diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
index 32581ee..515120a 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
@@ -43,7 +43,9 @@ import java.util.Map;
 @Slf4j
 @Service
 @RequiredArgsConstructor
-public class ZheDaAgvServiceImpl implements ZheDaAgvService {
+public class
+
+ZheDaAgvServiceImpl implements ZheDaAgvService {
 
     @Autowired
     AcsConfigService acsConfigService;
@@ -154,7 +156,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
             //释放AGV资源，继续后续动作
             boolean is_feedback = false;
             String str = "";
-            String backaddress = address;
+            String backaddress = address;  TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
             if (address.indexOf(".") > 0) {
                 str = address.substring(address.indexOf(".") + 1, address.length());
                 address = address.substring(0, address.indexOf("."));
@@ -162,7 +164,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                 address = address.substring(0, address.indexOf("-"));
             }
             InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
-            TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
+
 //            AcsToWmsService acsToWmsService=SpringContextHolder.getBean("acsToWmsServiceImpl");
              AcsToWmsZDService acsToWmsZDService = SpringContextHolder.getBean("acsToWmsZDServiceImpl");
 
@@ -266,10 +268,10 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                                 int responseCode = response.getInteger("responseCode");
                                 if (responseCode == 0) {
                                     log.info("请求ZDwcs成功，取货完成 请求结果{}", responseCode);
+                                    is_feedback = true;
                                 }
                                 lubeiConveyorDeviceDriver.writing(2);
                                 if (lubeiConveyorDeviceDriver.getTo_command() == 2) {
-                                    is_feedback = true;
                                 } else {
                                     lubeiConveyorDeviceDriver.writing(2);
                                 }
@@ -286,10 +288,10 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                                     int responseCode = response.getInteger("responseCode");
                                     if (responseCode == 0) {
                                         log.info("请求ZDwcs成功，取货完成 请求结果{}", responseCode);
+                                        is_feedback = true;
                                     }
                                     lubeiConveyorDeviceDriver.writing(2);
                                     if (lubeiConveyorDeviceDriver.getTo_command() == 2) {
-                                        is_feedback = true;
                                     } else {
                                         lubeiConveyorDeviceDriver.writing(2);
                                     }
@@ -424,10 +426,10 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                                 int responseCode = response.getInteger("responseCode");
                                 if (responseCode == 0) {
                                     log.info("请求ZDwcs成功，放货完成 请求结果{}", responseCode);
+                                    is_feedback = true;
                                 }
                                 lubeiConveyorDeviceDriver.writing(4);
                                 if (lubeiConveyorDeviceDriver.getTo_command() == 4) {
-                                    is_feedback = true;
                                 } else {
                                     lubeiConveyorDeviceDriver.writing(4);
                                 }
@@ -444,10 +446,10 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                                     int responseCode = response.getInteger("responseCode");
                                     if (responseCode == 0) {
                                         log.info("请求ZDwcs成功，放货完成 请求结果{}", responseCode);
+                                        is_feedback = true;
                                     }
                                     lubeiConveyorDeviceDriver.writing(4);
                                     if (lubeiConveyorDeviceDriver.getTo_command() == 4) {
-                                        is_feedback = true;
                                     } else {
                                         lubeiConveyorDeviceDriver.writing(4);
                                     }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 6ce1198..fe2647d 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -5,6 +5,7 @@ import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
@@ -942,7 +943,17 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         }
 
         if (flag) {
-
+            com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject();
+            requestjo.put("task_code", entity.getInstruction_code());
+            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
+            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
+            String taskcode=entity.getInstruction_code();
+            agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + taskcode + "/withdrawal";
+            HttpResponse result = HttpRequest.post(agvurl)
+                    .body(String.valueOf(requestjo))
+                    .timeout(20000)//超时，毫秒
+                    .execute();
+            log.info("请求地址agvurl{},请求结果{}",agvurl,result.body());
             if (StrUtil.equals(entity.getInstruction_type(), "7")) {
                 CancelTaskRequest cancelTaskRequest = new CancelTaskRequest();
                 cancelTaskRequest.setOrderId(entity.getInstruction_code());