diff --git a/FryPot_DosingSystem/AGV/WhichCart.cs b/FryPot_DosingSystem/AGV/WhichCart.cs
index b3c6a33e..e1c5d6dc 100644
--- a/FryPot_DosingSystem/AGV/WhichCart.cs
+++ b/FryPot_DosingSystem/AGV/WhichCart.cs
@@ -51,6 +51,14 @@ namespace FryPot_DosingSystem.AGV
         hs_4,//4号炒锅-运输空碗到-空碗流水线
         hs_5,//5号炒锅-运输空碗到-空碗流水线
 
+        tqx_1,
+        tqx_2,
+        tqx_3,
+
+        qxt_4,
+        jtqx,
+
+        qxt_hj,
         hj,//空碗流水线-回到充电桩或者停车桩
     }
 
diff --git a/FryPot_DosingSystem/Control/DosingLogicControl.cs b/FryPot_DosingSystem/Control/DosingLogicControl.cs
index be36d8dc..4078b7f4 100644
--- a/FryPot_DosingSystem/Control/DosingLogicControl.cs
+++ b/FryPot_DosingSystem/Control/DosingLogicControl.cs
@@ -146,6 +146,8 @@ namespace FryPot_DosingSystem.Control
         string LNinerobotJobId = string.Empty; //从线体3到清洗台路径
         string LTenrobotJobId = string.Empty; //从清洗台到线体4路径
 
+        public int CleanNum = 0;//当前清洗台桶数
+
         #endregion
         /// <summary>
         /// 调试命令注册
@@ -383,7 +385,7 @@ namespace FryPot_DosingSystem.Control
         private void FileRegClean()
         {
             int days = 5;   //清除期限
-            string[] filesOne = Directory.GetFiles("AccessFile//DB//炒锅1状态数据");
+            string[] filesOne = Directory.GetDirectories("AccessFile//DB//炒锅1状态数据");
             if (filesOne.Count() > 0)
             {
                 foreach (var item in filesOne)
@@ -397,7 +399,7 @@ namespace FryPot_DosingSystem.Control
                     }
                 }
             }
-            string[] filesTwo = Directory.GetFiles("AccessFile//DB//炒锅2状态数据");
+            string[] filesTwo = Directory.GetDirectories("AccessFile//DB//炒锅2状态数据");
             if (filesTwo.Count() > 0)
             {
                 foreach (var item in filesTwo)
@@ -411,7 +413,7 @@ namespace FryPot_DosingSystem.Control
                     }
                 }
             }
-            string[] filesThree = Directory.GetFiles("AccessFile//DB//炒锅3状态数据");
+            string[] filesThree = Directory.GetDirectories("AccessFile//DB//炒锅3状态数据");
             if (filesThree.Count() > 0)
             {
                 foreach (var item in filesThree)
@@ -425,7 +427,7 @@ namespace FryPot_DosingSystem.Control
                     }
                 }
             }
-            string[] filesFour = Directory.GetFiles("AccessFile//DB//炒锅4状态数据");
+            string[] filesFour = Directory.GetDirectories("AccessFile//DB//炒锅4状态数据");
             if (filesFour.Count() > 0)
             {
                 foreach (var item in filesFour)
@@ -744,11 +746,11 @@ namespace FryPot_DosingSystem.Control
 
                 if (objData.robotJobId == LTenrobotJobId && objData.command == "LOAD")
                 {
-                    globalVar.agvArriveCleanLoad = true;//agv到达清洗台下料位置
+                    globalVar.agvArriveCleanLoad = true;//agv到达清洗台上料位置
                 }
                 if (objData.robotJobId == LTenrobotJobId && objData.command == "UNLOAD")
                 {
-                    globalVar.agvArriveLineFour = true;//agv到达清洗台下料位置
+                    globalVar.agvArriveLineFour = true;//agv到达线体4下料位置
                 }
             }
 
@@ -846,6 +848,7 @@ namespace FryPot_DosingSystem.Control
                     globalVar.agvArriveLineOneLoadCom = true;
                     AgvViewModel.GetInstance().Set滚筒线上数量(1, (globalVar.LOneMaterialNum - 1).ToString());
                     AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes);
+                    AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_1);
                     //到清洗处
                 }
                 //线体2任务上报
@@ -854,7 +857,7 @@ namespace FryPot_DosingSystem.Control
                     globalVar.agvArriveLineTwoLoadCom = true;
                     AgvViewModel.GetInstance().Set滚筒线上数量(2, (globalVar.LTwoMaterialNum - 1).ToString());
                     AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes);
-
+                    AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_2);
                     //到清洗处
 
                 }
@@ -864,6 +867,7 @@ namespace FryPot_DosingSystem.Control
                     globalVar.agvArriveLineThreeLoadCom = true;
                     AgvViewModel.GetInstance().Set滚筒线上数量(3, (globalVar.LThreeMaterialNum - 1).ToString());
                     AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes);
+                    AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_3);
                     //到清洗处
 
                 }
@@ -1941,10 +1945,10 @@ namespace FryPot_DosingSystem.Control
         }
         private void LineFourProcessExecute()
         {
-            //
+            //线体123到清洗台
             AgvFromLineToCleanPlate();
             AgvArriveCleanPlate();
-
+            //清洗台到线体4
             CallAgvToLineFour();
             CleanPlateUpLoad();
             EmptyRollerToLinFour();
@@ -1955,7 +1959,11 @@ namespace FryPot_DosingSystem.Control
             if (globalVar.agvArriveCleanLoad)
             {
                 globalVar.agvArriveCleanLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达清洗台空桶上料位置");
                 MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成");
+                AgvViewModel.GetInstance().SetCleanRollerNum(--CleanNum);
+                AgvViewModel.GetInstance().Set小车是否承载物品(4,IsBool.OnllYes);
+                AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_4);
             }
         }
 
@@ -2047,7 +2055,7 @@ namespace FryPot_DosingSystem.Control
                 }
             }
         }
-
+       
         /// <summary>
         /// AGV到达清洗台下料位置
         /// </summary>
@@ -2058,6 +2066,10 @@ namespace FryPot_DosingSystem.Control
                 globalVar.agvArriveCleanUnLoad = false;
                 MessageLog.GetInstance.ShowRunLog("空桶到达清洗位置，准备卸桶");
                 MessageLog.GetInstance.ShowRunLog("卸桶完成");
+                AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No);
+                AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_hj);
+                AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes);
+                AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum);
                 //plc交互
             }
         }
@@ -2893,6 +2905,11 @@ namespace FryPot_DosingSystem.Control
                 //线体四信号交互
                 MessageLog.GetInstance.ShowRunLog("AGV到达【4】号回收线体，准备卸桶");
                 MessageLog.GetInstance.ShowRunLog("卸桶完成");
+                AgvViewModel.GetInstance().Set滚筒线状态(4,IsRun.Start);
+                AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
+                AgvViewModel.GetInstance().Set小车是否承载物品(4,IsBool.No);
+                AgvViewModel.GetInstance().Set小车运动(4,CartMotionTrajectory.hj);
+                AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes);
             }
         }
         ///// <summary>
@@ -3607,8 +3624,8 @@ namespace FryPot_DosingSystem.Control
             if (errorCode == "SUCCESS")
             {
                 AgvViewModel.GetInstance().Set停车桩(num, IsBool.No);
-                AgvViewModel.GetInstance().Set小车是否承载物品(num, IsBool.No);
-                AgvViewModel.GetInstance().Set小车运动(num, AgvViewModel.GetInstance().GetCommandValue($"qc_{num}"));
+                AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No);
+                AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue($"tqx_{num}"));
                 MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶");
             }
             else if (errorCode == "Analysis Error")
@@ -3631,7 +3648,7 @@ namespace FryPot_DosingSystem.Control
             {
                 AgvViewModel.GetInstance().Set停车桩(num, IsBool.No);
                 AgvViewModel.GetInstance().Set小车是否承载物品(num, IsBool.No);
-                AgvViewModel.GetInstance().Set小车运动(num, AgvViewModel.GetInstance().GetCommandValue($"qc_{num}"));
+                AgvViewModel.GetInstance().Set小车运动(num, CartMotionTrajectory.jtqx);
                 MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线卸桶");
             }
             else if (errorCode == "Analysis Error")
diff --git a/FryPot_DosingSystem/FryPot_DosingSystem.csproj b/FryPot_DosingSystem/FryPot_DosingSystem.csproj
index b2fd326a..13520670 100644
--- a/FryPot_DosingSystem/FryPot_DosingSystem.csproj
+++ b/FryPot_DosingSystem/FryPot_DosingSystem.csproj
@@ -12,6 +12,7 @@
     <None Remove="hbl.ico" />
     <None Remove="Resources\fonts\iconfont.ttf" />
     <None Remove="Resources\fonts\iconfont2.ttf" />
+    <None Remove="Resources\pictures\战斗机.jpeg" />
   </ItemGroup>
 
   <ItemGroup>
@@ -35,6 +36,7 @@
 
   <ItemGroup>
     <Resource Include="Resources\fonts\iconfont.ttf" />
+    <Resource Include="Resources\pictures\战斗机.jpeg" />
   </ItemGroup>
 
 </Project>
diff --git a/FryPot_DosingSystem/View/AgvView.xaml b/FryPot_DosingSystem/View/AgvView.xaml
index 5c6b5f23..a095e82c 100644
--- a/FryPot_DosingSystem/View/AgvView.xaml
+++ b/FryPot_DosingSystem/View/AgvView.xaml
@@ -566,6 +566,7 @@
                     </Setter.Value>
                 </Setter>
             </Style>
+            
 
             <Style x:Key="停车位"  BasedOn="{x:Null}" TargetType="{x:Type TextBox}">
                 <Setter Property="Foreground" Value="#FF1F4D69"/>
@@ -574,7 +575,7 @@
                     <Setter.Value>
                         <ControlTemplate TargetType="{x:Type TextBox}">
                             <Grid  Width="60" Height="55">
-                                
+
                                 <Ellipse x:Name="name_11"  VerticalAlignment="Bottom" Visibility="Collapsed" Margin="0,0,0,0" Fill="#FF9E4C4C" Stroke="#FF9E4141" Width="60" Height="20"></Ellipse>
                                 <Ellipse x:Name="name_12"  VerticalAlignment="Bottom" Visibility="Collapsed"  Margin="0,0,0,5" Fill="#FFAD2121" Stroke="#FF9E4141" Width="40" Height="10"></Ellipse>
                                 <Ellipse x:Name="name_21"  VerticalAlignment="Bottom" Visibility="Visible" Margin="0,0,0,0" Fill="#FF4CA756" Stroke="#FF419E53" Width="60" Height="20"></Ellipse>
@@ -760,6 +761,16 @@
                                 <PathGeometry x:Key="yc_1_3" Figures="M335,258 L334.5,490.5 680,490.99893 680,840"/>
                                 <PathGeometry x:Key="yc_1_4" Figures="M337,256.5 L334,492 965.5,492 966.50079,840"/>
                                 <PathGeometry x:Key="yc_1_5" Figures="M335.99357,253.70082 L334.33946,490.553 1256.2374,491.4823 1254.2358,840"/>
+                                <!--从123线体到空桶洗桶台-->
+                                <PathGeometry x:Key="tqx_1" Figures="M337,260 L337.5,488.5 1165,490.5 1165,410"/>
+                                <PathGeometry x:Key="tqx_2" Figures="M488.35495,257.41892 L488.65986,490.93723 1165,490.5 1165,410"/>
+                                <PathGeometry x:Key="tqx_3" Figures="M655.97662,256.40013 L655.68368,491.79548 1165,490.5 1165,410"/>
+                                <!--从清洗台到4号线体-->
+                                <PathGeometry x:Key="qxt_4" Figures="M1165,410 L1165,490.5 811.14431,490.74164 811.53039,265"/>
+                                <!--从清洗台回家-->
+                                <PathGeometry x:Key="qxt_hj" Figures="M1165,410 L1165,490.5 1512,491"/>
+                                <!--从家到清洗台-->
+                                <PathGeometry x:Key="jtqx" Figures="M1512,491 L1165,490.5 1164,410"/>
                                 <!--送菜品路线 2号取菜口送到5个锅-->
                                 <PathGeometry x:Key="yc_2_1" Figures="M488.35495,257.41892 L488.65986,490.93723  100,491.1112 100,840"/>
                                 <PathGeometry x:Key="yc_2_2" Figures="M488.35495,257.41892 L488.65986,490.93723  391.20932,490.91674 391.28296,840"/>
@@ -767,11 +778,11 @@
                                 <PathGeometry x:Key="yc_2_4" Figures="M488.35495,257.41892 L488.65986,490.93723  964.81356,491.71074 962.82129,840"/>
                                 <PathGeometry x:Key="yc_2_5" Figures="M488.35495,257.41892 L488.65986,490.93723  1254.2358,491.20803 1254.2358,840"/>
                                 <!--送菜品路线 3号取菜口送到5个锅-->
-                                <PathGeometry x:Key="yc_3_1" Figures="M678.97662,256.40013 L678.68368,491.79548 100,492.63368 100,840"/>
-                                <PathGeometry x:Key="yc_3_2" Figures="M678.97662,256.40013 L678.68368,491.79548 391.28296,488.69436 391.28296,840"/>
-                                <PathGeometry x:Key="yc_3_3" Figures="M678.97662,256.40013 L678.68368,491.79548 680,491.67667 680,840"/>
-                                <PathGeometry x:Key="yc_3_4" Figures="M678.97662,256.40013 L678.68368,491.79548 964.81356,490.50591 962.82129,840"/>
-                                <PathGeometry x:Key="yc_3_5" Figures="M678.97662,256.40013 L678.68368,491.79548 1256.2374,491.4823 1254.2358,840"/>
+                                <PathGeometry x:Key="yc_3_1" Figures="M655.97662,256.40013 L655.68368,491.79548 100,492.63368 100,840"/>
+                                <PathGeometry x:Key="yc_3_2" Figures="M655.97662,256.40013 L655.68368,491.79548 391.28296,488.69436 391.28296,840"/>
+                                <PathGeometry x:Key="yc_3_3" Figures="M655.97662,256.40013 L655.68368,491.79548 680,491.67667 680,840"/>
+                                <PathGeometry x:Key="yc_3_4" Figures="M655.97662,256.40013 L655.68368,491.79548 964.81356,490.50591 962.82129,840"/>
+                                <PathGeometry x:Key="yc_3_5" Figures="M655.97662,256.40013 L655.68368,491.79548 1256.2374,491.4823 1254.2358,840"/>
                                 <!--送完菜品 回收路线-->
                                 <PathGeometry x:Key="hs_1" Figures="M100,862 L99.749407,491.33482 455.92934,491.23722 811.14431,490.74164 811.53039,265"/>
                                 <PathGeometry x:Key="hs_2" Figures="M389.82645,862.91662 L389.79339,491.26265 811.14431,490.74164 811.53039,265"/>
@@ -908,6 +919,40 @@
                                     <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource hj}"  Storyboard.TargetName="yunshuche" Source="X"/>
                                     <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource hj}" Storyboard.TargetName="yunshuche" Source="Y"/>
                                 </Storyboard>
+                                <!--线体123到清洗台-->
+                                <Storyboard  x:Key="Storyboard_tqx_1"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource tqx_1}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource tqx_1}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource tqx_1}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_tqx_2"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource tqx_2}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource tqx_2}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource tqx_2}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_tqx_3"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource tqx_3}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource tqx_3}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource tqx_3}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <!--清洗台到线体4-->
+                                <Storyboard  x:Key="Storyboard_qxt_4"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource qxt_4}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource qxt_4}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource qxt_4}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <!--从清洗台回家-->
+                                <Storyboard  x:Key="Storyboard_qxt_hj"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource qxt_hj}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource qxt_hj}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource qxt_hj}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <!--从家到清洗台-->
+                                <Storyboard  x:Key="Storyboard_jtqx"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource jtqx}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource jtqx}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource jtqx}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
                             </ControlTemplate.Resources>
                             <Grid x:Name="yunshuche">
                                 <Grid.RenderTransform>
@@ -1010,6 +1055,14 @@
                                         <StopStoryboard BeginStoryboardName="begin_hs_4"/>
                                         <StopStoryboard BeginStoryboardName="begin_hs_5"/>
 
+                                        <StopStoryboard BeginStoryboardName="begin_tqx_1"/>
+                                        <StopStoryboard BeginStoryboardName="begin_tqx_2"/>
+                                        <StopStoryboard BeginStoryboardName="begin_tqx_3"/>
+
+                                        <StopStoryboard BeginStoryboardName="begin_qxt_4"/>
+                                        <StopStoryboard BeginStoryboardName="begin_jtqx"/>
+
+                                        <StopStoryboard BeginStoryboardName="begin_qxt_hj"/>
                                         <StopStoryboard BeginStoryboardName="begin_hj"/>
                                     </Trigger.EnterActions>
                                     <Setter TargetName="yunshuche" Property="Visibility" Value="Collapsed" />
@@ -1168,7 +1221,45 @@
                                     </Trigger.EnterActions>
                                 </Trigger>
                                 <!--#endregion-->
-
+                                <!--123线体到清洗台-->
+                                <Trigger Property="Tag" Value="tqx_1">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_tqx_1" Storyboard="{StaticResource Storyboard_tqx_1}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="tqx_2">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_tqx_2" Storyboard="{StaticResource Storyboard_tqx_2}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="tqx_3">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_tqx_3" Storyboard="{StaticResource Storyboard_tqx_3}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="qxt_4">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_qxt_4" Storyboard="{StaticResource Storyboard_qxt_4}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <!--从家到清洗台-->
+                                <Trigger Property="Tag" Value="jtqx">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_jtqx" Storyboard="{StaticResource Storyboard_jtqx}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <!--从清洗台回家-->
+                                <Trigger Property="Tag" Value="qxt_hj">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_qxt_hj" Storyboard="{StaticResource Storyboard_qxt_hj}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
                                 <!--#region 回家路线-->
                                 <Trigger Property="Tag" Value="hj">
                                     <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
@@ -1247,7 +1338,7 @@
                     </Setter.Value>
                 </Setter>
             </Style>
-            
+
         </ResourceDictionary>
     </UserControl.Resources>
     <Grid>
@@ -1294,12 +1385,13 @@
                     <Button Margin="5" Click="Button_Click" Tag="只有碗" Cursor="Hand">只有碗</Button>
                     <Button Margin="5" Click="Button_Click" Tag="无物品" Cursor="Hand">无物品</Button>
                 </StackPanel>
-                
+
                 <StackPanel>
                     <TextBlock Margin="5">滚筒炒锅</TextBlock>
                     <TextBox x:Name="guntongchaoguo_text" Margin="5">1</TextBox>
                     <Button Margin="5" Click="Button_Click" Tag="启动炒锅" Cursor="Hand">启动炒锅</Button>
                     <Button Margin="5" Click="Button_Click" Tag="停止炒锅" Cursor="Hand">停止炒锅</Button>
+                    <Button Margin="5" Click="Button_Click" Tag="清洗桶数" Cursor="Hand">清洗桶数</Button>
                 </StackPanel>
 
             </StackPanel>
@@ -1322,13 +1414,17 @@
 
             <Grid x:Name="一号道路" Margin="0,80,0,0">
                 <Path Data="M1016.6667,415.98725 L330.95862,417.18254 331.55089,170.03705" Fill="Transparent" HorizontalAlignment="Left" Height="243" Margin="334,170,0,0" Stroke="#FF627569" StrokeDashArray="5 5" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="1160" />
-                <Path Data="M1016.0158,386.81528 L725.54498,387.52324 725.50328,170.91436" Fill="Transparent" HorizontalAlignment="Left" Height="215" Margin="840,172,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="649"  />
+                <Path Data="M1016.0158,386.81528 L725.54498,387.52324 725.50328,170.91436" Fill="Transparent" HorizontalAlignment="Left" Height="215" Margin="840,172,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="300"  />
+                <Path Data="M725.50328,386.81528 L725.50328,330.91436" Stroke="#FF2D3E33" StrokeThickness="2" Margin="414.5,-0.5,0,0" />
+                <Path Data="M725.50328,386.81528 L725.50328,330.91436" Stroke="#FF2D3E33" StrokeThickness="2" Margin="463.5,-0.8,0,0" />
+                <Path Data="M1016.0158,386.81528 L725.54498,387.52324 725.50328,170.91436 " Fill="Transparent" HorizontalAlignment="Left" Height="2" Margin="1189,384,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="300" RenderTransformOrigin="0.5,0.5"/>
                 <Path Data="M794.17358,168.8504 L795.74395,387.54981 689.48232,387.29818 689.48232,165.11694" Fill="Transparent" HorizontalAlignment="Left" Height="223" Margin="682,164,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="104"/>
                 <Path Data="M632.68285,173.84703 L633.02686,385.98646 527.43527,386.74398 526.83156,171.85808" Fill="Transparent" HorizontalAlignment="Left" Height="215" Margin="523,172,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="104"/>
                 <Path Data="M470.73348,171.25096 L470.73348,386.67023 364.24292,386.67023 364.24292,169.22349" Fill="Transparent" HorizontalAlignment="Left" Height="216" Margin="364,171,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="105"/>
                 <Path Data="M494,380.61719 L494,173.42969" Fill="Transparent" HorizontalAlignment="Left" Height="206" StrokeDashArray="5 5" Margin="494,174,0,0" Stroke="#FF627569" StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="2"/>
                 <Path Data="M651.5,387.34183 L651.5,164.69054" Fill="Transparent" HorizontalAlignment="Left" Height="223" StrokeDashArray="5 5" Margin="652,164,0,0" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="2" />
                 <Path Data="M812,390.42647 L812,175.98529" Fill="Transparent" HorizontalAlignment="Left" Height="213" StrokeDashArray="5 5" Margin="812,175,0,0" Stroke="#FF627569" StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="2"/>
+                <Path Data="M812,390.42647 L812,200.98529" Fill="Transparent" HorizontalAlignment="Left" Height="56" StrokeDashArray="5 5" Margin="1163,332,0,0" Stroke="#FF627569" StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="2"/>
                 <Path Data="M311.25,9.5 L311.25,224" Fill="Transparent" HorizontalAlignment="Left" Height="216" Margin="309,172,0,0" Stroke="#FF2D3E33" Stretch="Fill" VerticalAlignment="Top" StrokeThickness="2" Width="4"/>
 
             </Grid>
@@ -1610,9 +1706,66 @@
             <TextBox Style="{StaticResource 停车位}" Margin="0,26,0,0" Text="{Binding ParkingPileModel_3.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
             <TextBox Style="{StaticResource 停车位}" Margin="0,25,0,0" Text="{Binding ParkingPileModel_4.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
             <TextBox Style="{StaticResource 停车位}" Margin="0,25,0,0" Text="{Binding ParkingPileModel_5.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" />
-            <TextBox Style="{StaticResource 停车位}" Margin="0,25,0,0" Text="{Binding ParkingPileModel_6.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
+            <TextBox Style="{StaticResource 停车位}" Margin="0,25,0,0" Text="{Binding ParkingPileModel_5.Text ,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
         </StackPanel>
         <!--#endregion-->
+        <!--新增-->
+        <StackPanel Orientation="Horizontal" VerticalAlignment="Top" Margin="600,230,0,0" Width="420" Height="180">
+            <Viewbox>
+                <Canvas Width="420" Height="180">
+                    <Path Margin="-75,0,0,0">
+                        <Path.Fill>
+                            <LinearGradientBrush >
+                                <GradientStop Offset="0" Color="Gray"/>
+                                <GradientStop Offset="0.5" Color="White"/>
+                                <GradientStop Offset="1" Color="Gray"/>
+                                <LinearGradientBrush.RelativeTransform>
+                                    <RotateTransform Angle="-5"/>
+                                </LinearGradientBrush.RelativeTransform>
+                            </LinearGradientBrush>
+                        </Path.Fill>
+                        <Path.Data>
+                            <PathGeometry Figures="M 186.6,67.5 Q 279.9,33.75 373.2,67.5 L391.86,33.075 Q298.56,1.125 205.26,33.075 L183.801,67.275"/>
+                        </Path.Data>
+                    </Path>
+                    <Path Margin="-75,0,0,0">
+                        <Path.Fill>
+                            <LinearGradientBrush>
+                                <GradientStop Offset="0.3" Color="Gray"/>
+                                <GradientStop Offset="0.7" Color="White"/>
+                               
+                            </LinearGradientBrush>
+                        </Path.Fill>
+                        <Path.Data>
+                            <PathGeometry Figures="M374.133,90 L374.133,66.825 391.86,33.075 391.86,56.25 374.133,89.775"/>
+                        </Path.Data>
+                    </Path>
+                    <Path Margin="-75,0,0,0">
+                        <Path.Fill>
+                            <LinearGradientBrush>
+                                <GradientStop Offset="0.6" Color="AntiqueWhite"/>
+                                <GradientStop Offset="0" Color="SlateGray"/>
+                                <LinearGradientBrush.RelativeTransform>
+                                    <RotateTransform Angle="35"/>
+                                </LinearGradientBrush.RelativeTransform>
+                            </LinearGradientBrush>
+                        </Path.Fill>
+                        <Path.Data>
+                            <PathGeometry Figures="M185.667,90 L242.58,67.5  Q279.9,51.75 317.22,67.5 L373.2,90 373.2,66.825 Q279.9,33.75 186.6,67.5 L186.6,66.825 186.6,90"/>
+                        </Path.Data>
+                    </Path>
+                    <TextBlock Text="当前桶数：" Style="{DynamicResource 80号字体样式}" Canvas.Left="94" Canvas.Top="115" HorizontalAlignment="Left" VerticalAlignment="Center"/>
+                    <TextBlock Text="{Binding DataContext.RollerNum, RelativeSource={RelativeSource AncestorType=Canvas, Mode=FindAncestor}}" FontSize="24" Style="{DynamicResource 80号字体样式}" Canvas.Left="195" Canvas.Top="111" HorizontalAlignment="Center" VerticalAlignment="Top" />
+                    <!--<TextBox1  Style="{StaticResource 传送带空}" IsEnabled="False" Text="{Binding RollerLines_4.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding RollerLines_4.DishesNum,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Canvas.Left="176" Canvas.Top="73" HorizontalAlignment="Center" VerticalAlignment="Top">
+                        <TextBox.RenderTransform>
+                            <ScaleTransform ScaleY="0.48"/>
+                        </TextBox.RenderTransform>
+                    </TextBox>-->
+                </Canvas>
+            </Viewbox>
 
+        </StackPanel>
+        <TextBlock Style="{DynamicResource 80号字体样式}" VerticalAlignment="Top" Margin="950,250,0,0" FontSize="16" Width="16" >空桶清洗台</TextBlock>
     </Grid>
+
 </UserControl>
diff --git a/FryPot_DosingSystem/View/AgvView.xaml.cs b/FryPot_DosingSystem/View/AgvView.xaml.cs
index 7887fc7b..25342b6a 100644
--- a/FryPot_DosingSystem/View/AgvView.xaml.cs
+++ b/FryPot_DosingSystem/View/AgvView.xaml.cs
@@ -187,7 +187,9 @@ namespace FryPot_DosingSystem.View
                             }
                             AgvViewModel.GetInstance().Set启动或停止炒锅(id, IsRun.Stop);
                             break;
-
+                        case "清洗桶数":
+                            AgvViewModel.GetInstance().SetCleanRollerNum(2);
+                            break;
                     }
                 }
             }
diff --git a/FryPot_DosingSystem/ViewModel/AgvViewModel.cs b/FryPot_DosingSystem/ViewModel/AgvViewModel.cs
index fd7cabdf..f928b1a5 100644
--- a/FryPot_DosingSystem/ViewModel/AgvViewModel.cs
+++ b/FryPot_DosingSystem/ViewModel/AgvViewModel.cs
@@ -19,6 +19,9 @@ namespace FryPot_DosingSystem.ViewModel
         #region 单例模式
         private volatile static AgvViewModel _Instance;
         public static AgvViewModel GetInstance() => _Instance ?? (_Instance = new AgvViewModel());
+
+        public int RollerNum { get { return _rollerNum; } set { _rollerNum = value;OnPropertyChanged(); } }
+        private int _rollerNum;
         public AgvViewModel()
         {
             Init();
@@ -67,6 +70,10 @@ namespace FryPot_DosingSystem.ViewModel
                 new WorkflowModel {id=1,Name="取番茄",isBool= IsBool.Yes},
                 new WorkflowModel {id=2,Name="取蛋" } };
         }
+        public void SetCleanRollerNum(int num)
+        {
+            RollerNum = num;
+        }
         /// <summary>
         /// 设置停车桩或充电桩 
         /// </summary>