diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
index 3a72807..485d022 100644
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
@@ -172,5 +172,38 @@ public class InspectionRobotController extends BaseController
         return success(inspectionRobotService.syncRobotStatus(robotId));
     }
 
+    /**
+     * 获取机器人实时位置
+     */
+    @ApiOperation("获取机器人实时位置")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
+    @GetMapping("/{robotId}/location")
+    public AjaxResult getRobotRealtimeLocation(@PathVariable String robotId)
+    {
+        AgvCommand.AgvRobotLocation location = inspectionRobotService.getRobotRealtimeLocation(robotId);
+        return success(location);
+    }
+
+    /**
+     * 导航到指定位置（坐标）
+     */
+    @ApiOperation("导航到指定位置")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "导航到指定位置", businessType = BusinessType.OTHER)
+    @PostMapping("/{robotId}/navigate-to-position")
+    public AjaxResult navigateToPosition(
+            @PathVariable @ApiParam("机器人ID") String robotId,
+            @RequestParam @ApiParam("X坐标（米）") Double x,
+            @RequestParam @ApiParam("Y坐标（米）") Double y,
+            @RequestParam(required = false) @ApiParam("朝向角（弧度）") Double theta,
+            @RequestParam(required = false) @ApiParam("任务ID") String taskId
+    )
+    {
+        AgvCommand.RobotGoTargetResData result = inspectionRobotService.navigateToPosition(
+            robotId, x, y, theta, taskId
+        );
+        return success(result);
+    }
+
 }
 
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java
index 161bc0e..a1c8e69 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java
@@ -79,6 +79,20 @@ public interface EdgeAgvService {
     AgvCommand.RobotGoTargetResData robotGoTarget(EdgeCommonVO edgeCommonVO, String sourceId, String targetId, 
                                                    String taskId, String operation, Double jackHeight);
 
+    /**
+     * 自由导航到指定坐标位置（命令码3051，使用freego参数）
+     * 直接导航到指定的X、Y坐标和角度，不依赖站点
+     * 注意：此命令会取消当前正在执行的任务，仅支持双轮差速底盘
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param freeGoPoint 自由导航目标点（包含x、y、theta）
+     * @param taskId 任务ID（可选，建议提供）
+     * @return 导航任务下发结果
+     */
+    AgvCommand.RobotGoTargetResData robotGoTargetWithFreeGo(EdgeCommonVO edgeCommonVO, 
+                                                             AgvCommand.FreeGoPoint freeGoPoint,
+                                                             String taskId);
+
     /**
      * 暂停当前导航任务（命令码3001）
      * 暂停AGV当前正在执行的导航任务，AGV将减速停止
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
index 4062a92..19a3893 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
@@ -156,6 +156,46 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         return result;
     }
 
+    @Override
+    public AgvCommand.RobotGoTargetResData robotGoTargetWithFreeGo(EdgeCommonVO edgeCommonVO,
+                                                                     AgvCommand.FreeGoPoint freeGoPoint,
+                                                                     String taskId) {
+        if (freeGoPoint == null) {
+            throw new GlobalException("自由导航目标点不能为空");
+        }
+
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        
+        // 构建请求数据，使用freego参数
+        AgvCommand.RobotGoTargetReqData.Builder dataBuilder = AgvCommand.RobotGoTargetReqData.newBuilder()
+            .setSourceId("SELF_POSITION")  // 从当前位置开始
+            .setId("SELF_POSITION")         // 不使用站点ID
+            .setFreego(freeGoPoint);        // 设置自由导航点
+        
+        // 设置可选参数
+        if (StrUtil.isNotBlank(taskId)) {
+            dataBuilder.setTaskId(taskId);
+        }
+
+
+
+        AgvCommand.RobotGoTargetCommand.Request request = AgvCommand.RobotGoTargetCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setData(dataBuilder.build())
+            .build();
+        
+        AgvCommand.RobotGoTargetResData result = executeGrpcCall(() -> stub.robotGoTarget(request)).getData();
+        
+        if (result.getRetCode() != 0) {
+            throw new GlobalException("自由导航任务下发失败: " + result.getErrMsg());
+        }
+
+
+
+        return result;
+    }
+
     @Override
     public AgvCommand.RobotTaskPauseCommand.Feedback.Result robotTaskPause(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
index 523796e..e3c14be 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
@@ -98,4 +98,25 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
      */
     InspectionRobot syncRobotStatus(String robotId);
 
+    /**
+     * 获取机器人实时位置
+     *
+     * @param robotId 机器人ID
+     * @return 机器人位置信息（包含X、Y坐标、角度、当前站点等）
+     */
+    AgvCommand.AgvRobotLocation getRobotRealtimeLocation(String robotId);
+
+    /**
+     * 导航到指定位置（坐标）
+     *
+     * @param robotId 机器人ID
+     * @param x X坐标（米）
+     * @param y Y坐标（米）
+     * @param theta 朝向角（弧度）
+     * @param taskId 任务ID（可选）
+     * @return 导航任务下发结果
+     */
+    AgvCommand.RobotGoTargetResData navigateToPosition(String robotId, Double x, Double y, 
+                                                        Double theta, String taskId);
+
 }
\ No newline at end of file
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
index 46a5364..d5f5e65 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
@@ -332,4 +332,63 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         return robot;
     }
 
+    /**
+     * 获取机器人实时位置
+     *
+     * @param robotId 机器人ID
+     * @return 机器人位置信息（包含X、Y坐标、角度、当前站点等）
+     */
+    @Override
+    public AgvCommand.AgvRobotLocation getRobotRealtimeLocation(String robotId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        return edgeAgvService.getRobotLocation(edgeCommonVO);
+    }
+
+    /**
+     * 导航到指定位置（坐标）
+     *
+     * @param robotId 机器人ID
+     * @param x X坐标（米）
+     * @param y Y坐标（米）
+     * @param theta 朝向角（弧度）
+     * @param taskId 任务ID（可选）
+     * @return 导航任务下发结果
+     */
+    @Override
+    public AgvCommand.RobotGoTargetResData navigateToPosition(String robotId, Double x, Double y,
+                                                               Double theta, String taskId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        if (x == null || y == null) {
+            throw new GlobalException("X和Y坐标不能为空");
+        }
+
+        // 构建自由导航点
+        AgvCommand.FreeGoPoint freeGoPoint = AgvCommand.FreeGoPoint.newBuilder()
+            .setX(x)
+            .setY(y)
+            .setTheta(theta != null ? theta : 0.0)
+            .build();
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        // 调用边缘端接口，使用freego参数进行自由导航
+        return edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId);
+    }
+
 }
\ No newline at end of file