diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
index beb9bd7..1f15d00 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
@@ -411,8 +411,62 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
         //判断是否能规划出最短路径
         if (shortestPath == null || shortestPath.isEmpty()) {
-            log.error("无最短路径 taskNo:{}", wcsSrgvQueue.getTaskNo());
-            return false;
+            //判断是否是1层 空车取货 或者 满车放货
+            if (floor==1){
+                if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())){
+                    //1层满车放货
+                    //修改终点到出库缓存点
+                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+                    wcsSrgvMapParam.setRemark("outCache");
+                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+                    List<String> currentSRgvSite = new ArrayList<>();
+                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+                    }
+                    cacheSite.removeAll(currentSRgvSite);
+                    if (CollUtil.isNotEmpty(cacheSite)){
+                        for (String cache : cacheSite) {
+                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+                            wcsSrgvQueueParam.setEndSite(cache);
+                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+                            if (CollUtil.isEmpty(wcsSrgvQueues)){
+                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
+                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                                break;
+                            }
+                        }
+
+                    }
+                }
+                if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())){
+                    //1层空车取货
+                    //修改终点到避让点
+                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+                    wcsSrgvMapParam.setRemark("cache");
+                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+                    List<String> currentSRgvSite = new ArrayList<>();
+                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+                    }
+                    cacheSite.removeAll(currentSRgvSite);
+                    if (CollUtil.isNotEmpty(cacheSite)){
+                        for (String cache : cacheSite) {
+                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+                            wcsSrgvQueueParam.setEndSite(cache);
+                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+                            if (CollUtil.isEmpty(wcsSrgvQueues)){
+                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
+                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                                break;
+                            }
+                        }
+
+                    }
+                }
+
+            }
         }
 
         //获取拐点路径