diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java b/youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java
index 06555ed..9ee43ee 100644
--- a/youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java
+++ b/youchain-system/src/main/java/com/youchain/businessdata/service/AgvTaskService.java
@@ -108,6 +108,14 @@ public interface AgvTaskService {
      */
     List<AgvTask> findRepeat(String stockCode, String srcPointCode, String endPointCode);
 
+    /**
+     * 根据终点查询是否有重复任务
+     * @param stockCode 容器
+     */
+    Boolean findByEndSlotCode(String endSlotCode, String type, String jobType);
+
+
+
     /**
      * 查询打开的任务并轮询下发
      */
diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java
index dee7056..c653174 100644
--- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java
+++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java
@@ -34,6 +34,8 @@ import org.springframework.data.domain.Pageable;
 import java.util.*;
 import java.io.IOException;
 import java.util.stream.Collectors;
+import javax.persistence.EntityManager;
+import javax.persistence.Query;
 import javax.servlet.http.HttpServletResponse;
 
 
@@ -50,6 +52,7 @@ public class AgvTaskServiceImpl implements AgvTaskService {
 
     private final AgvTaskRepository agvTaskRepository;
     private final AgvTaskMapper agvTaskMapper;
+    private final EntityManager entityMapper;
 
     @Override
     public Map<String, Object> queryAll(AgvTaskQueryCriteria criteria, Pageable pageable) {
@@ -139,6 +142,21 @@ public class AgvTaskServiceImpl implements AgvTaskService {
         return agvTaskRepository.findRepeat(stockCode, srcPointCode, endPointCode);
     }
 
+    @Override
+    public Boolean findByEndSlotCode(String endSlotCode, String type, String jobType) {
+        String hql = " from AgvTask agv " +
+                " where  agv.endSlotCode='" + endSlotCode + "' " +
+                " and agv.type='" + type + "' " +
+                " and agv.jobType='" + jobType + "' " +
+                " and agv.status in ('ATCALL','UP_CONTAINER') ";
+        Query query = entityMapper.createQuery(hql);
+        List<AgvTask> agvTaskList = query.getResultList();
+        if (agvTaskList.isEmpty()) {
+            return true;
+        }
+        return false;
+    }
+
     @Override
     public List<AgvTask> findOpenByAgvTask() {
         return agvTaskRepository.findOpenByAgvTask();
diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/MesServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/MesServiceImpl.java
index 6b9130a..0a5b32d 100644
--- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/MesServiceImpl.java
+++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/MesServiceImpl.java
@@ -266,18 +266,20 @@ public class MesServiceImpl implements MesService {
 
         Point endPoint = pointService.validatePoint(pointCode);//终点
 
-        // 创建并下发任务
-        List<AgvTask> agvTaskList = agvTaskService.findRepeat(emptyStock.getCode(),srcPoint.getCode(),endPoint.getCode());
-        if (agvTaskList.isEmpty()) {
-            //生成任务
-            AgvTask agvTask = agvTaskService.createAgvTask(BizStatus.Cp_Off_Up, emptyStock, srcPoint, endPoint, "RACK_MOVE");
-
-            // 更新点位状态
-            pointService.usedPoint(endPoint);
-
-            //下发任务
-            kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskHjJson(agvTask));
+        if (!agvTaskService.findByEndSlotCode(endPoint.getCode(), BizStatus.Cp_Off_Up, "RACK_MOVE")) {
+            // 直接在条件判断为false时抛出异常，表示该点位有任务
+            throw new BadRequestException(endPoint.getCode() + "点位有任务，请稍后再试!");
         }
+
+        //生成任务
+        AgvTask agvTask = agvTaskService.createAgvTask(BizStatus.Cp_Off_Up, emptyStock, srcPoint, endPoint, "RACK_MOVE");
+
+        // 更新点位状态
+        pointService.usedPoint(endPoint);
+
+        //下发任务
+        kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskHjJson(agvTask));
+
     }
 
     private synchronized void moveCpOffLine(TransTask transTask) {
@@ -291,22 +293,20 @@ public class MesServiceImpl implements MesService {
             throw new BadRequestException("成品入库区没有空闲点位!");
         }
         Point endPoint = endPointList.get(0);
-        // 创建并下发任务
-        List<AgvTask> agvTaskList = agvTaskService.findRepeat(stock.getCode(),srcPoint.getCode(),endPoint.getCode());
-        if (agvTaskList.isEmpty()) {
-            AgvTask agvTask = agvTaskService.createAgvTask(BizStatus.Cp_Off_Line, stock, srcPoint, endPoint, "RACK_MOVE");
 
-            //占用容器
-            stockService.usedStock(stock, srcPoint, BaseStatus.USED);
-
-            // 更新点位状态
-            pointService.usedPoint(endPoint);
-
-            //下发任务
-            kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskHjJson(agvTask));
+        if (!agvTaskService.findByEndSlotCode(endPoint.getCode(), BizStatus.Cp_Off_Line, "RACK_MOVE")) {
+            // 直接在条件判断为false时抛出异常，表示该点位有任务
+            throw new BadRequestException(endPoint.getCode() + "点位有任务，请稍后再试!");
         }
 
-
+        //创建并下发任务
+        AgvTask agvTask = agvTaskService.createAgvTask(BizStatus.Cp_Off_Line, stock, srcPoint, endPoint, "RACK_MOVE");
+        // 更新点位状态
+        pointService.usedPoint(endPoint);
+        //占用容器
+        stockService.usedStock(stock, srcPoint, BaseStatus.USED);
+        //下发任务
+        kmReService.sendAgvTask(agvTask, kmReService.sendAgvTaskHjJson(agvTask));
     }
 
     private void moveFxOffLine(TransTask transTask) {