diff --git a/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java b/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
index 4af4a39..6532013 100644
--- a/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
+++ b/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
@@ -218,4 +218,72 @@ public class AircraftFlyController extends BaseController
             return R.fail("查询状态失败: " + e.getMessage());
         }
     }
+
+    /**
+     * 出舱接口
+     *
+     * @param sn 机场SN号
+     * @return 出舱响应
+     */
+    @Operation(summary = "出舱", description = "控制指定机场执行出舱操作")
+    @PostMapping("/cover-open/{sn}")
+    public R<String> coverOpen(
+            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
+            @PathVariable("sn") String sn)
+    {
+        log.info("收到出舱请求: sn={}", sn);
+
+        try {
+            // 调用机器命令管理器执行出舱命令
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.OPEN_COVER);
+
+            // 等待命令执行完成
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("出舱成功: sn={}", sn);
+                return R.ok("出舱命令执行成功");
+            } else {
+                log.error("出舱失败: sn={}, reason={}", sn, result.getErrorMessage());
+                return R.fail("出舱命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("出舱异常: sn={}", sn, e);
+            return R.fail("出舱命令执行异常: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 回舱接口
+     *
+     * @param sn 机场SN号
+     * @return 回舱响应
+     */
+    @Operation(summary = "回舱", description = "控制指定机场执行回舱操作")
+    @PostMapping("/cover-close/{sn}")
+    public R<String> coverClose(
+            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
+            @PathVariable("sn") String sn)
+    {
+        log.info("收到回舱请求: sn={}", sn);
+
+        try {
+            // 调用机器命令管理器执行回舱命令
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.CLOSE_COVER);
+
+            // 等待命令执行完成
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("回舱成功: sn={}", sn);
+                return R.ok("回舱命令执行成功");
+            } else {
+                log.error("回舱失败: sn={}, reason={}", sn, result.getErrorMessage());
+                return R.fail("回舱命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("回舱异常: sn={}", sn, e);
+            return R.fail("回舱命令执行异常: " + e.getMessage());
+        }
+    }
 }
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java
index 4c58432..bee490f 100644
--- a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java
@@ -101,6 +101,18 @@ public class TuohengVendorConfig implements VendorConfig {
                 .setTimeout(66000);
         transactionMap.put(powerOffTransaction.getCommandType(), powerOffTransaction);
 
+        // 出舱命令
+        Transaction coverOpenTransaction = new Transaction("出舱", CommandType.OPEN_COVER)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengCoverOpenInstruction())
+                .setTimeout(60000);
+        transactionMap.put(coverOpenTransaction.getCommandType(), coverOpenTransaction);
+
+        // 回舱命令
+        Transaction coverCloseTransaction = new Transaction("回舱", CommandType.CLOSE_COVER)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengCoverCloseInstruction())
+                .setTimeout(60000);
+        transactionMap.put(coverCloseTransaction.getCommandType(), coverCloseTransaction);
+
         log.info("拓恒厂家配置初始化完成，共配置{}个命令", transactionMap.size());
     }
 }
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengCoverCloseInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengCoverCloseInstruction.java
new file mode 100644
index 0000000..686eb0b
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengCoverCloseInstruction.java
@@ -0,0 +1,61 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 拓恒机场回舱指令
+ */
+@Slf4j
+public class TuohengCoverCloseInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_COVER_CLOSE";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒机场回舱指令: sn={}", sn);
+
+        // 构建MQTT消息
+        JSONObject payload = new JSONObject();
+        payload.put("messageID", String.valueOf(System.currentTimeMillis()));
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("code", "DroneNest");
+        payload.put("value", "2");  // 2=回舱
+
+        String topic = "/topic/v1/airportNest/" + sn + "/control";
+
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("拓恒回舱指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        // 回舱指令不需要方法回调确认
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        // 监听舱门状态变化（从心跳消息）
+        return CallbackConfig.builder()
+                .topic("/topic/v1/heartbeat/" + sn + "/message")
+                .fieldPath("nestDoor.data.status")
+                .expectedValue("1")  // 1表示关仓
+                .timeoutMs(60000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 60000;  // 总超时时间60秒
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengCoverOpenInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengCoverOpenInstruction.java
new file mode 100644
index 0000000..ac601b5
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengCoverOpenInstruction.java
@@ -0,0 +1,61 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 拓恒机场出舱指令
+ */
+@Slf4j
+public class TuohengCoverOpenInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_COVER_OPEN";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒机场出舱指令: sn={}", sn);
+
+        // 构建MQTT消息
+        JSONObject payload = new JSONObject();
+        payload.put("messageID", String.valueOf(System.currentTimeMillis()));
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("code", "DroneNest");
+        payload.put("value", "1");  // 1=出舱
+
+        String topic = "/topic/v1/airportNest/" + sn + "/control";
+
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("拓恒出舱指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        // 出舱指令不需要方法回调确认
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        // 监听舱门状态变化（从心跳消息）
+        return CallbackConfig.builder()
+                .topic("/topic/v1/heartbeat/" + sn + "/message")
+                .fieldPath("nestDoor.data.status")
+                .expectedValue("0")  // 0表示开仓
+                .timeoutMs(60000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 60000;  // 总超时时间60秒
+    }
+}
\ No newline at end of file