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 e60864a..57178a8 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
@@ -25,6 +25,7 @@ import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceD
 import org.nl.acs.device_driver.standard_inspect_site_smart200.StandardInspectSiteSmartDeviceDriver;
 import org.nl.acs.device_driver.standard_manipulator_inspect_site.StandardManipulatorInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
+import org.nl.acs.device_driver.standard_special_inspect_site.StandardSpecialInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.device_driver.weighing_site.WeighingSiteDeviceDriver;
 import org.nl.acs.device_driver.ykbk_special.YkbkSpecialDeviceDriver;
@@ -810,6 +811,7 @@ public class AgvServiceImpl implements AgvService {
         DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
         Device addressdevice = appService.findDeviceByCode(address);
         StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
+        StandardSpecialInspectSiteDeviceDriver standardSpecialInspectSiteDeviceDriver;
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
         SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver;
         YzjaSpecialDeviceDriver yzjaSpecialDeviceDriver;
@@ -835,6 +837,32 @@ public class AgvServiceImpl implements AgvService {
                     }
                 }
             }
+            if (addressdevice.getDeviceDriver() instanceof StandardSpecialInspectSiteDeviceDriver) {
+                standardSpecialInspectSiteDeviceDriver = (StandardSpecialInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                //请求取货
+                if ("Load".equals(action)) {
+                    if (standardSpecialInspectSiteDeviceDriver.getMode() == 2 && standardSpecialInspectSiteDeviceDriver.getMove() > 0) {
+                        if(standardSpecialInspectSiteDeviceDriver.getAction()> 0){
+                            inst.setExecute_status("1");
+                            is_feedback = true;
+                        } else {
+                            standardSpecialInspectSiteDeviceDriver.writing(1);
+                        }
+
+                    }
+                    //请求放货
+                } else if ("Unload".equals(action)) {
+                    if (standardSpecialInspectSiteDeviceDriver.getMode() == 2 && standardSpecialInspectSiteDeviceDriver.getMove() == 0) {
+                        if(standardSpecialInspectSiteDeviceDriver.getAction()>0){
+                            inst.setExecute_status("1");
+                            is_feedback = true;
+                        } else {
+                            standardSpecialInspectSiteDeviceDriver.writing(1);
+                        }
+                    }
+                }
+            }
+
             if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
                 specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
                 //请求取货
@@ -1010,6 +1038,22 @@ public class AgvServiceImpl implements AgvService {
                     is_feedback = true;
                 }
             }
+
+            if (addressdevice.getDeviceDriver() instanceof StandardSpecialInspectSiteDeviceDriver) {
+                standardSpecialInspectSiteDeviceDriver = (StandardSpecialInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                //取货完成
+                if ("Load".equals(action)) {
+                    inst.setExecute_device_code(processingVehicle);
+                    inst.setExecute_status("2");
+                    is_feedback = true;
+                    //放货完成
+                } else if ("Unload".equals(action)) {
+                    inst.setExecute_device_code(address);
+                    inst.setExecute_status("4");
+                    is_feedback = true;
+                }
+            }
+
             if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
                 //取货完成
                 if ("Load".equals(action)) {
@@ -1327,6 +1371,7 @@ public class AgvServiceImpl implements AgvService {
         StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
         StandardStorageDeviceDriver standardStorageDeviceDriver;
+        StandardSpecialInspectSiteDeviceDriver standardSpecialInspectSiteDeviceDriver;
         //mes = AgvClientXZ.mes(zlbh, device, type);
         //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
         if ((addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver)) {
@@ -1370,6 +1415,21 @@ public class AgvServiceImpl implements AgvService {
             }
         }
 
+        if (addressdevice.getDeviceDriver() instanceof StandardSpecialInspectSiteDeviceDriver) {
+            standardSpecialInspectSiteDeviceDriver = (StandardSpecialInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+            //取货完成离开
+            if (standardSpecialInspectSiteDeviceDriver.getFlag() == 2) {
+                flag = true;
+                standardSpecialInspectSiteDeviceDriver.setFlag(5);
+            }
+            //放货完成离开
+            if (standardSpecialInspectSiteDeviceDriver.getFlag() == 4) {
+                flag = true;
+                standardSpecialInspectSiteDeviceDriver.setFlag(6);
+            }
+        }
+
+
         if (flag) {
             log.info("AGV请求离开，反馈成功:{}", address);
             System.out.println("AGV请求离开，反馈成功 " + address);
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_special_inspect_site/StandardSpecialInspectSiteDeviceDriver.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_special_inspect_site/StandardSpecialInspectSiteDeviceDriver.java
index 81e7849..00fdcef 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_special_inspect_site/StandardSpecialInspectSiteDeviceDriver.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_special_inspect_site/StandardSpecialInspectSiteDeviceDriver.java
@@ -56,6 +56,7 @@ public class StandardSpecialInspectSiteDeviceDriver extends AbstractOpcDeviceDri
     String devicecode;
     int mode = 0;
     int error = 0;
+    int action = 0;
     int move = 0;
     int task = 0;
     int last_mode = 0;
@@ -89,6 +90,7 @@ public class StandardSpecialInspectSiteDeviceDriver extends AbstractOpcDeviceDri
 
     private int instruction_finished_time_out;
 
+    int flag = 0;
     int branchProtocol = 0;
     //备注
     String remark;
@@ -120,6 +122,7 @@ public class StandardSpecialInspectSiteDeviceDriver extends AbstractOpcDeviceDri
 
             mode = this.itemProtocol.getMode();
             error = this.itemProtocol.getError();
+            action = this.getItemProtocol().getAction();
             move = this.itemProtocol.getMove();
             task = this.itemProtocol.getTask();
             hasGoods = this.itemProtocol.hasGoods(move);
@@ -310,6 +313,19 @@ public class StandardSpecialInspectSiteDeviceDriver extends AbstractOpcDeviceDri
         }
     }
 
+    public void writing(int command) {
+        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                + "." + org.nl.acs.device_driver.standard_inspect_site_smart200.ItemProtocol.item_to_command;
+
+        String opcservcerid = this.getDevice().getOpc_server_id();
+        Server server = ReadUtil.getServer(opcservcerid);
+        Map<String, Object> itemMap = new HashMap<String, Object>();
+        itemMap.put(to_command, command);
+        ReadUtil.write(itemMap, server);
+        server.dispose();
+    }
+
+
     /**
      * 完成并创建下一条指令
      *
diff --git a/hd/nladmin-system/src/main/resources/config/application-prod.yml b/hd/nladmin-system/src/main/resources/config/application-prod.yml
index 9cc5214..c558c20 100644
--- a/hd/nladmin-system/src/main/resources/config/application-prod.yml
+++ b/hd/nladmin-system/src/main/resources/config/application-prod.yml
@@ -8,7 +8,7 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:tg_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:ykbk_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
       username: ${DB_USER:root}
       password: ${DB_PWD:123456}
       # 初始连接数