diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java b/servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java
new file mode 100644
index 0000000..a740f5c
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java
@@ -0,0 +1,78 @@
+package com.galaxis.rcs.ptr;
+
+import com.google.common.collect.Maps;
+
+import java.util.Collections;
+import java.util.Map;
+
+/**
+ * AMR 任务模式
+ */
+public enum AmrTaskMode {
+    /**
+     * 空闲模式
+     */
+    AMR_FREE_MODE(0, "空闲模式"),
+    /**
+     * 初始化模式
+     */
+    AMR_INIT_MODE(1, "初始化模式"),
+    /**
+     * 任务模式
+     */
+    AMR_TASK_MODE(2, "任务模式"),
+    /**
+     * 单动作模式
+     */
+    AMR_SINGLE_ACTION_MODE(3, "单动作模式"),
+    /**
+     * 手动模式
+     */
+    AMR_MANUAL_MODE(4, "手动模式"),
+    /**
+     * 遥控器模式
+     */
+    AMR_HANDSET_MODE(5, "遥控器模式"),
+    /**
+     * 充电模式
+     */
+    AMR_CHARGE_MODE(6, "充电模式"),
+    /**
+     * 任务被中断模式
+     */
+    AMR_TASK_INTERRUPT_MODE (7, "任务被中断模式"),
+    /**
+     * 自定义模式
+     */
+    AMR_CUSTOMIZE_MODE(8, "自定义模式");
+
+    // 枚举值映射
+    private static final Map<Integer, AmrTaskMode> VALUE_MAP;
+
+    static {
+        Map<Integer, AmrTaskMode> map = Maps.newHashMap();
+        for (AmrTaskMode message : values()) {
+            map.put(message.value, message);
+        }
+        VALUE_MAP = Collections.unmodifiableMap(map);
+    }
+
+    public final int value;
+    public final String description;
+
+    AmrTaskMode(int value, String description) {
+        this.value = value;
+        this.description = description;
+    }
+
+    /**
+     * 从整数值获取对应的枚举
+     *
+     * @param value 整数值
+     * @return 对应的枚举，如果找不到则返回 null
+     */
+    public static AmrTaskMode fromValue(int value) {
+        return VALUE_MAP.get(value);
+    }
+
+}
diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
index 4bfed89..dcd4f28 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
+++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
@@ -8,10 +8,7 @@ import com.galaxis.rcs.common.enums.PlanTaskStatus;
 import com.galaxis.rcs.common.enums.PlanTaskType;
 import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
 import com.galaxis.rcs.plan.PlanTaskSequence;
-import com.galaxis.rcs.ptr.AgvEventListener;
-import com.galaxis.rcs.ptr.AmrMessageHandler;
-import com.galaxis.rcs.ptr.ControlMode;
-import com.galaxis.rcs.ptr.PosDirection;
+import com.galaxis.rcs.ptr.*;
 import com.galaxis.rcs.ptr.receiveEntity.AmrHeartbeatMessage;
 import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
 import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
@@ -65,6 +62,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
     // agv当前转动角度值
     public double orientation;
 
+    // 任务模式
+    public AmrTaskMode taskMode;
+
     private volatile boolean isManualMode = false;
     private volatile boolean isPaused = false;
     private volatile PosDirection lastPausedPosition;