diff --git a/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java b/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
index 9888c7c..9a80d9c 100644
--- a/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
+++ b/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
@@ -188,4 +188,8 @@ public class PlanTaskSequence {
         // log.info("3-Received message: " + json);
         BannerUtils.printConfig(log, "保存业务任务 planTask", ar);
     }
+
+    public boolean isEmpty() {
+        return this.taskList.isEmpty();
+    }
 }
diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
index 2326091..7049a31 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
+++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
@@ -261,40 +261,42 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 oldDirection, direction);
         }
 
+        boolean needCompute = false;
         // 从 runningDeviceTaskList 里面，找到完成到什么阶段
         // 比如 (1,2) -> (2,2) -> (3,2) ,  如果 updatePosition=3,2 ，那么前2个任务都要完成
-        int finishTargetIndex = -1;
-        for (int i = 0; i < runningDeviceTaskList.size(); i++) {
-            PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
-            if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
-                finishTargetIndex = i;
-                break;
-            }
-        }
-
-        boolean needCompute = false;
-
-        if (finishTargetIndex > 0) {
-            needCompute = true;
-            // 标记前面的任务都完成了
-            for (int i = 0; i < finishTargetIndex; i++) {
+        if (this.runningDeviceTaskList != null && !this.runningDeviceTaskList.isEmpty() &&
+            this.planTaskSequence != null && !this.planTaskSequence.isEmpty()) {
+            int finishTargetIndex = -1;
+            for (int i = 0; i < runningDeviceTaskList.size(); i++) {
                 PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
-
-                task.taskStatus = 4; // 标记为完成
-                task.taskGroupStatus = 4; // 标记为任务组完成
-                fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
-
-                // 更新计划任务
-                RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
-                if (planTask != null) {
-                    planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
-                    planTaskSequence.savePlanTask(planTask);
+                if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
+                    finishTargetIndex = i;
+                    break;
                 }
             }
 
-            if (planTaskSequence.isAllCompleted()) {
-                fireEvent(AgvEventType.PLAN_COMPLETE, this);
-                planTaskSequence = null;
+            if (finishTargetIndex > 0) {
+                needCompute = true;
+                // 标记前面的任务都完成了
+                for (int i = 0; i < finishTargetIndex; i++) {
+                    PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
+
+                    task.taskStatus = 4; // 标记为完成
+                    task.taskGroupStatus = 4; // 标记为任务组完成
+                    fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
+
+                    // 更新计划任务
+                    RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
+                    if (planTask != null) {
+                        planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
+                        planTaskSequence.savePlanTask(planTask);
+                    }
+                }
+
+                if (planTaskSequence.isAllCompleted()) {
+                    fireEvent(AgvEventType.PLAN_COMPLETE, this);
+                    planTaskSequence = null;
+                }
             }
         }