ public class FJSLTask extends AbstractTask {
     @Autowired
     private ISchBaseTaskconfigService taskConfigService;
     @Autowired
-    private IPdmBdWorkorderService workorderService;
-    @Autowired
     private ISchBaseVehiclematerialgroupService vehiclematerialgroupService;
     @Autowired
-    private PointMapper pointMapper;
-    @Autowired
-    private WmsToAcsService wmsToAcsService;
+    private IMaterialVehicleBindService materialVehicleBindService;
 
     @Override
 //    @Transactional(rollbackFor = Exception.class)
@@ -78,7 +73,7 @@ public class FJSLTask extends AbstractTask {
         SchBaseTaskconfig taskConfig = taskConfigService.getOne(new LambdaQueryWrapper<SchBaseTaskconfig>()
                 .eq(SchBaseTaskconfig::getConfig_code, TASK_CONFIG_CODE));
         for (SchBaseTask task : tasks) {
-            SchBasePoint point = findStartPoint(taskConfig.getStart_region_str());
+            SchBasePoint point = findStartPoint(task, taskConfig.getStart_region_str());
             if (ObjectUtil.isEmpty(point)) {
                 task.setRemark("未找到所需点位!");
                 taskService.update(task);
@@ -104,14 +99,17 @@ public class FJSLTask extends AbstractTask {
         }
     }
 
-    //查找待分拣物料 todo 需要关联组盘信息去查
-    private SchBasePoint findStartPoint(String startRegionStr) {
+    //查找起点，如果上位系统指定起点，直接返回起点，未指定，就从数据库中查找
+    private SchBasePoint findStartPoint(SchBaseTask task, String startRegionStr) {
+        if (StringUtils.isNotEmpty(task.getPoint_code1())) {
+            return pointService.selectByExtPointCode(task.getPoint_code1());
+        }
         //从待分拣货架查找 物料类型是待分拣物料，物料类型字段尚未确定
         String[] reginList = startRegionStr.split(",");
         LambdaQueryWrapper<SchBasePoint> lam = new LambdaQueryWrapper<>();
         lam.in(SchBasePoint::getRegion_code, Arrays.asList(reginList))
                 .eq(SchBasePoint::getPoint_status, PointStatusEnum.FULL_POINT.getCode())
-                .eq(SchBasePoint::getPoint_type,"1")
+                .eq(SchBasePoint::getCan_vehicle_type, task.getVehicle_type())
                 .and(la -> la.isNull(SchBasePoint::getIng_task_code)
                         .or()
                         .eq(SchBasePoint::getIng_task_code, ""))
@@ -159,17 +157,18 @@ public class FJSLTask extends AbstractTask {
             startPointObj.setPoint_status(PointStatusEnum.EMPTY_POINT.getCode());
             startPointObj.setUpdate_time(DateUtil.now());
             pointService.updateById(startPointObj);
-            //todo 分拣上料完成后 组盘信息解绑
-//            SchBaseVehiclematerialgroup vehicleMaterialGroupObj = vehiclematerialgroupService.getById(taskObj.getGroup_id());
-//            vehicleMaterialGroupObj.setGroup_bind_material_status(GroupBindMaterialStatusEnum.UNBOUND.getValue());
-//            vehicleMaterialGroupObj.setPoint_code(endPointObj.getPoint_code());
-//            vehicleMaterialGroupObj.setPoint_name(endPointObj.getPoint_name());
-//            vehicleMaterialGroupObj.setTask_code(taskObj.getTask_code());
-//            vehicleMaterialGroupObj.setMove_way(vehicleMaterialGroupObj.getMove_way() + " -> " + endPointObj.getPoint_code());
-//            vehicleMaterialGroupObj.setUpdate_id(GeneralDefinition.ACS_ID);
-//            vehicleMaterialGroupObj.setUpdate_name(GeneralDefinition.ACS_NAME);
-//            vehicleMaterialGroupObj.setUpdate_time(DateUtil.now());
-//            vehiclematerialgroupService.updateById(vehicleMaterialGroupObj);
+            // 分拣上料完成后 组盘信息解绑
+            SchBaseVehiclematerialgroup vehicleMaterialGroupObj = vehiclematerialgroupService.getById(taskObj.getGroup_id());
+            vehicleMaterialGroupObj.setGroup_bind_material_status(GroupBindMaterialStatusEnum.UNBOUND.getValue());
+            vehicleMaterialGroupObj.setPoint_code(endPointObj.getPoint_code());
+            vehicleMaterialGroupObj.setPoint_name(endPointObj.getPoint_name());
+            vehicleMaterialGroupObj.setTask_code(taskObj.getTask_code());
+            vehicleMaterialGroupObj.setMove_way(vehicleMaterialGroupObj.getMove_way() + " -> " + endPointObj.getPoint_code());
+            vehicleMaterialGroupObj.setUpdate_id(GeneralDefinition.ACS_ID);
+            vehicleMaterialGroupObj.setUpdate_name(GeneralDefinition.ACS_NAME);
+            vehicleMaterialGroupObj.setUpdate_time(DateUtil.now());
+            vehiclematerialgroupService.updateById(vehicleMaterialGroupObj);
+            materialVehicleBindService.deleteByGroupId(vehicleMaterialGroupObj.getGroup_id());
             // 任务完成
             taskObj.setTask_status(TaskStatus.FINISHED.getCode());
             taskObj.setRemark("任务完成");
@@ -234,6 +233,7 @@ public class FJSLTask extends AbstractTask {
             pointService.update(endPoint);
         }
     }
+
     private void applyIot(String url, AgvStateParam agvStateParam, BaseResponse result) {
         String jsonParam = JSON.toJSONString(agvStateParam);
         log.info("请求iot参数为:{}", jsonParam);