diff --git a/WCS.BLL/Services/Service/PDAMatBindService.cs b/WCS.BLL/Services/Service/PDAMatBindService.cs
index a9916cc..857b030 100644
--- a/WCS.BLL/Services/Service/PDAMatBindService.cs
+++ b/WCS.BLL/Services/Service/PDAMatBindService.cs
@@ -48,6 +48,7 @@ namespace WCS.BLL.Services.Service
                         Data = null,
                     };
                 }
+                #endregion
 
                 //获取当前工位的货架
                 var shelf = await DbHelp.db.Queryable<ShelfInfo>()
@@ -67,7 +68,7 @@ namespace WCS.BLL.Services.Service
                         };
                     }
                     //运输中
-                    else if(shelf.TransStatus == TransStatusEnum.运输中 && shelf.DestinationLocationId == endLocation.Id)
+                    else if (shelf.TransStatus == TransStatusEnum.运输中 && shelf.DestinationLocationId == endLocation.Id)
                     {
                         return new ResponseCommon()
                         {
@@ -86,29 +87,72 @@ namespace WCS.BLL.Services.Service
                         };
                     }
                 }
+                #region 参数校验
+                //判断参数
+                if (request.LocationId == 0 || string.IsNullOrEmpty(request.LocationCode))
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = "工位或工位编码为空！\r\n请重新扫工位码",
+                        Data = null,
+                    };
+                }
                 #endregion
 
+
                 //获取空货架进行呼叫
+                var locations = await DbHelp.db.Queryable<ShelfInfo>()
+                                       .LeftJoin<LocationInfo>((si, li) => si.CurrentLocationId == li.Id)
+                                       .Where((si, li) => si.TransStatus == TransStatusEnum.静止 && si.CurrentLocationId != 0)
+                                       .Where((si, li) => si.ShelfStatus == ShelfStatusEnum.空货架)
+                                       .Where((si, li) => si.ShelfTypeId == request.NeedShelfTypeId)
+                                       .Where((si, li) => si.IsEnable == true && li.IsEnable == true)
+                                       .Select(((si, li) => li))
+                                       .ToListAsync();
+                if (locations == null || locations.Count == 0)
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"货架类型[{request.NeedShelfTypeName}]，不存在空货架！\r\n请稍后重试！",
+                        Data = null,
+                    };
+                }
+
+                locations.ForEach(l => l.RowNumber = (int)Math.Abs(endLocation.X - l.X)*2 + (int)Math.Abs(endLocation.Y - l.Y));
+                locations = locations.OrderBy(l => l.RowNumber).ToList();
+                var startLocation = locations.FirstOrDefault();
+                if (startLocation == null)
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"货架类型[{request.NeedShelfTypeName}]，不存在空货架！\r\n请稍后重试！",
+                        Data = null,
+                    };
+                }
+
                 shelf = await DbHelp.db.Queryable<ShelfInfo>()
-                                           .Where(t => t.TransStatus == TransStatusEnum.静止 && t.CurrentLocationId != 0)
-                                           .Where(t => t.ShelfStatus == ShelfStatusEnum.空货架)
-                                           .Where(t => t.ShelfTypeId == request.NeedShelfTypeId)
-                                           .Where(t => t.IsEnable == true)
-                                           .FirstAsync();
+                                 .Where(t => t.ShelfStatus == ShelfStatusEnum.空货架)
+                                 .Where(t => t.TransStatus == TransStatusEnum.静止)
+                                 .Where(t => t.CurrentLocationId == startLocation.Id)
+                                 .FirstAsync();
+
                 if (shelf == null)
                 {
                     return new ResponseCommon()
                     {
                         Code = 201,
-                        Message = $"货架类型[{request.NeedShelfTypeName}]，不存在空货架！",
+                        Message = $"货架类型[{request.NeedShelfTypeName}]，不存在空货架！\r\n请稍后重试！",
                         Data = null,
                     };
                 }
 
-                var startLocation = await DbHelp.db.Queryable<LocationInfo>()
-                                           .Where(t => t.Id == shelf.CurrentLocationId)
-                                           .Where(t => t.IsEnable == true)
-                                           .FirstAsync();
+                //var startLocation = await DbHelp.db.Queryable<LocationInfo>()
+                //                           .Where(t => t.Id == shelf.CurrentLocationId)
+                //                           .Where(t => t.IsEnable == true)
+                //                           .FirstAsync();
 
                 var response = AGVManager.GenAgvSchedulingTask(startLocation, endLocation, shelf.ShelfCode, request.UserName);
                 if (response.code == "0" && response.message == "成功")
@@ -209,7 +253,7 @@ namespace WCS.BLL.Services.Service
                 #endregion
 
                 var endLocation = await DbHelp.db.Queryable<LocationInfo>()
-                                                 .LeftJoin<ShelfInfo>((li,si) => (li.Id == si.CurrentLocationId && si.TransStatus == TransStatusEnum.静止) || (li.Id == si.DestinationLocationId && si.TransStatus == TransStatusEnum.运输中))
+                                                 .LeftJoin<ShelfInfo>((li, si) => (li.Id == si.CurrentLocationId && si.TransStatus == TransStatusEnum.静止) || (li.Id == si.DestinationLocationId && si.TransStatus == TransStatusEnum.运输中))
                                                  .Where((li, si) => li.LocationAreaId == request.SendBackLocationAreaId)
                                                  .Where((li, si) => li.IsEnable == true)
                                                  .Where((li, si) => li.Id != shelf.CurrentLocationId)