diff --git a/src/main/java/com/gaotao/modules/api/service/impl/WmsMessageServiceImpl.java b/src/main/java/com/gaotao/modules/api/service/impl/WmsMessageServiceImpl.java
index 0d88a2c..d2b7bfd 100644
--- a/src/main/java/com/gaotao/modules/api/service/impl/WmsMessageServiceImpl.java
+++ b/src/main/java/com/gaotao/modules/api/service/impl/WmsMessageServiceImpl.java
@@ -316,8 +316,41 @@ public class WmsMessageServiceImpl implements WmsMessageService {
             
             // 2. 参数验证 - rqrq
             validateWcsWareHouseParams(inData);
+            if("取货通知".equals(inData.getTransTypeDesc())) {
+                // 3. 幂等性验证：检查是否已处理过该消息 - rqrq
+                WcsCallbackTask existTask = wcsIntegrationMapper.getWcsCallbackTaskByBusinessKey(
+                        inData.getSite(),
+                        inData.getPalletId(),
+                        inData.getTransTypeDesc(),
+                        inData.getTaskNo(),
+                        inData.getItemNo(),
+                        inData.getToBarcode()
+                );
+
+                if (existTask != null) {
+                    // 已存在相同的回调任务，直接返回成功，不执行任何业务逻辑 - rqrq
+                    String idempotentMsg = String.format("消息已处理（幂等性验证），跳过重复操作 - taskId=%d, 栈板=%s, 类型=%s, taskNo=%s, itemNo=%d, toStation=%s, 原记录创建时间=%s",
+                            existTask.getId(),
+                            inData.getPalletId(),
+                            inData.getTransTypeDesc(),
+                            inData.getTaskNo(),
+                            inData.getItemNo(),
+                            inData.getToBarcode(),
+                            existTask.getCreatedTime());
+
+                    log.info(idempotentMsg + " - rqrq");
+
+                    // 更新成功日志 - rqrq
+                    long executionTime = System.currentTimeMillis() - startTime;
+                    interfaceCallLogService.updateCallResult(logId, idempotentMsg, "SUCCESS", null, executionTime);
+
+                    return idempotentMsg;
+                }
+            }
+            log.info("幂等性验证通过，开始处理新消息 - rqrq：栈板={}, 类型={}, taskNo={}, itemNo={}, toStation={}",
+                inData.getPalletId(), inData.getTransTypeDesc(), inData.getTaskNo(), inData.getItemNo(), inData.getToBarcode());
             
-            // 3. 根据业务类型分别处理 - rqrq
+            // 4. 根据业务类型分别处理 - rqrq
             String result;
             switch (inData.getTransTypeDesc()) {
                 case "入库":
@@ -339,7 +372,7 @@ public class WmsMessageServiceImpl implements WmsMessageService {
                     throw new RuntimeException("不支持的事务类型：" + inData.getTransTypeDesc());
             }
             
-            // 4. 更新成功日志 - rqrq
+            // 5. 更新成功日志 - rqrq
             long executionTime = System.currentTimeMillis() - startTime;
             interfaceCallLogService.updateCallResult(logId, result, "SUCCESS", null, executionTime);
             
diff --git a/src/main/java/com/gaotao/modules/automatedWarehouse/mapper/WcsIntegrationMapper.java b/src/main/java/com/gaotao/modules/automatedWarehouse/mapper/WcsIntegrationMapper.java
index 02f6b5e..93b8f55 100644
--- a/src/main/java/com/gaotao/modules/automatedWarehouse/mapper/WcsIntegrationMapper.java
+++ b/src/main/java/com/gaotao/modules/automatedWarehouse/mapper/WcsIntegrationMapper.java
@@ -174,6 +174,16 @@ public interface WcsIntegrationMapper {
      */
     WmsTransportTask getActivePalletTransportTask(@Param("site") String site, @Param("palletId") String palletId);
 
+    /**
+     * @Description 查询栈板在wms_transport_task表中是否有未完成的任务 - rqrq
+     * @param site 站点
+     * @param palletId 栈板编码
+     * @return 未完成的运输任务列表（状态不是"已完成"或"已取消"）
+     * @author rqrq
+     * @date 2025/11/26
+     */
+    WmsTransportTask getUnfinishedTransportTaskByPallet(@Param("site") String site, @Param("palletId") String palletId);
+
     /**
      * 统计栈板明细数量 - AI制作
      */
@@ -485,6 +495,25 @@ public interface WcsIntegrationMapper {
      */
     void insertWcsCallbackTask(WcsCallbackTask callbackTask);
     
+    /**
+     * @Description 根据业务唯一键查询WCS回调任务是否已存在（幂等性验证）- rqrq
+     * @param site 站点
+     * @param palletId 栈板ID
+     * @param transTypeDesc 操作类型
+     * @param taskNo 任务号
+     * @param itemNo 明细号
+     * @param toStation 目标站点
+     * @return WCS回调任务（如果已存在）
+     * @author rqrq
+     * @date 2025/11/26
+     */
+    WcsCallbackTask getWcsCallbackTaskByBusinessKey(@Param("site") String site,
+                                                     @Param("palletId") String palletId,
+                                                     @Param("transTypeDesc") String transTypeDesc,
+                                                     @Param("taskNo") String taskNo,
+                                                     @Param("itemNo") Integer itemNo,
+                                                     @Param("toStation") String toStation);
+    
     /**
      * 查询指定状态的WCS回调任务列表 - AI制作
      */
diff --git a/src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/PalletCancelServiceImpl.java b/src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/PalletCancelServiceImpl.java
index fa97299..bf677dc 100644
--- a/src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/PalletCancelServiceImpl.java
+++ b/src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/PalletCancelServiceImpl.java
@@ -44,32 +44,43 @@ public class PalletCancelServiceImpl implements PalletCancelService {
         String site = data.getSite();
         String palletId = data.getPalletId();
 
-        System.out.println("开始取消WCS组盘 - rqrq，palletId=" + palletId);
+        log.info("开始取消WCS组盘 - rqrq，palletId={}", palletId);
 
-        // 检查栈板是否有AGV调度任务 - rqrq
+        // ⚠️ 前置校验：检查栈板是否已呼叫AGV送入立库（wms_transport_task表）- rqrq
+        WmsTransportTask unfinishedTask = wcsIntegrationMapper.getUnfinishedTransportTaskByPallet(site, palletId);
+        if (unfinishedTask != null) {
+            String taskNo = unfinishedTask.getTaskNo();
+            String status = unfinishedTask.getStatus();
+            log.warn("托盘已呼叫AGV送入立库，无法取消 - rqrq：palletId={}, taskNo={}, status={}", palletId, taskNo, status);
+            throw new RuntimeException("该托盘已经呼叫AGV送入立库，无法取消托盘，请先取消AGV任务（任务号：" + taskNo + "，状态：" + status + "）");
+        }
+        
+        log.info("wms_transport_task表检查通过，无未完成任务 - rqrq");
+
+        // 检查栈板是否有AGV调度任务（这个是旧逻辑，保留兼容性）- rqrq
         WmsTransportTask transportTask = wcsIntegrationMapper.getActivePalletTransportTask(site, palletId);
         if (transportTask != null) {
             String taskStatus = transportTask.getStatus();
             String taskNo = transportTask.getTaskNo();
-            System.out.println("栈板存在运输任务 - rqrq，taskNo=" + taskNo + "，status=" + taskStatus);
+            log.info("栈板存在运输任务 - rqrq，taskNo={}, status={}", taskNo, taskStatus);
             
             if ("已下达".equals(taskStatus)) {
                 // 任务已下达到AGV，不允许取消组盘 - rqrq
-                System.out.println("任务已下达到AGV，无法取消组盘 - rqrq");
+                log.warn("任务已下达到AGV，无法取消组盘 - rqrq，taskNo={}", taskNo);
                 throw new RuntimeException("已有AGV来提取，无法取消组盘");
             } else if ("已预约".equals(taskStatus) || "已创建".equals(taskStatus)) {
                 // 任务未下达到AGV，先取消AGV任务 - rqrq
-                System.out.println("任务状态为" + taskStatus + "，先取消AGV任务 - rqrq");
+                log.info("任务状态为{}，先取消AGV任务 - rqrq，taskNo={}", taskStatus, taskNo);
                 try {
                     agvTaskService.cancelAgvTask(site, taskNo);
-                    System.out.println("AGV任务取消成功 - rqrq");
+                    log.info("AGV任务取消成功 - rqrq，taskNo={}", taskNo);
                 } catch (Exception e) {
-                    System.out.println("AGV任务取消失败 - rqrq：" + e.getMessage());
+                    log.error("AGV任务取消失败 - rqrq，taskNo={}，error={}", taskNo, e.getMessage());
                     throw new RuntimeException("取消AGV任务失败：" + e.getMessage());
                 }
             }
         } else {
-            System.out.println("栈板不存在运输任务，继续取消组盘 - rqrq");
+            log.info("栈板不存在运输任务，继续取消组盘 - rqrq");
         }
 
         // 获取当前用户 - rqrq
@@ -77,11 +88,11 @@ public class PalletCancelServiceImpl implements PalletCancelService {
 
         // 1. 更新pallet_detail的wcs_flag=1 - rqrq
         wcsIntegrationMapper.updateAllPalletDetailWcsFlagToOne(site, palletId);
-        System.out.println("已更新栈板明细wcs_flag为1 - rqrq");
+        log.info("已更新栈板明细wcs_flag为1 - rqrq，palletId={}", palletId);
 
         // 2. 更新pallet的calling_flag=N - rqrq
         wcsIntegrationMapper.updatePalletCallingFlag(site, palletId, "N", username);
-        System.out.println("已更新栈板calling_flag为N - rqrq");
+        log.info("已更新栈板calling_flag为N - rqrq，palletId={}", palletId);
         
         // 3. 调用WCS API通知取消组盘 - rqrq
         SpecialPalletTask pushData = new SpecialPalletTask();
@@ -90,7 +101,7 @@ public class PalletCancelServiceImpl implements PalletCancelService {
         pushData.setOperationType(1);
         wcsApiService.SpecialPalletTask(pushData);
         
-        System.out.println("取消WCS组盘完成 - rqrq");
+        log.info("取消WCS组盘完成 - rqrq，palletId={}", palletId);
     }
 }
 
diff --git a/src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/WcsIntegrationServiceImpl.java b/src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/WcsIntegrationServiceImpl.java
index e9f444d..8f396ec 100644
--- a/src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/WcsIntegrationServiceImpl.java
+++ b/src/main/java/com/gaotao/modules/automatedWarehouse/service/impl/WcsIntegrationServiceImpl.java
@@ -2246,6 +2246,17 @@ public class WcsIntegrationServiceImpl implements WcsIntegrationService {
 
         System.out.println("开始取消WCS组盘 - rqrq，palletId=" + palletId);
 
+        // ⚠️ 前置校验：检查栈板是否已呼叫AGV送入立库（wms_transport_task表）- rqrq
+        WmsTransportTask unfinishedTask = wcsIntegrationMapper.getUnfinishedTransportTaskByPallet(site, palletId);
+        if (unfinishedTask != null) {
+            String taskNo = unfinishedTask.getTaskNo();
+            String status = unfinishedTask.getStatus();
+            System.err.println("托盘已呼叫AGV送入立库，无法取消 - rqrq：palletId=" + palletId + ", taskNo=" + taskNo + ", status=" + status);
+            throw new RuntimeException("该托盘已经呼叫AGV送入立库，无法取消托盘，请先取消AGV任务（任务号：" + taskNo + "，状态：" + status + "）");
+        }
+        
+        System.out.println("wms_transport_task表检查通过，无未完成任务 - rqrq");
+
         // 获取当前用户 - rqrq
         String username = ((SysUserEntity) SecurityUtils.getSubject().getPrincipal()).getUsername();
 
diff --git a/src/main/resources/mapper/automatedWarehouse/WcsIntegrationMapper.xml b/src/main/resources/mapper/automatedWarehouse/WcsIntegrationMapper.xml
index 83f83a7..53c243f 100644
--- a/src/main/resources/mapper/automatedWarehouse/WcsIntegrationMapper.xml
+++ b/src/main/resources/mapper/automatedWarehouse/WcsIntegrationMapper.xml
@@ -383,6 +383,27 @@
         ORDER BY created_time DESC
     </select>
 
+    <!-- rqrq - 查询栈板在wms_transport_task表中是否有未完成的任务 -->
+    <select id="getUnfinishedTransportTaskByPallet" resultType="WmsTransportTask">
+        SELECT TOP 1
+            id, site, task_no as taskNo, item_no as itemNo, source_type as sourceType,
+            source_bill_no as sourceBillNo, source_line_id as sourceLineId,
+            part_no as partNo, qty, batch_no as batchNo, serial_no as serialNo,
+            from_location as fromLocation, to_location as toLocation,
+            pallet_id as palletId, agv_code as agvCode, priority, status,
+            wms_send_time as wmsSendTime, wcs_receive_time as wcsReceiveTime,
+            start_time as startTime, complete_time as completeTime,
+            error_code as errorCode, error_msg as errorMsg,
+            created_by as createdBy, created_time as createdTime, updated_time as updatedTime,
+            wcs_task_id as wcsTaskId, finish_qty as finishQty, wms_status as wmsStatus,
+            pallet_type as palletType, to_area as toArea
+        FROM wms_transport_task WITH (NOLOCK)
+        WHERE site = #{site}
+          AND pallet_id = #{palletId}
+          AND status NOT IN ('已完成', '已取消')
+        ORDER BY created_time DESC
+    </select>
+
     <!-- 统计栈板明细数量 - AI制作 -->
     <select id="countPalletDetails" resultType="java.lang.Integer">
         SELECT COUNT(1)
@@ -905,6 +926,35 @@
         where task_no=#{taskNo} and site=#{site}
     </select>
 
+    <!-- rqrq - 根据业务唯一键查询WCS回调任务是否已存在（幂等性验证）-->
+    <select id="getWcsCallbackTaskByBusinessKey" resultType="WcsCallbackTask">
+        SELECT TOP 1
+            id,
+            site,
+            pallet_id AS palletId,
+            trans_type_desc AS transTypeDesc,
+            to_warehouse_id AS toWarehouseId,
+            to_location_id AS toLocationId,
+            status,
+            created_time AS createdTime,
+            process_start_time AS processStartTime,
+            process_end_time AS processEndTime,
+            error_msg AS errorMsg,
+            retry_count AS retryCount,
+            remark,
+            task_no AS taskNo,
+            item_no AS itemNo,
+            to_station AS toStation
+        FROM wcs_callback_task
+        WHERE site = #{site}
+          AND pallet_id = #{palletId}
+          AND trans_type_desc = #{transTypeDesc}
+          AND task_no = #{taskNo}
+          AND item_no = #{itemNo}
+          AND to_station = #{toStation}
+        ORDER BY created_time DESC
+    </select>
+
     <!-- 插入WCS回调任务 - AI制作 -->
     <insert id="insertWcsCallbackTask" useGeneratedKeys="true" keyProperty="id">
         INSERT INTO wcs_callback_task (