diff --git a/servo/src/main/java/com/galaxis/rcs/RCS.java b/servo/src/main/java/com/galaxis/rcs/RCS.java
new file mode 100644
index 0000000..2851b76
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/RCS.java
@@ -0,0 +1,53 @@
+package com.galaxis.rcs;
+
+import com.galaxis.rcs.common.entity.AddTaskRequest;
+import com.galaxis.rcs.common.entity.AddTaskResult;
+import com.galaxis.rcs.task.TaskService;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import com.yvan.logisticsModel.LogisticsRuntimeService;
+
+/**
+ * RCS 对外API调用类
+ */
+public class RCS {
+
+    static final LogisticsRuntimeService logisticsRuntimeService = new LogisticsRuntimeService();
+
+    /**
+     * 添加任务, 示例
+     * <pre>
+     * {
+     *   type: 'carry',          // 任务类型
+     *   agv: 'cl2',             // 指定车辆
+     *   lpn: 'pallet1124',      // 托盘ID, 用于校验
+     *   from: '27',             // 起始点位
+     *   priority: 1,            // 优先级
+     *   from: {
+     *     item: '27', bay: 0, level: 1, cell: 0 // 起始点位的详细信息
+     *   },
+     *   to:{
+     *     item: '20'
+     *   }
+     * }
+     * </pre>
+     */
+    public static AddTaskResult addTask(String envCode, AddTaskRequest request) {
+        AddTaskResult result = new AddTaskResult();
+
+        LogisticsRuntime logisticsRuntime = logisticsRuntimeService.findByEnvCode(envCode);
+
+        String bizTaskId = logisticsRuntime.taskService.addBizTask(request);
+
+        logisticsRuntime.taskDispatchFactory.checkAll();
+
+        result.bizTaskId = bizTaskId;
+
+        return result;
+    }
+
+    /**
+     * 地图信息2
+     * 1<->2, 2<->3, 3<->4, 4<->5, 5<->6, 6<->7, 7<->8, 8<->9,9<->10
+     * 1 <-> 38, 1 <-> 36
+     */
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskRequest.java b/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskRequest.java
new file mode 100644
index 0000000..ef71c92
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskRequest.java
@@ -0,0 +1,54 @@
+package com.galaxis.rcs.common.entity;
+
+import com.galaxis.rcs.common.enums.BizTaskType;
+import lombok.Data;
+
+/**
+ * <pre>
+ * {
+ *   type: 'carry',          // 任务类型
+ *   taskExecutorId: 'cl2',             // 指定车辆
+ *   lpn: 'pallet1124',      // 托盘ID, 用于校验
+ *   priority: 1,            // 优先级
+ *   from: {
+ *     item: '27', bay: 0, level: 1, cell: 0 // 起始点位的详细信息
+ *   },
+ *   to: {
+ *     item: '20'
+ *   }
+ * }
+ * </pre>
+ */
+@Data
+public class AddTaskRequest {
+    /**
+     * 任务类型
+     * 可选值: 'carry', 'putaway', 'pick', 'move'
+     */
+    public BizTaskType type;
+
+    /**
+     * 指定任务的执行器ID
+     */
+    public String taskExecutorId;
+
+    /**
+     * 托盘ID, 用于校验
+     */
+    public String lpn;
+
+    /**
+     * 任务优先级，越大优先级越高
+     */
+    public int priority;
+
+    /**
+     * 起始位置
+     */
+    public StoreLocation from;
+
+    /**
+     * 目标位置
+     */
+    public StoreLocation to;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskResult.java b/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskResult.java
new file mode 100644
index 0000000..43634c4
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskResult.java
@@ -0,0 +1,19 @@
+package com.galaxis.rcs.common.entity;
+
+import lombok.Data;
+
+/**
+ * 添加任务结果
+ * <pre>
+ * {
+ *   taskId: 'task123'
+ * }
+ * </pre>
+ */
+@Data
+public class AddTaskResult {
+    /**
+     * 业务任务ID
+     */
+    public String bizTaskId;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskBiz.java b/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskBiz.java
new file mode 100644
index 0000000..80ddd06
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskBiz.java
@@ -0,0 +1,109 @@
+package com.galaxis.rcs.common.entity;
+
+import com.yvan.logisticsMonitor.task.BizTask;
+import lombok.Data;
+
+/**
+ * RcsTaskBiz 类用于定义业务任务的实体
+ */
+
+/**
+ * TODO: 插入 rcs_task_biz 表, 结构为
+ * biz_task_id bigint not null,
+ * force_assign_executor_id varchar(50) not null,
+ * force_assign_executor_type varchar(50) not null,
+ * task_type varchar(10)
+ * lpn varchar(50)
+ * priority integer
+ * task_from varchar(100)
+ * task_to varchar(100)
+ * allocated_executor_id varchar(50) default 'N/A'
+ * biz_task_status varchar(10) default 'pending'
+ * create_at timestamp
+ * create_by varchar(50)
+ * update_at timestamp
+ * update_by varchar(50)
+ * <p>
+ * create table rcs_task_biz (
+ * biz_task_id bigint not null auto_increment,
+ * force_assign_executor_id varchar(50) not null comment '用户强制指派了车号' default 'N/A',
+ * force_assign_executor_type varchar(50) not null comment '用户强制指派了车型' default 'N/A',
+ * task_type varchar(10) not null comment '任务类型' default 'carry',
+ * lpn varchar(50) not null comment '托盘ID',
+ * priority integer not null comment '任务优先级',
+ * task_from varchar(50) not null comment '任务起始点',
+ * task_to varchar(50) not null comment '任务目标点',
+ * allocated_executor_id varchar(50) default 'N/A' comment '系统分配的执行器ID',
+ * biz_task_status varchar(10) default 'pending' comment '任务状态',
+ * create_at datetime not null comment '创建时间',
+ * create_by varchar(50) not null comment '创建人',
+ * update_at datetime not null comment '更新时间',
+ * update_by varchar(50) not null comment '更新人',
+ * <p>
+ * primary key (biz_task_id)
+ * }
+ */
+@Data
+public class RcsTaskBiz implements BizTask {
+    /**
+     * 业务任务ID
+     */
+    public long bizTaskId;
+
+    /**
+     * 强制分配的执行器ID
+     */
+    public String forceAssignExecutorId = "N/A"; // 默认值为 'N/A'
+    /**
+     * 强制分配的执行器类型
+     */
+    public String forceAssignExecutorType = "N/A"; // 默认值为 'N/A'
+    /**
+     * 任务类型
+     */
+    public String taskType;
+    /**
+     * 托盘ID
+     */
+    public String lpn;
+    /**
+     * 任务优先级
+     */
+    public int priority;
+    /**
+     * 任务起始点
+     */
+    public String taskFrom;
+    /**
+     * 任务目标点
+     */
+    public String taskTo;
+    /**
+     * 分配的执行器ID
+     */
+    public String allocatedExecutorId = "N/A"; // 默认值为 'N/A'
+    /**
+     * 业务任务状态
+     */
+    public String bizTaskStatus = "pending"; // 默认状态为 'pending'
+    /**
+     * 创建时间
+     */
+    public String createAt;
+    /**
+     * 创建人
+     */
+    public String createBy;
+    /**
+     * 更新时间
+     */
+    public String updateAt;
+    /**
+     * 更新人
+     */
+    public String updateBy;
+    /**
+     * 业务任务描述
+     */
+    public String description; // 可选字段，用于描述任务的详细信息
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java b/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java
new file mode 100644
index 0000000..a26f506
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java
@@ -0,0 +1,24 @@
+package com.galaxis.rcs.common.entity;
+
+/**
+ * 任务规划
+ */
+public class RcsTaskPlan {
+    /**
+     * 表名: rcs_task_plan
+     * 表结构为
+     * plan_task_id bigint not null auto_increment primary key,
+     * biz_task_id bigint not null,
+     * type varchar(50) not null,
+     * executor_id varchar(50) not null,
+     * seq integer not null,
+     * payload varchar(3000) not null,
+     * plan_task_status varchar(10) default 'waiting',
+     * error_message varchar(500) default '',
+     * description varchar(500) default '',
+     * create_at timestamp
+     * create_by varchar(50)
+     * update_at timestamp
+     * update_by varchar(50)
+     */
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/StoreLocation.java b/servo/src/main/java/com/galaxis/rcs/common/entity/StoreLocation.java
new file mode 100644
index 0000000..2c5ad2e
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/common/entity/StoreLocation.java
@@ -0,0 +1,29 @@
+package com.galaxis.rcs.common.entity;
+
+/**
+ * 存储存储位信息
+ * <pre>
+ *  {
+ *      item: '27',  // 货架ID
+ *      bay: 0,      // 列
+ *      level: 1,    // 层
+ *      cell: 0      // 格
+ *  }
+ * </pre>
+ */
+public record StoreLocation(
+    String item, // 货架ID
+    int bay,     // 列
+    int level,   // 层
+    int cell     // 格
+) {
+    @Override
+    public String toString() {
+        return "StoreLocation{" +
+            "item='" + item + '\'' +
+            ", bay=" + bay +
+            ", level=" + level +
+            ", cell=" + cell +
+            '}';
+    }
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/common/enums/BizTaskType.java b/servo/src/main/java/com/galaxis/rcs/common/enums/BizTaskType.java
new file mode 100644
index 0000000..c03f390
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/common/enums/BizTaskType.java
@@ -0,0 +1,5 @@
+package com.galaxis.rcs.common.enums;
+
+public enum BizTaskType {
+    CARRY,      // 搬运任务
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/common/enums/EnvStatus.java b/servo/src/main/java/com/galaxis/rcs/common/enums/EnvStatus.java
new file mode 100644
index 0000000..7ae1db4
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/common/enums/EnvStatus.java
@@ -0,0 +1,21 @@
+package com.galaxis.rcs.common.enums;
+
+/**
+ * 环境状态
+ */
+public enum EnvStatus {
+    /**
+     * 环境已启动
+     */
+    RUNNING,
+
+    /**
+     * 环境已停止
+     */
+    STOPPED,
+
+    /**
+     * 环境已删除
+     */
+    DELETED,
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/plan/PlanManager.java b/servo/src/main/java/com/galaxis/rcs/plan/PlanManager.java
deleted file mode 100644
index dace2ea..0000000
--- a/servo/src/main/java/com/galaxis/rcs/plan/PlanManager.java
+++ /dev/null
@@ -1,4 +0,0 @@
-package com.galaxis.rcs.plan;
-
-public class PlanManager {
-}
diff --git a/servo/src/main/java/com/galaxis/rcs/plan/Planner.java b/servo/src/main/java/com/galaxis/rcs/plan/Planner.java
new file mode 100644
index 0000000..73683d3
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/plan/Planner.java
@@ -0,0 +1,19 @@
+package com.galaxis.rcs.plan;
+
+import com.galaxis.rcs.common.entity.RcsTaskBiz;
+import com.yvan.logisticsModel.LogisticsRuntime;
+
+/**
+ * 任务执行器的计划接口
+ * 用于定义如何执行任务计划
+ */
+public interface Planner {
+    /**
+     * 执行任务计划
+     *
+     * @param runtime    物流运行时环境
+     * @param tasks      任务对象，包含任务的详细信息
+     * @param executorId 执行器ID
+     */
+    void executePlan(LogisticsRuntime runtime, RcsTaskBiz tasks, String executorId);
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/plan/TaskPlannerFactory.java b/servo/src/main/java/com/galaxis/rcs/plan/TaskPlannerFactory.java
new file mode 100644
index 0000000..a83c9c7
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/plan/TaskPlannerFactory.java
@@ -0,0 +1,20 @@
+package com.galaxis.rcs.plan;
+
+import com.galaxis.rcs.plan.planner.PTRTaskPlanner;
+
+import java.util.Map;
+
+/**
+ * 根据任务执行器类型（车型），找到对应车型的任务分配器
+ */
+public class TaskPlannerFactory {
+
+    private static final Map<String, Planner> planners = Map.of(
+        "cl2", new PTRTaskPlanner(),
+        "clx", new PTRTaskPlanner()
+    );
+
+    public static Planner getPlanner(String executorType) {
+        return planners.get(executorType);
+    }
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/plan/planner/PTRTaskPlanner.java b/servo/src/main/java/com/galaxis/rcs/plan/planner/PTRTaskPlanner.java
new file mode 100644
index 0000000..96c7826
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/plan/planner/PTRTaskPlanner.java
@@ -0,0 +1,66 @@
+package com.galaxis.rcs.plan.planner;
+
+import com.galaxis.rcs.common.entity.RcsTaskBiz;
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.galaxis.rcs.plan.Planner;
+import com.yvan.logisticsModel.LogisticsRuntime;
+
+/**
+ * PTR 任务规划器。
+ * 用于处理 CL2 / CLX 等车型的任务规划
+ */
+public class PTRTaskPlanner implements Planner {
+    /**
+     * 执行任务规划
+     *
+     * @param runtime    物流运行时环境
+     * @param task       任务对象，包含任务的详细信息
+     * @param executorId 执行器ID
+     */
+    @Override
+    public void executePlan(LogisticsRuntime runtime, RcsTaskBiz task, String executorId) {
+        /**
+         * 示例数据
+         * {
+         *   type: 'carry',          // 任务类型
+         *   agv: 'cl2',             // 指定车辆
+         *   lpn: 'pallet1124',      // 托盘ID, 用于校验
+         *   priority: 1,            // 优先级
+         *   // 起始点位的详细信息
+         *   from: {
+         *     item: '27',   // 货架编号
+         *     bay: 0,       // 货架列
+         *     level: 1,     // 货架层
+         *     cell: 0       // 货架格
+         *   },
+         *   // 目标点位的详细信息
+         *   to: {
+         *     item: '20'    // 地堆货位号
+         *   }
+         * }
+         */
+
+        /**
+         * 地图路由示例1
+         * 17<->20, 20<->21, 21<->22, 22<->23, 23<->24, 24<->25, 25<->26, 26<->27, 27<->charger2,
+         *
+         * 地图货位信息
+         * 21 左侧 rack1 / 3
+         * 22 右侧 56
+         * 23 左侧 rack1 / 2
+         * 24 旋转位
+         * 25 左侧 rack1 / 1
+         * 26 右侧 58
+         * 27 左侧 rack1 / 0
+         */
+
+        // 绑定任务执行器
+        task.setAllocatedExecutorId(executorId);
+
+        // TODO: 写入 rcs_task_biz 表, 写入 rcs_task_plan 表, 并安排规划方案的顺序执行, 并将全部规划通知给 MQTT
+        RcsTaskPlan[] planList = new RcsTaskPlan[0];
+
+        runtime.executorItemMap.get(executorId).executeTaskPlanList(runtime, task, planList);
+    }
+
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/task/TaskDispatch.java b/servo/src/main/java/com/galaxis/rcs/task/TaskDispatch.java
deleted file mode 100644
index f7ad848..0000000
--- a/servo/src/main/java/com/galaxis/rcs/task/TaskDispatch.java
+++ /dev/null
@@ -1,4 +0,0 @@
-package com.galaxis.rcs.task;
-
-public class TaskDispatch {
-}
diff --git a/servo/src/main/java/com/galaxis/rcs/task/TaskDispatchFactory.java b/servo/src/main/java/com/galaxis/rcs/task/TaskDispatchFactory.java
new file mode 100644
index 0000000..261e40d
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/task/TaskDispatchFactory.java
@@ -0,0 +1,36 @@
+package com.galaxis.rcs.task;
+
+import com.galaxis.rcs.common.entity.RcsTaskBiz;
+import com.galaxis.rcs.task.dispatcher.TaiWanDispatcher;
+import com.yvan.logisticsModel.LogisticsRuntime;
+
+public class TaskDispatchFactory {
+    public final LogisticsRuntime logisticsRuntime;
+    private TaiWanDispatcher dispatcher = new TaiWanDispatcher();
+
+    public TaskDispatchFactory(LogisticsRuntime logisticsRuntime) {
+        this.logisticsRuntime = logisticsRuntime;
+    }
+
+    /**
+     * 开启轮询线程，定时检查有没有空执行器，可以用于执行选定任务
+     */
+    public void startPolling() {
+        // TODO: 启动一个线程，定时检查是否有空闲的执行器
+        RcsTaskBiz taskBiz = new RcsTaskBiz();
+        dispatcher.dispatchTask(this, taskBiz);
+    }
+
+    /**
+     * 停止轮询线程
+     */
+    public void stopPolling() {
+        // TODO: 停止轮询线程
+    }
+
+    /**
+     * 向巡视线程发送一个信号，让他启动检查
+     */
+    public void checkAll() {
+    }
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/task/TaskManager.java b/servo/src/main/java/com/galaxis/rcs/task/TaskManager.java
deleted file mode 100644
index 7589f6c..0000000
--- a/servo/src/main/java/com/galaxis/rcs/task/TaskManager.java
+++ /dev/null
@@ -1,4 +0,0 @@
-package com.galaxis.rcs.task;
-
-public class TaskManager {
-}
diff --git a/servo/src/main/java/com/galaxis/rcs/task/TaskService.java b/servo/src/main/java/com/galaxis/rcs/task/TaskService.java
new file mode 100644
index 0000000..04ef39b
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/task/TaskService.java
@@ -0,0 +1,68 @@
+package com.galaxis.rcs.task;
+
+import com.galaxis.rcs.common.entity.AddTaskRequest;
+import com.google.common.base.Strings;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import org.clever.data.jdbc.DaoFactory;
+
+/**
+ * 任务服务
+ * 用于处理业务任务的添加 / 取消 / 修改优先级 / 还入 / 暂停 等操作
+ */
+public class TaskService {
+
+    public final LogisticsRuntime logisticsRuntime;
+
+    public TaskService(LogisticsRuntime logisticsRuntime) {
+        this.logisticsRuntime = logisticsRuntime;
+    }
+
+    /**
+     * 添加业务任务
+     *
+     * @param request 任务请求
+     * @return 业务任务ID
+     */
+    public String addBizTask(AddTaskRequest request) {
+        if (Strings.isNullOrEmpty(request.taskExecutorId)) {
+            throw new RuntimeException("TaskExecutorId cannot be null or empty");
+        }
+
+        Long taskId = DaoFactory.getJdbc().nextId("rcs_task_biz");
+
+        /**
+         * TODO: 插入 rcs_task_biz 表, 结构为
+         * biz_task_id bigint not null,
+         * task_executor_id varchar(50) not null,
+         * task_type varchar(10)
+         * lpn varchar(50)
+         * priority integer
+         * task_from varchar(100)
+         * task_to varchar(100)
+         * biz_task_status varchar(10) default 'pending'
+         * create_at timestamp
+         * create_by varchar(50)
+         * update_at timestamp
+         * update_by varchar(50)
+         *
+         * create table rcs_task_biz (
+         *  biz_task_id bigint not null auto_increment,
+         *  task_executor_id varchar(50) not null comment '任务执行器ID' default 'N/A',
+         *  task_type varchar(10) not null comment '任务类型' default 'carry',
+         *  lpn varchar(50) not null comment '托盘ID',
+         *  priority integer not null comment '任务优先级',
+         *  task_from varchar(50) not null comment '任务起始点',
+         *  task_to varchar(50) not null comment '任务目标点',
+         *  biz_task_status varchar(10) default 'pending' comment '任务状态',
+         *  create_at datetime not null comment '创建时间',
+         *  create_by varchar(50) not null comment '创建人',
+         *  update_at datetime not null comment '更新时间',
+         *  update_by varchar(50) not null comment '更新人',
+         *
+         *  primary key (biz_task_id)
+         * }
+         */
+
+        return taskId.toString();
+    }
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/task/dispatcher/TaiWanDispatcher.java b/servo/src/main/java/com/galaxis/rcs/task/dispatcher/TaiWanDispatcher.java
new file mode 100644
index 0000000..eb0535c
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/task/dispatcher/TaiWanDispatcher.java
@@ -0,0 +1,27 @@
+package com.galaxis.rcs.task.dispatcher;
+
+import com.galaxis.rcs.common.entity.RcsTaskBiz;
+import com.galaxis.rcs.plan.Planner;
+import com.galaxis.rcs.plan.TaskPlannerFactory;
+import com.galaxis.rcs.task.TaskDispatchFactory;
+
+public class TaiWanDispatcher {
+
+    public void dispatchTask(TaskDispatchFactory factory, RcsTaskBiz tasks) {
+        // TODO: 台湾展会的任务分配逻辑
+    }
+
+    /**
+     * TODO: 分配任务给指定的执行器
+     *
+     * @param tasks      任务对象，包含任务的详细信息
+     * @param executorId 执行器ID
+     */
+    public void allocateExecutorBizTask(TaskDispatchFactory factory, RcsTaskBiz tasks, String executorId) {
+        // 选定了一个执行器，分配任务给它
+        String executorType = executorId.substring(0, 3); // 假设执行器ID的前3位是车型标识
+
+        Planner planner = TaskPlannerFactory.getPlanner(executorType);
+        planner.executePlan(factory.logisticsRuntime, tasks, executorId);
+    }
+}
diff --git a/servo/src/main/java/com/yvan/logisticsEnv/EnvStartParam.java b/servo/src/main/java/com/yvan/logisticsEnv/EnvStartParam.java
new file mode 100644
index 0000000..52ea822
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsEnv/EnvStartParam.java
@@ -0,0 +1,23 @@
+package com.yvan.logisticsEnv;
+
+import lombok.Getter;
+import lombok.Setter;
+
+/**
+ * 环境启动参数
+ */
+@Getter
+@Setter
+public class EnvStartParam {
+
+    /**
+     * 是否虚拟仿真环境
+     */
+    private boolean isVirtual;
+
+    /**
+     * 时间倍速(仿真环境专用)
+     */
+    private Integer timespeed;
+
+}
diff --git a/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnv.java b/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnv.java
new file mode 100644
index 0000000..9771c23
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnv.java
@@ -0,0 +1,42 @@
+package com.yvan.logisticsEnv;
+
+import com.galaxis.rcs.common.enums.EnvStatus;
+import lombok.Getter;
+import lombok.Setter;
+
+/**
+ * 物流仓储环境上下文
+ */
+@Getter
+@Setter
+public class LogisticsEnv {
+
+    private EnvStartParam startParam;
+
+    // 环境ID
+    private String envId;
+
+    // 环境状态
+    private EnvStatus state;
+
+    /**
+     * 获取AGV车列表
+     */
+    void getTasks() {
+
+    }
+
+    /**
+     * 载入地图
+     */
+    void loadMap() {
+
+    }
+
+    /**
+     * 获取库存分布状态
+     */
+    void loadInv() {
+
+    }
+}
diff --git a/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnvManager.java b/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnvManager.java
index 35a12a2..5e6e480 100644
--- a/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnvManager.java
+++ b/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnvManager.java
@@ -1,4 +1,30 @@
 package com.yvan.logisticsEnv;
 
+import java.util.HashMap;
+import java.util.Map;
+
 public class LogisticsEnvManager {
+
+    Map<String, LogisticsEnv> envs = new HashMap<>();
+
+    /**
+     * 启动参数
+     */
+    public void startEnv(EnvStartParam param) {
+
+    }
+
+    /**
+     * 复制环境, 返回新环境ID
+     */
+    public String cloneEnv(String envId) {
+        throw new RuntimeException();
+    }
+
+    /**
+     * 重置环境
+     */
+    public String resetEnv(String envId) {
+        throw new RuntimeException();
+    }
 }
diff --git a/servo/src/main/java/com/yvan/logisticsModel/BaseItem.java b/servo/src/main/java/com/yvan/logisticsModel/BaseItem.java
new file mode 100644
index 0000000..cc59d8b
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsModel/BaseItem.java
@@ -0,0 +1,25 @@
+package com.yvan.logisticsModel;
+
+import lombok.Data;
+import lombok.Getter;
+
+import java.util.Map;
+
+/**
+ * 物流单元基类
+ */
+@Data
+public class BaseItem {
+    String id;
+    String t;
+
+    /**
+     * 变换矩阵, 3x3矩阵, 采用Y轴向上为正, X轴向右, Z轴向前的右手坐标系
+     */
+    float[][] tf;
+
+    /**
+     * 物品的自定义数据
+     */
+    Map<String, Object> dt;
+}
diff --git a/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java b/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java
new file mode 100644
index 0000000..ec36e40
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java
@@ -0,0 +1,27 @@
+package com.yvan.logisticsModel;
+
+import com.galaxis.rcs.common.entity.RcsTaskBiz;
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.google.common.collect.Lists;
+
+import java.util.List;
+
+/**
+ * 物流任务执行单元(如拣货台、小车、AGV、堆垛机、人等)
+ */
+public class ExecutorItem extends BaseItem {
+
+    private final List<RcsTaskPlan> currentPlanList = Lists.newArrayList();
+
+    /**
+     * 执行规划任务
+     */
+    public void executeTaskPlanList(LogisticsRuntime runtime, RcsTaskBiz task, RcsTaskPlan[] planList) {
+        if (this.currentPlanList.size() > 0) {
+            throw new RuntimeException("has plans, please wait for the current plans to finish");
+        }
+
+        // TODO: 开启轮询线程，等待下一个待执行任务
+        // 找到对应类型的 connector，进行报文的发送
+    }
+}
diff --git a/servo/src/main/java/com/yvan/logisticsModel/Floor.java b/servo/src/main/java/com/yvan/logisticsModel/Floor.java
new file mode 100644
index 0000000..c112aa9
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsModel/Floor.java
@@ -0,0 +1,17 @@
+package com.yvan.logisticsModel;
+
+import com.google.common.collect.Maps;
+
+import java.util.Map;
+
+/**
+ * 物流模型楼层
+ */
+public class Floor {
+
+    /**
+     * 物流固定单元（非箱子容器/非执行器的单元），比如输送线、货架、地标、路线等
+     */
+    public final Map<String, StaticItem> itemMap = Maps.newConcurrentMap();
+
+}
diff --git a/servo/src/main/java/com/yvan/logisticsModel/FlowItem.java b/servo/src/main/java/com/yvan/logisticsModel/FlowItem.java
new file mode 100644
index 0000000..bc82ccc
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsModel/FlowItem.java
@@ -0,0 +1,7 @@
+package com.yvan.logisticsModel;
+
+/**
+ * 物流流动单元（周转箱、托盘等）
+ */
+public class FlowItem extends BaseItem {
+}
diff --git a/servo/src/main/java/com/yvan/logisticsModel/LogisticsModel.java b/servo/src/main/java/com/yvan/logisticsModel/LogisticsModel.java
new file mode 100644
index 0000000..043a94f
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsModel/LogisticsModel.java
@@ -0,0 +1,13 @@
+package com.yvan.logisticsModel;
+
+/**
+ * 物流模型类
+ */
+public class LogisticsModel {
+
+    /**
+     * 楼层目录
+     */
+    LogisticsRuntime catalog;
+
+}
diff --git a/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java
new file mode 100644
index 0000000..d2f81b1
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java
@@ -0,0 +1,48 @@
+package com.yvan.logisticsModel;
+
+import com.galaxis.rcs.task.TaskDispatchFactory;
+import com.galaxis.rcs.task.TaskService;
+import com.google.common.collect.Maps;
+import com.yvan.logisticsEnv.LogisticsEnv;
+
+import java.util.Map;
+
+/**
+ * 物流
+ */
+public class LogisticsRuntime {
+
+    /**
+     * 物流执行环境
+     */
+    public final LogisticsEnv logisticsEnv;
+
+    /**
+     * 任务服务
+     */
+    public TaskService taskService = new TaskService(this);
+
+    /**
+     * 任务分配服务
+     */
+    public TaskDispatchFactory taskDispatchFactory = new TaskDispatchFactory(this);
+
+    /**
+     * 物流流动单元（周转箱、托盘、纸箱等）
+     */
+    public final Map<String, FlowItem> flowItemMap = Maps.newConcurrentMap();
+
+    /**
+     * 物流任务执行单元(如拣货台、小车、AGV、堆垛机、人等)
+     */
+    public final Map<String, ExecutorItem> executorItemMap = Maps.newConcurrentMap();
+
+    /**
+     * 楼层目录 catalogCode -> Floor
+     */
+    public final Map<String, Floor> floorMap = Maps.newHashMap();
+
+    public LogisticsRuntime(LogisticsEnv logisticsEnv) {
+        this.logisticsEnv = logisticsEnv;
+    }
+}
diff --git a/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntimeService.java b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntimeService.java
new file mode 100644
index 0000000..4affcad
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntimeService.java
@@ -0,0 +1,24 @@
+package com.yvan.logisticsModel;
+
+import com.google.common.collect.Maps;
+
+import java.util.Map;
+
+/**
+ * 物流运行时服务类
+ */
+public class LogisticsRuntimeService {
+
+    private final Map<String, LogisticsRuntime> runtimeMap = Maps.newConcurrentMap();
+
+    /**
+     * 根据 EnvCode 查找物流运行时实例
+     */
+    public LogisticsRuntime findByEnvCode(String envCode) {
+        LogisticsRuntime runtime = runtimeMap.get(envCode);
+        if (runtime != null) {
+            return runtime;
+        }
+        throw new RuntimeException("LogisticsRuntime not found for envCode: " + envCode);
+    }
+}
diff --git a/servo/src/main/java/com/yvan/logisticsModel/StaticItem.java b/servo/src/main/java/com/yvan/logisticsModel/StaticItem.java
new file mode 100644
index 0000000..90b4445
--- /dev/null
+++ b/servo/src/main/java/com/yvan/logisticsModel/StaticItem.java
@@ -0,0 +1,10 @@
+package com.yvan.logisticsModel;
+
+import java.util.Map;
+
+/**
+ * 物流固定单元（非箱子容器/非执行器的单元），比如输送线、货架、地标、路线等
+ */
+public class StaticItem  extends BaseItem {
+
+}
diff --git a/servo/src/main/java/com/yvan/logisticsMonitor/task/BizTask.java b/servo/src/main/java/com/yvan/logisticsMonitor/task/BizTask.java
index 4b48df5..2cc0c57 100644
--- a/servo/src/main/java/com/yvan/logisticsMonitor/task/BizTask.java
+++ b/servo/src/main/java/com/yvan/logisticsMonitor/task/BizTask.java
@@ -1,4 +1,39 @@
 package com.yvan.logisticsMonitor.task;
 
-public class BizTask {
+/**
+ * bizTaskId
+ * taskType
+ * lpn
+ * priority
+ * taskFrom
+ * taskTo
+ * bizTaskStatus
+ * createAt
+ * createBy
+ * description
+ */
+public interface BizTask {
+//    String getBizTaskId();
+//
+//    String getTaskType();
+//
+//    String getLpn();
+//
+//    int getPriority();
+//
+//    String getTaskFrom();
+//
+//    String getTaskTo();
+//
+//    String getBizTaskStatus();
+//
+//    String getCreateAt();
+//
+//    String getCreateBy();
+//
+//    String getUpdateAt();
+//
+//    String getUpdateBy();
+//
+//    String getDescription();
 }