refactor(service): 移除未使用的LLMAiTtsService依赖

- 从FlowActionExecutorService中移除llmAiTtsService字段
- 减少不必要的服务依赖注入
- 优化代码结构和内存使用

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java

@@ -112,7 +112,7 @@ public class InspectionRobotController extends BaseController
     @ApiOperation("获取机器人地图列表")
     @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
     @GetMapping("/{robotId}/maps")
-    public AjaxResult getRobotMapList(@PathVariable("robotId") String robotId)
+    public AjaxResult getRobotMapList(@PathVariable String robotId)
     {
         AgvCommand.AgvMapStatus robotMapList = inspectionRobotService.getRobotMapList(robotId);
         return success(robotMapList.getMapsList());
@@ -125,26 +125,12 @@ public class InspectionRobotController extends BaseController
     @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
     @Log(title = "绑定机器人地图", businessType = BusinessType.UPDATE)
     @PostMapping("/{robotId}/bind-map/{mapId}")
-    public AjaxResult bindRobotMap(@PathVariable("robotId") String robotId,
-                                   @PathVariable("mapId") String mapId)
+    public AjaxResult bindRobotMap(@PathVariable String robotId,
+                                   @PathVariable String mapId)
     {
         return toAjax(inspectionRobotService.bindRobotMap(robotId, mapId));
     }
 
-    /**
-     * 上传地图到机器人
-     */
-    @ApiOperation("上传地图到机器人")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
-    @Log(title = "上传地图到机器人", businessType = BusinessType.OTHER)
-    @PostMapping("/{robotId}/upload-map/{mapId}")
-    public AjaxResult uploadMapToRobot(@PathVariable("robotId") String robotId,
-                                       @PathVariable("mapId") String mapId)
-    {
-        String result = inspectionRobotService.uploadMapToRobot(robotId, mapId);
-        return success(result);
-    }
-
     /**
      * 从机器人下载地图
      */
@@ -153,7 +139,7 @@ public class InspectionRobotController extends BaseController
     @Log(title = "从机器人下载地图", businessType = BusinessType.INSERT)
     @GetMapping("/{robotId}/download-map")
     public AjaxResult downloadMapFromRobot(
-            @PathVariable(value = "robotId") @ApiParam("机器人ID") String robotId,
+            @PathVariable @ApiParam("机器人ID") String robotId,
             @RequestParam(value = "mapName") @ApiParam("地图名称") String mapName
     )
     {
@@ -161,6 +147,19 @@ public class InspectionRobotController extends BaseController
         return success(mapId);
     }
 
+    /**
+     * 上传地图（从源机器人下载到目标机器人）
+     */
+    @ApiOperation("上传地图到机器人")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "上传地图到机器人", businessType = BusinessType.OTHER)
+    @PostMapping("/{robotId}/upload-map-from-source")
+    public AjaxResult uploadMapFromSource(@PathVariable String robotId)
+    {
+        String result = inspectionRobotService.uploadMapFromSource(robotId);
+        return success(result);
+    }
+
     /**
      * 同步机器人状态
      */
@@ -168,10 +167,43 @@ public class InspectionRobotController extends BaseController
     @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
     @Log(title = "同步机器人状态", businessType = BusinessType.UPDATE)
     @PostMapping("/{robotId}/sync-status")
-    public AjaxResult syncRobotStatus(@PathVariable("robotId") String robotId)
+    public AjaxResult syncRobotStatus(@PathVariable String robotId)
     {
         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);
+    }
+
 }
 

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

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(

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java

@@ -73,15 +73,6 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
      */
     int bindRobotMap(String robotId, String mapId);
 
-    /**
-     * 上传地图到机器人
-     *
-     * @param robotId 机器人ID
-     * @param mapId 地图ID
-     * @return 结果
-     */
-    String uploadMapToRobot(String robotId, String mapId);
-
     /**
      * 从机器人下载地图
      *
@@ -91,6 +82,14 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
      */
     String downloadMapFromRobot(String robotId, String mapName);
 
+    /**
+     * 上传地图（从源机器人下载到目标机器人）
+     *
+     * @param robotId 目标机器人ID
+     * @return 结果
+     */
+    String uploadMapFromSource(String robotId);
+
     /**
      * 同步机器人状态（电量、位置等）
      *
@@ -99,4 +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);
+
 }

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java

@@ -1,6 +1,7 @@
 
 package com.cmvr.inspection.service.impl;
 
+import java.nio.charset.StandardCharsets;
 import java.util.Arrays;
 import java.util.List;
 import java.util.UUID;
@@ -180,49 +181,6 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         return inspectionRobotMapper.updateInspectionRobot(robot);
     }
 
-    /**
-     * 上传地图到机器人
-     *
-     * @param robotId 机器人ID
-     * @param mapId 地图ID
-     * @return 结果
-     */
-    @Override
-    public String uploadMapToRobot(String robotId, String mapId)
-    {
-        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
-        if (robot == null) {
-            throw new GlobalException("机器人不存在");
-        }
-
-        InspectionMap map = inspectionMapMapper.selectInspectionMapById(mapId);
-        if (map == null) {
-            throw new GlobalException("地图不存在");
-        }
-
-        if (StrUtil.isBlank(map.getMapFilePath())) {
-            throw new GlobalException("地图文件路径不存在");
-        }
-
-        // 从文件路径读取地图内容
-        String mapContent = readMapFile(map.getMapFilePath());
-        if (StrUtil.isBlank(mapContent)) {
-            throw new GlobalException("地图文件内容为空");
-        }
-
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
-        AgvCommand.AgvUploadMapResult result = edgeAgvService.robotConfigUploadMap(edgeCommonVO, mapContent);
-
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("上传地图失败: " + result.getErrMsg());
-        }
-
-        return "上传成功";
-    }
-
     /**
      * 从机器人下载地图
      *
@@ -264,6 +222,75 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         return result.getMapContent();
     }
 
+    /**
+     * 上传地图（从源机器人下载到目标机器人）
+     *
+     * @param robotId 目标机器人ID
+     * @return 结果
+     */
+    @Override
+    public String uploadMapFromSource(String robotId)
+    {
+        // 1. 获取目标机器人信息
+        InspectionRobot targetRobot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (targetRobot == null) {
+            throw new GlobalException("目标机器人不存在");
+        }
+
+        // 2. 获取地图信息
+        InspectionMap map = inspectionMapMapper.selectInspectionMapById(targetRobot.getCurrentMapId());
+        if (map == null) {
+            throw new GlobalException("地图不存在");
+        }
+
+        // 3. 检查地图是否有来源机器人ID和地图名称
+        if (StrUtil.isBlank(map.getMapSourceRobotId())) {
+            throw new GlobalException("地图未配置来源机器人ID");
+        }
+        if (StrUtil.isBlank(map.getMapSourceName())) {
+            throw new GlobalException("地图未配置来源地图名称");
+        }
+
+        // 4. 获取来源机器人信息
+        InspectionRobot sourceRobot = inspectionRobotMapper.selectInspectionRobotById(map.getMapSourceRobotId());
+        if (sourceRobot == null) {
+            throw new GlobalException("来源机器人不存在");
+        }
+
+        // 5. 从来源机器人下载地图JSON
+        EdgeCommonVO sourceEdgeVO = new EdgeCommonVO();
+        sourceEdgeVO.setTerminalId(sourceRobot.getTerminalId());
+        sourceEdgeVO.setDeviceId(sourceRobot.getRobotCode());
+
+        AgvCommand.AgvDownloadMapResult downloadResult = edgeAgvService.robotConfigDownloadMap(
+            sourceEdgeVO, map.getMapSourceName()
+        );
+
+        if (downloadResult.getRetCode() != 0) {
+            throw new GlobalException("从来源机器人下载地图失败: " + downloadResult.getErrMsg());
+        }
+
+        String mapContent = downloadResult.getMapContent();
+        if (StrUtil.isBlank(mapContent)) {
+            throw new GlobalException("下载的地图内容为空");
+        }
+
+        // 6. 上传地图到目标机器人
+        EdgeCommonVO targetEdgeVO = new EdgeCommonVO();
+        targetEdgeVO.setTerminalId(targetRobot.getTerminalId());
+        targetEdgeVO.setDeviceId(targetRobot.getRobotCode());
+
+        AgvCommand.AgvUploadMapResult uploadResult = edgeAgvService.robotConfigUploadMap(
+            targetEdgeVO, mapContent
+        );
+
+        if (uploadResult.getRetCode() != 0) {
+            throw new GlobalException("上传地图到目标机器人失败: " + uploadResult.getErrMsg());
+        }
+
+        return "上传成功";
+    }
+
     /**
      * 同步机器人状态（电量、位置等）
      *
@@ -306,15 +333,62 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
     }
 
     /**
-     * 读取地图文件内容
+     * 获取机器人实时位置
      *
-     * @param filePath 文件路径
-     * @return 文件内容
+     * @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）
      */
-    private String readMapFile(String filePath)
+    @Override
+    public AgvCommand.AgvRobotLocation getRobotRealtimeLocation(String robotId)
     {
-        // TODO: 实现文件读取逻辑
-        return "";
+        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);
     }
 
 }

cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java

@@ -63,6 +63,9 @@ public enum ActionEnum {
     BIO_HEAD_SPEAK_STOP("EDGE", "BIO_HEAD_SPEAK_STOP", "停止说话"),
     BIO_HEAD_SPECIAL_EXPRESSION("EDGE", "BIO_HEAD_SPECIAL_EXPRESSION", "表情，1:高兴,2:惊讶,3:疲惫"),
 
+    // --------------- agv ---------------
+    AGV_MOVE_TO_POINT("EDGE", "AGV_MOVE_TO_POINT", "移动到指定点"),
+
     // 大模型行为
     // ---------------获取触控坐标---------------
     TOUCH_COORDINATES("LLM", "TOUCH_COORDINATES", "获取触控坐标"),

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateService.java

@@ -0,0 +1,89 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import cmvr.api.AgvCommand;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeAgvService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+/**
+ * AGV边缘操作服务
+ * 处理AGV相关的设备行为，如移动到指定位置
+ *
+ * @author cmvr-iot
+ * @since 2026-06-29
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeAgvOperateService implements EdgeOperateService {
+
+    private final EdgeAgvService edgeAgvService;
+
+    @Override
+    public boolean supports(ActionEnum action) {
+        return action.name().startsWith("AGV_");
+    }
+
+    @Override
+    public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
+        ActionEnum action = message.getAction();
+        JSONObject inputParams = message.getInputParams();
+        String terminalId = message.getTerminalId();
+        
+        // 从输入参数中获取机器人ID
+        String deviceId = inputParams.getString("deviceId");
+        
+        if (deviceId == null || deviceId.isEmpty()) {
+            throw new GlobalException("机器人ID(deviceId)不能为空");
+        }
+
+        switch (action) {
+            case AGV_MOVE_TO_POINT: {
+                log.info("执行AGV移动到指定位置操作，机器人ID: {}", deviceId);
+                
+                // 从输入参数中获取坐标信息
+                Double x = inputParams.getDouble("x");
+                Double y = inputParams.getDouble("y");
+                Double theta = inputParams.getDouble("theta");
+                String taskId = inputParams.getString("taskId");
+                
+                // 参数验证
+                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();
+                
+                // 构建边缘端通用参数
+                EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+                edgeCommonVO.setTerminalId(terminalId);
+                edgeCommonVO.setDeviceId(deviceId);
+                
+                // 直接调用边缘端AGV服务执行导航
+                AgvCommand.RobotGoTargetResData result = 
+                    edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId);
+                
+                log.info("AGV移动任务下发成功，返回码: {}", result.getRetCode());
+                
+                break;
+            }
+
+            default:
+                throw new GlobalException("不支持的AGV操作类型: " + action);
+        }
+        
+        return TaskNodeExecuteResult.success();
+    }
+}

cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java

@@ -12,6 +12,7 @@ import com.cmvr.edge.client.service.EdgeCameraService;
 import com.cmvr.edge.client.service.EdgeHlcService;
 import com.cmvr.edge.client.service.EdgeMicrophoneService;
 import com.cmvr.edge.client.service.EdgeSpeakerService;
+import com.cmvr.edge.client.service.EdgeAgvService;
 import com.cmvr.llm.service.LLMAiAgentPlatformService;
 import com.cmvr.llm.service.LLMAiTtsService;
 import com.cmvr.test.enums.ActionEnum;
@@ -29,8 +30,8 @@ public class FlowActionExecutorService {
     private final EdgeMicrophoneService edgeMicrophoneService;
     private final EdgeSpeakerService edgeSpeakerService;
     private final EdgeHlcService edgeHlcService;
-    private final LLMAiTtsService llmAiTtsService;
     private final LLMAiAgentPlatformService llmAiAgentPlatformService;
+    private final EdgeAgvService edgeAgvService;
 
     public String actionExecute(FlowActionRequestVO req) {
 
@@ -104,6 +105,44 @@ public class FlowActionExecutorService {
                 edgeFacialExpressionVO.setDeviceId(deviceId);
                 return edgeBioHeadService.setExpression(edgeFacialExpressionVO);
 
+            // ==== AGV ====
+            case AGV_MOVE_TO_POINT: {
+                log.info("执行AGV移动到指定位置操作");
+                
+                // 从payload中获取机器人ID和坐标信息
+                String deviceId1 = payload.getString("deviceId");
+                if (StrUtil.isEmpty(deviceId1)) {
+                    throw new GlobalException("机器人ID(deviceId)不能为空");
+                }
+                
+                Double x = payload.getDouble("x");
+                Double y = payload.getDouble("y");
+                Double theta = payload.getDouble("theta");
+                String taskId = payload.getString("taskId");
+                
+                // 参数验证
+                if (x == null || y == null) {
+                    throw new GlobalException("X和Y坐标不能为空");
+                }
+                
+                // 构建自由导航点
+                cmvr.api.AgvCommand.FreeGoPoint freeGoPoint = cmvr.api.AgvCommand.FreeGoPoint.newBuilder()
+                    .setX(x)
+                    .setY(y)
+                    .setTheta(theta != null ? theta : 0.0)
+                    .build();
+                
+                // 直接调用边缘端AGV服务
+                cmvr.api.AgvCommand.RobotGoTargetResData result = 
+                    edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId);
+                
+                log.info("AGV移动任务下发成功，返回码: {}", result.getRetCode());
+                
+                // 返回结果字符串
+                return String.format("AGV移动任务下发成功, retCode=%d, errMsg=%s", 
+                    result.getRetCode(), result.getErrMsg());
+            }
+
             default:
                 throw new UnsupportedOperationException("未实现的 EDGE Action: " + action.name());
         }