diff --git a/WCS.BLL/Manager/AGVManager.cs b/WCS.BLL/Manager/AGVManager.cs
index ae30c1b..df566b7 100644
--- a/WCS.BLL/Manager/AGVManager.cs
+++ b/WCS.BLL/Manager/AGVManager.cs
@@ -7,12 +7,84 @@ using WCS.BLL.DbModels;
 using WCS.BLL.Tool;
 using WCS.DAL.Db;
 using WCS.DAL.DbModels;
+using WCS.Model;
+using WCS.Model.ApiModel.AGV;
+using WCS.Model.ApiModel.InOutRecord;
+using WCS.Model.ApiModel.MXBackgroundThread;
 
 namespace WCS.BLL.Manager
 {
     //AGV动作相关
     public static class AGVManager
     {
+        public static void InitBackgroundThread()
+        {
+            #region 定时任务:定时查询任务状态
+            Task.Run(() =>
+            {
+                while (true)
+                {
+                    //每5秒同步一次
+                    Thread.Sleep(5000);
+                    try
+                    {
+                        var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/queryTaskStatus";
+
+                        var tasks = DbHelp.db.Queryable<AgvTask>()
+                                                        .Where(t => t.CreateTime > DateTime.Now.AddDays(-7)) //只查询7天内agv任务数据
+                                                        .Where(t =>t.TaskStatus != TaskStatusEnum.取消完成 && t.TaskStatus!= TaskStatusEnum.已结束)
+                                                        .OrderBy(t => t.Id)
+                                                        .ToList();
+                        if (tasks != null && tasks.Count > 0)
+                        {
+                            for (int i = 0; i < tasks.Count; i++)
+                            {
+                                try
+                                {
+                                    //请求RCS获取任务状态
+                                    var data = new AGVQueryTaskStatusRequest();
+                                    data.taskCodes.Add(tasks[i].TaskCode);
+
+                                    var result = ApiHelp.GetDataFromHttp<AGVQueryTaskStatusResponse>(url, data, "POST", true);
+                                    if (result != null && result.code == "0" && result.data !=null && result.data.Count > 0)
+                                    {
+                                        var isUpdate = false;
+                                        //获取成功 是否与当前任务状态一致 如果不一致 进行更新
+                                        var responseData = result.data.First();
+                                        if (responseData.agvCode != tasks[i].AgvCode)
+                                        {
+                                            isUpdate = true;
+                                            tasks[i].AgvCode = responseData.agvCode;
+                                        }
+                                        if (responseData.taskStatus != tasks[i].TaskStatus.ToString())
+                                        {
+                                            Enum.TryParse<TaskStatusEnum>(responseData.taskStatus, out TaskStatusEnum status);
+                                            isUpdate = true;
+                                            tasks[i].TaskStatus = status;
+                                        }
+                                        if (isUpdate) 
+                                        {
+                                            DbHelp.db.Updateable(tasks[i]).ExecuteCommand();
+                                        }
+                                    }
+                                }
+                                catch (Exception ex)
+                                {
+                                    Logs.Write("【定时任务】获取任务状态异常：" + ex.Message);
+                                }
+                                Thread.Sleep(50);
+                            }
+                        }
+                    }
+                    catch (Exception ex)
+                    {
+                        Logs.Write("【定时任务】获取任务状态异常：" + ex.Message);
+                    }
+                }
+            });
+            #endregion
+        }
+
         public static object lockFlag = new object();
         /// <summary>
         /// 产生AGV点到点搬运任务
@@ -36,7 +108,7 @@ namespace WCS.BLL.Manager
             //任务只允许一个一个发送
             lock (lockFlag)
             {
-                var body = new AGVRequestModel()
+                var body = new GenAgvSchedulingTaskRequest()
                 {
                     positionCodePath = positionCodePathItems,
                 };
@@ -63,6 +135,38 @@ namespace WCS.BLL.Manager
                 return response;
             }
         }
-    }
 
+        public static AGVResponseModel CancelTask(AgvTask agvTask)
+        {
+            try
+            {
+                var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/cancelTask";
+
+                //任务只允许一个一个发送
+                lock (lockFlag)
+                {
+                    var body = new AGVCancelTaskRequest()
+                    {
+                        taskCode = agvTask.TaskCode,
+                    };
+
+                    var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
+                    if (response.code == "0" && response.message == "成功")
+                    {
+                        agvTask.TaskStatus = Model.ApiModel.AGV.TaskStatusEnum.取消完成;
+                        DbHelp.db.Updateable(agvTask).ExecuteCommand();
+                    }
+                    return response;
+                }
+            }
+            catch (Exception ex)
+            {
+                return new AGVResponseModel()
+                {
+                    code = "-1",
+                    message = $"发生异常：{ex.Message}"
+                };
+            }
+        }
+    }
 }
diff --git a/WCS.BLL/Manager/AGVRequestModel.cs b/WCS.BLL/Manager/GenAgvSchedulingTaskRequest.cs
similarity index 97%
rename from WCS.BLL/Manager/AGVRequestModel.cs
rename to WCS.BLL/Manager/GenAgvSchedulingTaskRequest.cs
index 642ac4e..b90c197 100644
--- a/WCS.BLL/Manager/AGVRequestModel.cs
+++ b/WCS.BLL/Manager/GenAgvSchedulingTaskRequest.cs
@@ -19,7 +19,7 @@ namespace WCS.BLL.Manager
         public string type { get; set; } = "00";
     }
 
-    public class AGVRequestModel
+    public class GenAgvSchedulingTaskRequest
     {
         /// <summary>
         /// 请求码 每一次请求唯一
diff --git a/WCS.Model/ApiModel/AGV/AGVCancelTaskRequest.cs b/WCS.Model/ApiModel/AGV/AGVCancelTaskRequest.cs
new file mode 100644
index 0000000..80184f0
--- /dev/null
+++ b/WCS.Model/ApiModel/AGV/AGVCancelTaskRequest.cs
@@ -0,0 +1,32 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace WCS.Model.ApiModel.AGV
+{
+    /// <summary>
+    /// 取消任务
+    /// </summary>
+    public class AGVCancelTaskRequest
+    {
+        /// <summary>
+        /// 请求码 每一次请求唯一
+        /// </summary>
+        public string reqCode { get; set; } = Guid.NewGuid().ToString().Replace("-", "");
+
+        /// <summary>
+        /// 请求时间
+        /// </summary>
+        public string reqTime { get; set; } = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
+
+        /// <summary>
+        /// 客户端编号
+        /// </summary>
+        public string clientCode { get; set; } = "PDA";
+
+        /// <summary>
+        /// 任务单号
+        /// </summary>
+        public string taskCode { get; set; }
+    }
+}
diff --git a/WCS.Model/ApiModel/AGV/AGVQueryTaskStatusRequest.cs b/WCS.Model/ApiModel/AGV/AGVQueryTaskStatusRequest.cs
new file mode 100644
index 0000000..d875d3b
--- /dev/null
+++ b/WCS.Model/ApiModel/AGV/AGVQueryTaskStatusRequest.cs
@@ -0,0 +1,25 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace WCS.Model.ApiModel.AGV
+{
+    //AGV获取任务状态
+    public class AGVQueryTaskStatusRequest
+    {
+        /// <summary>
+        /// 请求码 每一次请求唯一
+        /// </summary>
+        public string reqCode { get; set; } = Guid.NewGuid().ToString().Replace("-", "");
+
+        /// <summary>
+        /// 请求时间
+        /// </summary>
+        public string reqTime { get; set; } = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
+
+        /// <summary>
+        /// 任务编码数组
+        /// </summary>
+        public List<string> taskCodes = new List<string>();
+    }
+}
diff --git a/WCS.Model/ApiModel/AGV/AGVQueryTaskStatusResponse.cs b/WCS.Model/ApiModel/AGV/AGVQueryTaskStatusResponse.cs
new file mode 100644
index 0000000..3ad3bd9
--- /dev/null
+++ b/WCS.Model/ApiModel/AGV/AGVQueryTaskStatusResponse.cs
@@ -0,0 +1,56 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace WCS.Model.ApiModel.AGV
+{
+    //如果好用，请收藏地址，帮忙分享。
+    public class AGVQueryTaskStatusResponseData
+    {
+        /// <summary>
+        /// 
+        /// </summary>
+        public string agvCode { get; set; }
+        /// <summary>
+        /// 
+        /// </summary>
+        public string taskCode { get; set; }
+        /// <summary>
+        /// 
+        /// </summary>
+        public string taskStatus { get; set; }
+        /// <summary>
+        /// 任务类型
+        /// </summary>
+        public string taskTyp { get; set; }
+    }
+
+    public class AGVQueryTaskStatusResponse
+    {
+        /// <summary>
+        /// 
+        /// </summary>
+        public string code { get; set; }
+        /// <summary>
+        /// 
+        /// </summary>
+        public List<AGVQueryTaskStatusResponseData> data { get; set; }
+        /// <summary>
+        /// 
+        /// </summary>
+        public string interrupt { get; set; }
+        /// <summary>
+        /// 成功
+        /// </summary>
+        public string message { get; set; }
+        /// <summary>
+        /// 
+        /// </summary>
+        public string msgErrCode { get; set; }
+        /// <summary>
+        /// 
+        /// </summary>
+        public string reqCode { get; set; }
+    }
+
+}
diff --git a/WCS.Model/ApiModel/AGV/CancelAGVTasksRequest.cs b/WCS.Model/ApiModel/AGV/CancelAGVTasksRequest.cs
new file mode 100644
index 0000000..0fedfd9
--- /dev/null
+++ b/WCS.Model/ApiModel/AGV/CancelAGVTasksRequest.cs
@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace WCS.Model.ApiModel.AGV
+{
+    /// <summary>
+    /// 取消任务
+    /// </summary>
+    public class CancelAGVTasksRequest : RequestBase
+    {
+        public int TaskId { get; set; } = 0;
+
+        public string TaskCode { get; set; }
+    }
+}
diff --git a/WCS.WebApi/Controllers/AgvTaskController.cs b/WCS.WebApi/Controllers/AgvTaskController.cs
index 866a315..ea00773 100644
--- a/WCS.WebApi/Controllers/AgvTaskController.cs
+++ b/WCS.WebApi/Controllers/AgvTaskController.cs
@@ -32,7 +32,7 @@ namespace WCS.WebApi.Controllers
         }
 
         /// <summary>
-        /// agv任务回调
+        /// 获取AGV任务列表
         /// </summary>
         /// <param name="request"></param>
         /// <returns></returns>
@@ -51,6 +51,7 @@ namespace WCS.WebApi.Controllers
 
                 var totalCount = await recordsQueryable.CountAsync();
                 var records = await recordsQueryable
+                                    .OrderByDescending(t => t.CreateTime)
                                     .Skip((request.PageNumber - 1) * request.PageSize).Take(request.PageSize)
                                     .ToListAsync();
                 //生成序号
@@ -81,5 +82,78 @@ namespace WCS.WebApi.Controllers
             }
         }
 
+        /// <summary>
+        /// 取消任务
+        /// </summary>
+        /// <param name="request"></param>
+        /// <returns></returns>
+        [Route("cancelAGVTask")]
+        [HttpPost(Name = "cancelAGVTask")]
+        public async Task<ResponseBase> cancelAGVTask(CancelAGVTasksRequest request)
+        {
+            try
+            {
+                #region 参数、数据校验
+                if (request.TaskId == 0 || string.IsNullOrEmpty(request.TaskCode))
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"传入参数错误！",
+                    };
+                }
+
+                var agvTask = await DbHelp.db.Queryable<AgvTask>()
+                                             .Where(t => t.Id == request.TaskId)
+                                             .Where(t => t.TaskCode == request.TaskCode)
+                                             .FirstAsync();
+                if (agvTask == null)
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"任务[{agvTask.TaskCode}]不存在！",
+                    };
+                }
+
+                if (agvTask.TaskStatus != TaskStatusEnum.正在执行)
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"任务[{agvTask.TaskCode}]状态为【{agvTask.TaskStatus}】,无法取消！",
+                    };
+                }
+                #endregion
+
+                #region 调用RCS进行取消任务
+                var response = AGVManager.CancelTask(agvTask);
+                if (response.code == "0" && response.message == "成功")
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 200,
+                        Message = $"success",
+                    };
+                }
+                else
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = response.message,
+                    };
+                }
+                #endregion
+            }
+            catch (Exception ex)
+            {
+                return new ResponseCommon()
+                {
+                    Code = 300,
+                    Message = $"任务取消失败:{ex.Message}",
+                };
+            }
+        }
     }
 }
diff --git a/WCS.WebApi/Program.cs b/WCS.WebApi/Program.cs
index 7df87af..bc49a60 100644
--- a/WCS.WebApi/Program.cs
+++ b/WCS.WebApi/Program.cs
@@ -33,13 +33,16 @@ namespace WebApi
                 //������Ϣ�ط��߳�
                 WarningManager.StartWarningMessageThread();
 
-                //��Ѷ��˾��̨�߳�
-                if (LocalFile.Config.IsMx)
-                {
-                    MXBackgroundThread.InitBackgroundThread();
-                    var str = string.Empty;
-                    MXBackgroundThread.SendDingDingMsg($"��{LocalFile.Config.GroupName}����̨���������ɹ�", new List<string> { "104379" }, ref str);
-                }
+                //���ع�˾AGV��̨�߳�
+                AGVManager.InitBackgroundThread();
+
+                ////��Ѷ��˾��̨�߳�
+                //if (LocalFile.Config.IsMx)
+                //{
+                //    MXBackgroundThread.InitBackgroundThread();
+                //    var str = string.Empty;
+                //    MXBackgroundThread.SendDingDingMsg($"��{LocalFile.Config.GroupName}����̨���������ɹ�", new List<string> { "104379" }, ref str);
+                //}
 
                 //������̨�ı���־
                 Task.Run(async () =>
diff --git a/货架标准上位机/ViewModels/AGVTaskViewModel.cs b/货架标准上位机/ViewModels/AGVTaskViewModel.cs
index 8fd9b02..6b5ec64 100644
--- a/货架标准上位机/ViewModels/AGVTaskViewModel.cs
+++ b/货架标准上位机/ViewModels/AGVTaskViewModel.cs
@@ -196,9 +196,6 @@ namespace 智慧物流软件系统.ViewModel
         }
 
 
-        /// <summary>
-        /// 物料删除操作
-        /// </summary>
         public ICommand BtnCommitCommand { get => new DelegateCommand(BtnCommit); }
         public async void BtnCommit()
         {
@@ -238,54 +235,14 @@ namespace 智慧物流软件系统.ViewModel
             });
         }
 
-        /// <summary>
-        /// 物料修改操作
-        /// </summary>
-        public ICommand BtnEditCommand { get => new DelegateCommand(BtnEdit); }
-        public async void BtnEdit()
-        {
-            ////查询勾选的第一个数据
-            //var matDetailStocktakingInfo = DataGridItemSource?.Where(t => t.IsSelected == true).FirstOrDefault();
-            //if (matDetailStocktakingInfo == null)
-            //{
-            //    Growl.Warning("请选择需要修改的数据！");
-            //    return;
-            //}
-            //else
-            //{
-            //    var updateView = new MatDetailStocktakingInfoUpdateView("修改盘点数据", matDetailStocktakingInfo);
-            //    updateView.ShowDialog();
-            //    if (updateView.DialogResult == true)
-            //    {
-            //        matDetailStocktakingInfo = updateView.matDetailStocktakingInfo;
-            //        var body = new UpdateStocktakingInfoRequest()
-            //        {
-            //            MatDetailStocktakingInfoId = matDetailStocktakingInfo.Id,
-            //            StocktakingQty = matDetailStocktakingInfo.StocktakingQty,
-            //            UserName = LocalStatic.CurrentUser,
-            //            DeviceType = LocalFile.Config.DeviceType,
-            //        };
-            //        var Result = ApiHelp.GetDataFromHttp<ResponseBase<object>>(LocalFile.Config.ApiIpHost + "PDAStocktaking/updateStocktakingInfos", body, "POST");
-            //        if (Result != null && Result.Code == 200)
-            //        {
-            //            CurrentPage = 1;
-            //            Growl.Success("修改成功！");
-            //        }
-            //        else
-            //        {
-            //            Growl.Error($"{Result?.Message?.ToString()}");
-            //        }
-            //    }
-            //}
-        }
 
         /// <summary>
         /// 物料删除操作
         /// </summary>
-        public ICommand BtnDeleteCommand { get => new DelegateCommand(BtnDelete); }
-        public async void BtnDelete()
+        public ICommand BtnCancelCommand { get => new DelegateCommand(BtnCancel); }
+        public async void BtnCancel()
         {
-            Growl.Ask($"是否删除所有勾选得数据]!", isConfirmed =>
+            Growl.Ask($"是否取消所有勾选的任务?", isConfirmed =>
             {
                 if (isConfirmed)
                 {
@@ -293,24 +250,26 @@ namespace 智慧物流软件系统.ViewModel
                     var needDeleteIds = DataGridItemSource?.Where(t => t.IsSelected == true)
                                                     .Select(t => t.Id)
                                                     .ToList();
+                    var task = DataGridItemSource?.Where(t => t.IsSelected == true).First();
 
-                    if (needDeleteIds == null)
+                    if (needDeleteIds == null || needDeleteIds.Count == 0)
                     {
-                        Growl.Warning("请选择需要修改的数据！");
+                        Growl.Warning("请选择需要取消的任务！");
                     }
                     else
                     {
-                        var body = new DeleteInfosRequest()
+                        var body = new CancelAGVTasksRequest()
                         {
+                            TaskId = task == null ? 0 : task.Id,
+                            TaskCode = task?.TaskCode,
                             UserName = LocalStatic.CurrentUser,
                             DeviceType = LocalFile.Config.DeviceType,
-                            needDeleteIds = needDeleteIds,
                         };
-                        var Result = ApiHelp.GetDataFromHttp<ResponseBase<UserModel>>(LocalFile.Config.ApiIpHost + "PDAStocktaking/deleteStocktakingInfos", body, "POST");
+                        var Result = ApiHelp.GetDataFromHttp<ResponseBase<UserModel>>(LocalFile.Config.ApiIpHost + "agvTask/cancelAGVTask", body, "POST");
                         if (Result != null && Result.Code == 200)
                         {
                             CurrentPage = 1;
-                            Growl.Success("删除成功！" + Result?.Message);
+                            Growl.Success("取消成功！" + Result?.Message);
                         }
                         else
                         {
diff --git a/货架标准上位机/Views/AGVTaskView.xaml b/货架标准上位机/Views/AGVTaskView.xaml
index 70d8f42..6dc2e93 100644
--- a/货架标准上位机/Views/AGVTaskView.xaml
+++ b/货架标准上位机/Views/AGVTaskView.xaml
@@ -154,7 +154,7 @@
                                 Content="&#xe64c;取  消"
                                 FontFamily="{StaticResource IconFont}"
                                 Foreground="WhiteSmoke"
-                                Command="{Binding BtnDeleteCommand}"
+                                Command="{Binding BtnCancelCommand}"
                                 Style="{StaticResource ButtonDanger}"></Button>
                     </StackPanel>
                     <DataGrid Grid.Row="1"