diff --git a/App/ParkingSpaceGuide/Doc/ParkingSpaceGuide.md b/App/ParkingSpaceGuide/Doc/ParkingSpaceGuide.md
index e3339b18..b1151df3 100644
--- a/App/ParkingSpaceGuide/Doc/ParkingSpaceGuide.md
+++ b/App/ParkingSpaceGuide/Doc/ParkingSpaceGuide.md
@@ -8,11 +8,22 @@ ParkingSpaceGuide 使用一台平面相机、一台雷达和一块显示屏完
 - 雷达：`Device/RsLidarDevice`
 - 显示屏：`Device/LedDisplayDevice`
 - 组播：`Nets/UDPClient`
+- 2D 机型识别：`AppAlgo/AAPGS_model`（RK3588 Linux AArch64）
 
-算法入口当前预留在：
+算法入口位于：
 
 `ParkingSpaceGuideApp/Presenter/Src/DetectPresenter.cpp`
 
+机型识别由雷达算法按距离触发，相机软触发取图后调用 AAPGS 分类模型，
+当前支持 `A320` 和 `B737`。应用默认从可执行文件同级的
+`AAPGS_model/models/model.yaml` 加载模型；也可通过环境变量覆盖：
+
+- `AAPGS_MODEL_CONFIG`：模型 YAML 的完整路径
+- `AAPGS_MODEL_ROOT`：AAPGS SDK 根目录
+- `AAPGS_RUNTIME_LIBRARY`：`libyolo_runtime.so.2` 的完整路径
+
+Windows 构建保留界面与业务流程，但不执行仅支持 RK3588 的 NPU 推理。
+
 文档：
 
 - 详细设计：`详细设计.md`
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/ParkingSpaceGuideApp.pro b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/ParkingSpaceGuideApp.pro
index 8c513ffc..17e83de8 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/ParkingSpaceGuideApp.pro
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/ParkingSpaceGuideApp.pro
@@ -37,6 +37,9 @@ INCLUDEPATH += $$PWD/../../../Nets/UDPClient/Inc
 INCLUDEPATH += $$PWD/../../../Utils/VrCommon/Inc
 INCLUDEPATH += $$PWD/../../../Utils/VrUtils/Inc
 
+AAPGS_ROOT = $$clean_path($$PWD/../../../AppAlgo/AAPGS_model)
+INCLUDEPATH += $$AAPGS_ROOT/include
+
 win32 {
     POCO_ROOT = $$PWD/../../../SDK/poco/Windows
 } else:unix:!macx {
@@ -61,6 +64,7 @@ win32 {
 SOURCES += \
     Presenter/Src/ConfigManager.cpp \
     Presenter/Src/ParkingSpaceGuidePresenter.cpp \
+    Presenter/Src/AapgsModelClassifier.cpp \
     Presenter/Src/DetectPresenter.cpp \
     Presenter/Src/ParkingStatusHttpServer.cpp \
     main.cpp \
@@ -70,6 +74,7 @@ SOURCES += \
 HEADERS += \
     Presenter/Inc/ConfigManager.h \
     Presenter/Inc/ParkingSpaceGuidePresenter.h \
+    Presenter/Inc/AapgsModelClassifier.h \
     Presenter/Inc/DetectPresenter.h \
     Presenter/Inc/ParkingStatusHttpServer.h \
     mainwindow.h \
@@ -156,6 +161,20 @@ win32 {
 
 unix {
     target.path = /usr/lib
+
+    aapgsRuntime.path = /usr/lib/AAPGS_model/lib
+    aapgsRuntime.files = \
+        $$AAPGS_ROOT/lib/libyolo_runtime.so.2 \
+        $$AAPGS_ROOT/lib/libyolo_backend_cls.so \
+        $$AAPGS_ROOT/lib/librknnrt.so \
+        $$AAPGS_ROOT/lib/librga.so
+
+    aapgsModels.path = /usr/lib/AAPGS_model/models
+    aapgsModels.files = \
+        $$AAPGS_ROOT/models/model.yaml \
+        $$AAPGS_ROOT/models/model.rknn
+
+    INSTALLS += aapgsRuntime aapgsModels
 }
 !isEmpty(target.path): INSTALLS += target
 
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Inc/DetectPresenter.h b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Inc/DetectPresenter.h
index f1265230..f71226a5 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Inc/DetectPresenter.h
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Inc/DetectPresenter.h
@@ -1,6 +1,8 @@
 #ifndef PARKINGSPACEGUIDE_DETECTPRESENTER_H
 #define PARKINGSPACEGUIDE_DETECTPRESENTER_H
 
+#include <memory>
+
 #include <QByteArray>
 #include <QImage>
 #include <QString>
@@ -8,6 +10,8 @@
 #include "IRsLidarDevice.h"
 #include "IYParkingSpaceGuideStatus.h"
 
+class AapgsModelClassifier;
+
 enum class AirplanePresenceState
 {
     NotDetected,
@@ -51,8 +55,11 @@ struct ModelRecognitionResult
 class DetectPresenter
 {
 public:
-    DetectPresenter() = default;
-    ~DetectPresenter() = default;
+    DetectPresenter();
+    ~DetectPresenter();
+
+    DetectPresenter(const DetectPresenter&) = delete;
+    DetectPresenter& operator=(const DetectPresenter&) = delete;
 
     static QString GetAlgoVersion();
 
@@ -69,6 +76,9 @@ public:
     int RecognizeModel2D(const QImage& frame,
                          const QByteArray& recognitionContext,
                          ModelRecognitionResult& result);
+
+private:
+    std::unique_ptr<AapgsModelClassifier> m_modelClassifier;
 };
 
 #endif // PARKINGSPACEGUIDE_DETECTPRESENTER_H
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Src/DetectPresenter.cpp b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Src/DetectPresenter.cpp
index 015d4103..28b04f39 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Src/DetectPresenter.cpp
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Src/DetectPresenter.cpp
@@ -3,6 +3,15 @@
 #include <algorithm>
 #include <cmath>
 
+#include "AapgsModelClassifier.h"
+
+DetectPresenter::DetectPresenter()
+    : m_modelClassifier(std::make_unique<AapgsModelClassifier>())
+{
+}
+
+DetectPresenter::~DetectPresenter() = default;
+
 bool ModelRecognitionResult::IsVerified(double minimumConfidence) const
 {
     if (!std::isfinite(minimumConfidence)) {
@@ -22,7 +31,7 @@ bool ModelRecognitionResult::IsVerified(double minimumConfidence) const
 
 QString DetectPresenter::GetAlgoVersion()
 {
-    return QStringLiteral("停车引导预留算法接口 版本0.1");
+    return QStringLiteral("停机引导算法接口 0.1 / AAPGS_model 1.0.0");
 }
 
 int DetectPresenter::DetectAirplanePresence(const RsCloudData& cloud,
@@ -81,7 +90,7 @@ int DetectPresenter::DetectParkingSpaceGuide(const RsCloudData& cloud,
     info.guideStateCode = 0;
     info.guideText = QStringLiteral("预留算法接口");
     result.parkingSpaceInfoList.push_back(info);
-    result.message = QStringLiteral("停车引导预留算法接口");
+    result.message = QStringLiteral("停机引导预留算法接口");
 
     const double modelVerifyDistance = algorithmParams.calibrationParam.modelVerifyDistance;
     const bool isInModelVerifyRange = modelVerifyDistance >= 0.0 &&
@@ -110,10 +119,25 @@ int DetectPresenter::RecognizeModel2D(const QImage& frame,
                                       const QByteArray& recognitionContext,
                                       ModelRecognitionResult& result)
 {
-    Q_UNUSED(frame);
     Q_UNUSED(recognitionContext);
 
     result = ModelRecognitionResult();
-    result.message = QStringLiteral("机型识别算法接口未实现");
-    return -1;
+    if (!m_modelClassifier) {
+        result.message = QStringLiteral("AAPGS机型识别器未初始化");
+        return -1;
+    }
+
+    AapgsModelClassifier::Classification classification;
+    QString errorMessage;
+    if (!m_modelClassifier->Classify(frame, classification, errorMessage)) {
+        result.message = errorMessage.trimmed().isEmpty()
+            ? QStringLiteral("AAPGS机型识别失败")
+            : errorMessage.trimmed();
+        return -1;
+    }
+
+    result.modelType = classification.modelType;
+    result.confidence = classification.confidence;
+    result.verified = true;
+    return 0;
 }
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Src/ParkingSpaceGuidePresenter.cpp b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Src/ParkingSpaceGuidePresenter.cpp
index fc2fdb31..de2bb20e 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Src/ParkingSpaceGuidePresenter.cpp
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Presenter/Src/ParkingSpaceGuidePresenter.cpp
@@ -137,7 +137,7 @@ int ParkingSpaceGuidePresenter::Init()
 {
     m_reconfiguring.store(false);
     NotifyWorkStatus(WorkStatus::InitIng);
-    NotifyStatus("停车引导初始化中");
+    NotifyStatus("停机引导初始化中");
 
     int ret = InitConfig();
     if (ret != 0) {
@@ -192,7 +192,7 @@ int ParkingSpaceGuidePresenter::Init()
 
     m_initialized = true;
     NotifyWorkStatus(WorkStatus::Ready);
-    NotifyStatus("停车引导初始化完成");
+    NotifyStatus("停机引导初始化完成");
     return 0;
 }
 
@@ -229,7 +229,7 @@ bool ParkingSpaceGuidePresenter::StartDetection(int cameraIndex)
     }
 
     if (m_detectionRunning.load()) {
-        NotifyStatus("停车引导实时检测已在运行");
+        NotifyStatus("停机引导实时检测已在运行");
         return true;
     }
 
@@ -259,12 +259,12 @@ bool ParkingSpaceGuidePresenter::StartDetection(int cameraIndex)
         m_detectionRunning.store(false);
         m_stopDetectionRequested.store(true);
         NotifyWorkStatus(WorkStatus::Error);
-        NotifyStatus("启动停车引导实时检测线程失败");
+        NotifyStatus("启动停机引导实时检测线程失败");
         return false;
     }
 
     NotifyWorkStatus(WorkStatus::Working);
-    NotifyStatus("停车引导实时检测已开始");
+    NotifyStatus("停机引导实时检测已开始");
     return true;
 }
 
@@ -298,19 +298,19 @@ bool ParkingSpaceGuidePresenter::TriggerDetection(int cameraIndex)
     }
 
     NotifyWorkStatus(WorkStatus::Detecting);
-    NotifyStatus("停车引导单次检测已开始");
+    NotifyStatus("停机引导单次检测已开始");
     bool success = false;
     ParkingGuideAlgorithmState algorithmState;
     try {
         success = DetectOnce(cloudFrame->cloud, algorithmState);
     } catch (const std::exception& e) {
-        NotifyStatus(std::string("停车引导单次检测异常：") + e.what());
+        NotifyStatus(std::string("停机引导单次检测异常：") + e.what());
     } catch (...) {
-        NotifyStatus("停车引导单次检测发生未知异常");
+        NotifyStatus("停机引导单次检测发生未知异常");
     }
     NotifyWorkStatus(success ? WorkStatus::Completed : WorkStatus::Error);
-    NotifyStatus(success ? "停车引导单次检测完成"
-                         : "停车引导单次检测失败");
+    NotifyStatus(success ? "停机引导单次检测完成"
+                         : "停机引导单次检测失败");
     return success;
 }
 
@@ -335,11 +335,11 @@ bool ParkingSpaceGuidePresenter::DetectOnce(const RsCloudData& cloud,
     if (ret != 0) {
         result.errorCode = ret;
         if (result.message.isEmpty()) {
-            result.message = QStringLiteral("停车引导检测失败");
+            result.message = QStringLiteral("停机引导检测失败");
         }
     } else {
         if (result.parkingSpaceInfoList.empty() && result.message.isEmpty()) {
-            result.message = QStringLiteral("无停车引导结果");
+            result.message = QStringLiteral("无停机引导结果");
         }
 
         if (control.needModelRecognition) {
@@ -385,9 +385,17 @@ bool ParkingSpaceGuidePresenter::DetectOnce(const RsCloudData& cloud,
                             info.confidence = control.nextState.modelConfidence;
                         }
                     } else {
-                        const QString reason = modelResult.message.trimmed().isEmpty()
-                            ? QStringLiteral("机型识别结果未通过验证")
-                            : modelResult.message;
+                        QString reason = modelResult.message.trimmed();
+                        if (reason.isEmpty() && modelRet == 0) {
+                            reason = QStringLiteral(
+                                "机型识别置信度不足：%1，实际%2，阈值%3")
+                                .arg(modelResult.modelType)
+                                .arg(modelResult.confidence, 0, 'f', 3)
+                                .arg(minimumConfidence, 0, 'f', 3);
+                        }
+                        if (reason.isEmpty()) {
+                            reason = QStringLiteral("机型识别结果未通过验证");
+                        }
                         appendRecognitionFailure(reason);
                     }
                 }
@@ -608,10 +616,10 @@ void ParkingSpaceGuidePresenter::DetectionLoop()
             DetectOnce(cloudFrame->cloud, algorithmState);
         } catch (const std::exception& e) {
             PublishErrorResult(-1,
-                QStringLiteral("停车引导检测异常：%1")
+                QStringLiteral("停机引导检测异常：%1")
                     .arg(QString::fromUtf8(e.what())));
         } catch (...) {
-            PublishErrorResult(-1, QStringLiteral("停车引导检测发生未知异常"));
+            PublishErrorResult(-1, QStringLiteral("停机引导检测发生未知异常"));
         }
     }
 
@@ -639,7 +647,7 @@ int ParkingSpaceGuidePresenter::StopDetection()
 
     if (wasRunning) {
         NotifyWorkStatus(WorkStatus::Ready);
-        NotifyStatus("停车引导实时检测已停止");
+        NotifyStatus("停机引导实时检测已停止");
     }
     return 0;
 }
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Version.h b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Version.h
index b3633afc..7b4dd8a9 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Version.h
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/Version.h
@@ -1,7 +1,7 @@
 #ifndef PARKINGSPACEGUIDE_VERSION_H
 #define PARKINGSPACEGUIDE_VERSION_H
 
-#define PARKINGSPACEGUIDE_APP_NAME "停车引导"
+#define PARKINGSPACEGUIDE_APP_NAME "停机引导"
 #define PARKINGSPACEGUIDE_VERSION_STRING "0.1.0"
 #define PARKINGSPACEGUIDE_BUILD_STRING "1"
 #define PARKINGSPACEGUIDE_FULL_VERSION_STRING "版本" PARKINGSPACEGUIDE_VERSION_STRING "_" PARKINGSPACEGUIDE_BUILD_STRING
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/dialogalgoarg.cpp b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/dialogalgoarg.cpp
index d822fbc5..35c3b4ac 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/dialogalgoarg.cpp
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/dialogalgoarg.cpp
@@ -23,9 +23,9 @@ DialogAlgoArg::DialogAlgoArg(QWidget* parent)
     , ui(new Ui::DialogAlgoArg)
 {
     ui->setupUi(this);
-    setWindowTitle(QStringLiteral("停车引导参数设置"));
+    setWindowTitle(QStringLiteral("停机引导参数设置"));
     if (ui->label_title) {
-        ui->label_title->setText(QStringLiteral("停车引导参数设置"));
+        ui->label_title->setText(QStringLiteral("停机引导参数设置"));
     }
     BuildUi();
     connect(ui->tabWidget, &QTabWidget::currentChanged, this, [this](int index) {
@@ -101,7 +101,7 @@ void DialogAlgoArg::ShowTabGroup(ConfigPage page)
 
 void DialogAlgoArg::UpdateTitle(ConfigPage page)
 {
-    QString title = QStringLiteral("停车引导参数设置");
+    QString title = QStringLiteral("停机引导参数设置");
     switch (page) {
     case ConfigPage::Detection:
         title = QStringLiteral("检测参数设置");
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/dialogalgoarg.ui b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/dialogalgoarg.ui
index 3eb78411..e2ca44ab 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/dialogalgoarg.ui
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/dialogalgoarg.ui
@@ -35,7 +35,7 @@
     <string notr="true">color: rgb(221, 225, 233);</string>
    </property>
     <property name="text">
-     <string>停车引导参数设置</string>
+     <string>停机引导参数设置</string>
     </property>
   </widget>
   <widget class="QTabWidget" name="tabWidget">
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/main.cpp b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/main.cpp
index a7c15dac..7ddef2c6 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/main.cpp
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/main.cpp
@@ -17,7 +17,7 @@ int main(int argc, char* argv[])
     if (instanceManager.isAnotherInstanceRunning()) {
         QMessageBox messageBox;
         messageBox.setWindowTitle(QObject::tr("应用已运行"));
-        messageBox.setText(QObject::tr("停车引导程序已在运行。"));
+        messageBox.setText(QObject::tr("停机引导程序已在运行。"));
         messageBox.addButton(QObject::tr("确定"), QMessageBox::AcceptRole);
         messageBox.exec();
         return 0;
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/mainwindow.cpp b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/mainwindow.cpp
index be80a9f8..605a295b 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/mainwindow.cpp
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/mainwindow.cpp
@@ -8,7 +8,9 @@
 #include <QFileDialog>
 #include <QGraphicsScene>
 #include <QGraphicsView>
+#include <QHBoxLayout>
 #include <QIcon>
+#include <QLabel>
 #include <QListWidgetItem>
 #include <QMetaObject>
 #include <QPixmap>
@@ -107,6 +109,39 @@ QString FormatNumber(double value, const QString& unit, int precision = 2)
     return QStringLiteral("%1%2").arg(value, 0, 'f', precision).arg(unit);
 }
 
+void ConfigureResultWidget(SingleTargetResultWidget* resultWidget)
+{
+    if (!resultWidget) {
+        return;
+    }
+
+    // Keep this presentation local to ParkingSpaceGuide; UICommon defaults are shared by other apps.
+    auto* mainLayout = qobject_cast<QVBoxLayout*>(resultWidget->layout());
+    if (mainLayout && mainLayout->count() > 0) {
+        auto* headerLayout = qobject_cast<QHBoxLayout*>(mainLayout->itemAt(0)->layout());
+        if (headerLayout && headerLayout->count() == 2) {
+            headerLayout->setSpacing(12);
+            headerLayout->setStretch(0, 0);
+            headerLayout->setStretch(1, 0);
+            headerLayout->addStretch(1);
+        }
+    }
+
+    resultWidget->setStyleSheet(
+        resultWidget->styleSheet()
+        + QStringLiteral(
+            "#singleTargetTitle { font-size: 28px; }"
+            "#singleTargetStatus { font-size: 34px; font-weight: 700; padding: 0; }"
+            "#singleTargetEmpty { font-size: 28px; }"
+            "#singleTargetFieldName { font-size: 24px; }"
+            "#singleTargetFieldValue { font-size: 26px; }"));
+
+    auto* statusLabel = resultWidget->findChild<QLabel*>(QStringLiteral("singleTargetStatus"));
+    if (statusLabel) {
+        statusLabel->setStyleSheet(QStringLiteral("background-color: transparent;"));
+    }
+}
+
 } // namespace
 
 MainWindow::MainWindow(QWidget* parent)
@@ -114,9 +149,9 @@ MainWindow::MainWindow(QWidget* parent)
     , ui(new Ui::MainWindow)
 {
     ui->setupUi(this);
-    setWindowTitle(QStringLiteral("停车引导"));
+    setWindowTitle(QStringLiteral("停机引导"));
     if (ui->label) {
-        ui->label->setText(QStringLiteral("停车引导"));
+        ui->label->setText(QStringLiteral("停机引导"));
     }
 
 #ifdef _WIN32
@@ -288,6 +323,7 @@ void MainWindow::addDetectionResult(const DetectionResult& result)
         resultWidget->setTitle(tr("当前状态"));
         resultWidget->setStatus(GuideStateName(ParkingGuideState::Unknown), false);
         resultWidget->setEmptyText(tr("暂无停机状态结果"));
+        ConfigureResultWidget(resultWidget);
         return;
     }
 
@@ -305,6 +341,7 @@ void MainWindow::addDetectionResult(const DetectionResult& result)
         {tr("偏转角"), FormatNumber(info.angle, tr("度"))},
         {tr("速度"), FormatNumber(info.aircraftSpeed, tr("米/秒"), 2)}
     });
+    ConfigureResultWidget(resultWidget);
 }
 
 void MainWindow::OnStatusUpdate(const std::string& statusMessage)
@@ -452,7 +489,7 @@ void MainWindow::on_btn_start_clicked()
     }
 
     clearDetectionLog();
-    updateStatusLog(tr("开始停车引导检测"));
+    updateStatusLog(tr("开始停机引导检测"));
     if (!m_presenter->StartDetection(-1)) {
         updateStatusLog(tr("启动检测失败"));
     }
@@ -686,7 +723,7 @@ void MainWindow::onSaveDetectionData()
     }
 
     const std::string timeStamp = CVrDateUtils::GetNowTime();
-    const QString fileName = QString("停车引导_%1_%2.txt")
+    const QString fileName = QString("停机引导_%1_%2.txt")
                                  .arg(m_presenter->GetDetectIndex())
                                  .arg(QString::fromStdString(timeStamp));
     const QString fullPath = QDir(dirPath).filePath(fileName);
diff --git a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/mainwindow.ui b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/mainwindow.ui
index c382aeae..d5414ff1 100644
--- a/App/ParkingSpaceGuide/ParkingSpaceGuideApp/mainwindow.ui
+++ b/App/ParkingSpaceGuide/ParkingSpaceGuideApp/mainwindow.ui
@@ -11,7 +11,7 @@
    </rect>
   </property>
    <property name="windowTitle">
-    <string>停车引导</string>
+    <string>停机引导</string>
    </property>
   <property name="autoFillBackground">
    <bool>false</bool>
@@ -75,7 +75,7 @@ color: rgb(239, 241, 245);</string>
 background-color: rgba(255, 255, 255, 0);</string>
     </property>
     <property name="text">
-     <string>停车引导</string>
+     <string>停机引导</string>
     </property>
    </widget>
    <widget class="QListWidget" name="detect_result_list">
diff --git a/App/WorkpieceHole/Doc/point.jpg b/App/WorkpieceHole/Doc/point.jpg
deleted file mode 100644
index 7b280a58..00000000
Binary files a/App/WorkpieceHole/Doc/point.jpg and /dev/null differ
diff --git a/App/WorkpieceHole/Doc/workpiecehole_plc.mthings b/App/WorkpieceHole/Doc/workpiecehole_plc.mthings
index d2a2ee24..c8be97b5 100644
--- a/App/WorkpieceHole/Doc/workpiecehole_plc.mthings
+++ b/App/WorkpieceHole/Doc/workpiecehole_plc.mthings
@@ -5,6 +5,7 @@
 		<COM Name="COM11" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
 		<COM Name="COM13" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
 		<COM Name="COM9" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
+		<COM Name="COM1" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
 		<NET Name="PLC_NET" Remarks="" DesIP="127.0.0.1" LocalPortID="502" DesPortID="0" LinkMode="1" LinkResetTime="0" LinkHoldTime="6000" TransMode="2" CharType="0" MaxAsynNum="15" />
 	</PORT_LIST>
 	<DEVICE_LIST>
@@ -13,7 +14,7 @@
 				<DATA Name="拍照" BLOCK="2" PrtcTYPE="1" Unit="--" ShowType="0" Addr="1001" Gain="1" Size="1" BitOffset="0" BitNum="16" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
 					<TIMEOUT Time="2000" ResendCount="0" />
 					<CURVE IsShow="0" />
-					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="101" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
+					<VALUE Stategy="0" TimeBngrWay="0" Coef_a="201" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
 				</DATA>
 				<DATA Name="完成" BLOCK="2" PrtcTYPE="1" Unit="--" ShowType="0" Addr="1003" Gain="1" Size="1" BitOffset="0" BitNum="16" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
 					<TIMEOUT Time="2000" ResendCount="0" />
diff --git a/App/WorkpieceHole/Doc/协议.jpg b/App/WorkpieceHole/Doc/协议.jpg
deleted file mode 100644
index fe9017a9..00000000
Binary files a/App/WorkpieceHole/Doc/协议.jpg and /dev/null differ
diff --git a/App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md b/App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md
index 9cb82c05..08c87e3f 100644
--- a/App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md
+++ b/App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md
@@ -37,34 +37,36 @@
 
 | PLC寄存器 | 代码协议地址 | 类型 | 读/写 | 说明 |
 |-----------|------------|------|-------|------|
-| D1000 | 1001 | uint16 | R/W | 产品型号/相机触发值（见下表） |
-| D1002 | 1003 | uint16 | W | 检测结果状态码（见下表） |
-
-### 4.2 产品型号与拍照触发值（D1000）
-
-| 序号 | 产品型号 | 触发相机1 | 触发相机2 | 当前状态 |
-|------|----------|-----------|-----------|----------|
-| 1 | 4WE6 | 1 | 2 | 已实现 |
-| 2 | Z2S6 | 101 | 102 | 已实现 |
-| 3 | Z2FS6_30_2 | 201 | 202 | 已实现 |
-| 4 | DB10 | 301 | 302 | 已实现 |
-| 5 | DB20 | 401 | 402 | 已实现 |
-
-五种工件分别读取各自独立配置的检测参数。
-
-### 4.3 检测结果状态码（D1002）
+| D1000 | 1001 | uint16 | R/W | 产品型号/相机触发值（见下表） |
+| D1002 | 1003 | uint16 | W | 检测结果状态码（见下表） |
+
+### 4.2 产品型号与拍照触发值（D1000）
+
+|序号| 产品型号 | 算法接口 | 触发相机1 | 触发相机2 | 高度 |
+|----|------|--------------|-----------|-----------|------|
+| 1 | 4WE6 | `API_1` | 1 | 2 | 47 |
+| 2 | Z2S6 | `API_2` | 101 | 102 | 47 |
+| 3 | Z2FS6_30_2 | `API_2` | 201 | 202 | 28 |
+| 4 | DB10 | `API_3` | 301 | 302 | 60 |
+| 5 | DB20 | `API_3` | 401 | 402 | 60 |
+
+> **编号说明**：产品序号即软件工件编号，配置、界面、触发协议和算法分派统一使用 1-5，不再转换为算法 test 的历史工件编号。`API_1`、`API_2`、`API_3` 分别对应三套工件孔定位接口。
+
+五种工件分别读取其软件工件编号对应的独立检测参数和工具参数。
+
+### 4.3 检测结果状态码（D1002）
 
 | 状态码 | 含义 | 说明 |
 |--------|------|------|
-| 1 | 检测成功 | 检测正确完成且有结果，坐标数据已写入D2000 |
-| 2 | 异常物料 | 算法返回异常物料错误码（`SX_ERR_UNKNOWN_OBJECT = -2501`） |
-| 3 | 无产品 | 算法返回无产品错误码（`SX_ERR_ZERO_OBJECTS = -1010`，兼容空目标类错误） |
-| 11 | 检测失败 | 其他算法或系统异常 |
-| 12 | 相机失败 | 相机打开或连接失败 |
+| 1 | 检测成功 | 检测正确完成且有结果，坐标数据已写入D2000 |
+| 2 | 异常物料 | 算法返回异常物料错误码（`SX_ERR_UNKNOWN_OBJECT = -2501`） |
+| 3 | 无产品 | 算法返回无产品错误码（`SX_ERR_ZERO_OBJECTS = -1010`，兼容空目标类错误） |
+| 11 | 检测失败 | 其他算法或系统异常 |
+| 12 | 相机失败 | 相机打开或连接失败 |
 
-### 4.4 坐标数据寄存器（D2000起，1个点）
+### 4.4 坐标数据寄存器（D2000起，1个点）
 
-检测成功时，将最后一个工件的坐标写入 D2000-D2011，包含6个float值（X, Y, Z, Pitch, Roll, Yaw），每个float占用2个寄存器（大端序），共12个寄存器。
+检测成功时，将最后一个工件的坐标写入 D2000-D2011，包含6个float值（X, Y, Z, Pitch, Roll, Yaw），每个float占用2个寄存器（大端序），共12个寄存器。
 
 | PLC寄存器 | 代码协议地址 | 类型 | 说明 |
 |-----------|------------|------|------|
@@ -78,7 +80,7 @@
 > **注意**:
 > - 每个float值占用2个寄存器，采用IEEE 754单精度浮点数格式
 > - 大端序（Big-Endian）：高位字在低地址寄存器，低位字在高地址寄存器
-> - 仅写入最后一个工件的坐标数据
+> - 仅写入最后一个工件的坐标数据
 
 ## 5. 通信流程
 
@@ -90,9 +92,9 @@
     │   轮询读取D1000(地址1001)    │
     │◄─────────────────────────────│
     │                              │
-    │   D1000=触发值 (拍照请求)    │
-    │◄─────────────────────────────│
-    │   (按产品型号/相机触发表解码)  │
+    │   D1000=触发值 (拍照请求)    │
+    │◄─────────────────────────────│
+    │   (按产品型号/相机触发表解码)  │
     │                              │
     │   写0到D1000(地址1001)       │
     │─────────────────────────────►│
@@ -103,7 +105,7 @@
     │─────────────────────────────►│  (仅检测成功时)
     │                              │
     │   写状态码到D1002(地址1003)   │
-    │─────────────────────────────►│  (1/2/3/11/12)
+    │─────────────────────────────►│  (1/2/3/11/12)
     │                              │
 ```
 
@@ -113,12 +115,12 @@
    - 3D系统持续轮询读取PLC的D1000寄存器（代码协议地址1001）
    - 轮询间隔：100ms（可配置）
    - 使用边沿检测：只在0→非零变化时触发
-   - 根据4.2节触发表同时确定产品型号和相机
+   - 根据4.2节触发表同时确定产品型号和相机
 
 2. **拍照执行**
    - 检测到D1000为非零后，立即写0到D1000清除请求
-   - 暂停轮询，根据D1000的值选择对应产品和相机
-   - 触发相机拍照，执行该产品对应的工件孔定位检测
+   - 暂停轮询，根据D1000的值选择对应产品和相机
+   - 触发相机拍照，执行该产品对应的工件孔定位检测
 
 3. **坐标输出**（仅检测成功时）
    - 算法处理完成后，将坐标数据写入PLC的D2000开始的寄存器
@@ -127,7 +129,7 @@
 
 4. **结果通知**
    - 无论成功还是失败，均写状态码到D1002（代码协议地址1003）
-   - 状态码：1=成功有结果，2=异常物料，3=无产品，11=检测失败，12=相机失败
+   - 状态码：1=成功有结果，2=异常物料，3=无产品，11=检测失败，12=相机失败
    - 写入状态码后恢复拍照请求轮询
 
 ## 6. 连接管理
@@ -150,12 +152,12 @@
 
 | 错误类型 | 处理方式 | D1002状态码 |
 |----------|----------|------------|
-| 相机连接失败 | 通知PLC，恢复轮询 | 12 |
-| 异常物料（`SX_ERR_UNKNOWN_OBJECT = -2501`） | 通知PLC，恢复轮询 | 2 |
-| 无产品（`SX_ERR_ZERO_OBJECTS = -1010`，兼容空目标类错误） | 通知PLC，恢复轮询 | 3 |
-| 其他算法检测失败 | 通知PLC，恢复轮询 | 11 |
-| D1000触发值无效 | 清除请求，通知PLC，恢复轮询 | 11 |
-| 检测成功有结果 | 发送坐标，通知PLC，恢复轮询 | 1 |
+| 相机连接失败 | 通知PLC，恢复轮询 | 12 |
+| 异常物料（`SX_ERR_UNKNOWN_OBJECT = -2501`） | 通知PLC，恢复轮询 | 2 |
+| 无产品（`SX_ERR_ZERO_OBJECTS = -1010`，兼容空目标类错误） | 通知PLC，恢复轮询 | 3 |
+| 其他算法检测失败 | 通知PLC，恢复轮询 | 11 |
+| D1000触发值无效 | 清除请求，通知PLC，恢复轮询 | 11 |
+| 检测成功有结果 | 发送坐标，通知PLC，恢复轮询 | 1 |
 | 连接断开 | 自动重连，发送错误信号 | - |
 | 读取失败 | 记录日志，主动断开触发重连 | - |
 | 写入失败 | 记录日志，返回失败状态 | - |
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/IYWorkpieceHoleStatus.h b/App/WorkpieceHole/WorkpieceHoleApp/IYWorkpieceHoleStatus.h
index fe82a361..3399c30a 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/IYWorkpieceHoleStatus.h
+++ b/App/WorkpieceHole/WorkpieceHoleApp/IYWorkpieceHoleStatus.h
@@ -4,14 +4,24 @@
 #include <string>
 #include <functional>
 #include <vector>
+#include <cstdint>
 #include <QImage>
 #include <QMetaType>
 
 // 使用 AppCommon 提供的通用接口和类型
 #include "IVisionApplicationStatus.h"
 
+// 算法 workpieceType 的高16位表示方向：1=反向，0=正向。
+inline bool IsReversedWorkpieceType(int workpieceType)
+{
+    const std::uint32_t packedType = static_cast<std::uint32_t>(workpieceType);
+    return ((packedType >> 16) & 0xFFFFu) == 1u;
+}
+
 // 孔位置结构体
 struct HolePosition : public PositionData<double> {
+    int workpieceType = 0;  // 算法原始工件类型：高16位为方向，1=反向，0=正向
+
     // 默认构造函数
     HolePosition() : PositionData<double>() {}
 
@@ -30,7 +40,7 @@ struct HolePosition : public PositionData<double> {
 
 // 工件孔检测结果结构体
 struct WorkpieceHoleDetectionResult : public DetectionResultData<HolePosition> {
-    int workpieceType = 0;              // 工件类型
+    int workpieceType = 0;              // 第一个工件的算法原始类型（包含高16位方向）
 
     // 默认构造函数
     WorkpieceHoleDetectionResult() = default;
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/DetectPresenter.h b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/DetectPresenter.h
index f91c2a44..ba112ea7 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/DetectPresenter.h
+++ b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/DetectPresenter.h
@@ -33,7 +33,6 @@ public:
                     const VrDebugParam& debugParam,
                     LaserDataLoader& dataLoader,
                     const double clibMatrix[16],
-                    int eulerOrder,
                     int dirVectorInvert,
                     int poseOutputOrder,
                     WorkpieceHoleDetectionResult& detectionResult);
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h
index 5ceafd12..726949dd 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h
+++ b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h
@@ -4,21 +4,30 @@
 namespace WorkpieceProduct
 {
 
+enum class AlgorithmApi
+{
+    Api1,
+    Api2,
+    Api3
+};
+
 struct ProductInfo
 {
     int number;
     const char* model;
     bool detectionSupported;
+    AlgorithmApi algorithmApi;
+    int triggerBase;  // D1000 触发值 = triggerBase + cameraIndex
 };
 
 inline const ProductInfo* Products()
 {
     static const ProductInfo products[] = {
-        {1, "4WE6", true},
-        {2, "Z2S6", true},
-        {3, "Z2FS6_30_2", true},
-        {4, "DB10", true},
-        {5, "DB20", true}
+        {1, "4WE6", true, AlgorithmApi::Api1, 0},
+        {2, "Z2S6", true, AlgorithmApi::Api2, 100},
+        {3, "Z2FS6_30_2", true, AlgorithmApi::Api2, 200},
+        {4, "DB10", true, AlgorithmApi::Api3, 300},
+        {5, "DB20", true, AlgorithmApi::Api3, 400}
     };
     return products;
 }
@@ -41,7 +50,11 @@ inline const ProductInfo* Find(int workpieceNumber)
 
 inline int TriggerValue(int workpieceNumber, int cameraIndex)
 {
-    return (workpieceNumber - 1) * 100 + cameraIndex;
+    const ProductInfo* product = Find(workpieceNumber);
+    if (!product || cameraIndex < 1 || cameraIndex > 2) {
+        return -1;
+    }
+    return product->triggerBase + cameraIndex;
 }
 
 inline bool DecodeTriggerValue(int triggerValue, int& workpieceNumber, int& cameraIndex)
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp
index 54df8082..2ebdcd7a 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp
+++ b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp
@@ -1,13 +1,57 @@
 #include "DetectPresenter.h"
 #include "workpieceHolePositioning_Export.h"
 #include "SG_baseAlgo_Export.h"
+#include "SG_errCode.h"
 #include "AlgoParamConverter.h"
 #include "IHandEyeCalib.h"
+#include "WorkpieceProduct.h"
+#include <cmath>
 #include <fstream>
 #include <memory>
 
 namespace {
 
+HECEulerOrder ToHandEyeEulerOrder(int eulerOrder)
+{
+    switch (eulerOrder) {
+    case 10: return HECEulerOrder::XYZ;
+    case 11: return HECEulerOrder::ZYX;
+    case 12: return HECEulerOrder::ZXY;
+    case 13: return HECEulerOrder::YXZ;
+    case 14: return HECEulerOrder::YZX;
+    case 15: return HECEulerOrder::XZY;
+    default:
+        LOG_WARNING("Unsupported tool euler order %d, fallback to 11 (ZYX)\n", eulerOrder);
+        return HECEulerOrder::ZYX;
+    }
+}
+
+void ApplyToolRotationToEyeAxes(IHandEyeCalib& handEyeCalib,
+                                HECEulerOrder eulerOrder,
+                                const VrToolParam& toolParam,
+                                std::vector<HECPoint3D>& axes)
+{
+    if (axes.size() != 3 ||
+        (std::fabs(toolParam.rotX) < 1e-9 &&
+         std::fabs(toolParam.rotY) < 1e-9 &&
+         std::fabs(toolParam.rotZ) < 1e-9)) {
+        return;
+    }
+
+    HECRotationMatrix toolRotation;
+    handEyeCalib.EulerToRotationMatrix(
+        HECEulerAngles::fromDegrees(toolParam.rotX, toolParam.rotY, toolParam.rotZ),
+        eulerOrder,
+        toolRotation);
+
+    const std::vector<HECPoint3D> originalAxes = axes;
+    for (int column = 0; column < 3; ++column) {
+        axes[column] = (originalAxes[0] * toolRotation.at(0, column)
+                      + originalAxes[1] * toolRotation.at(1, column)
+                      + originalAxes[2] * toolRotation.at(2, column)).normalized();
+    }
+}
+
 bool HasValidZPoint(const std::vector<SVzNL3DPosition>& line)
 {
     for (const SVzNL3DPosition& point : line) {
@@ -64,7 +108,6 @@ int DetectPresenter::DetectWorkpieceHole(
     const VrDebugParam& debugParam,
     LaserDataLoader& dataLoader,
     const double clibMatrix[16],
-    int eulerOrder,
     int dirVectorInvert,
     int poseOutputOrder,
     WorkpieceHoleDetectionResult& detectionResult)
@@ -80,6 +123,8 @@ int DetectPresenter::DetectWorkpieceHole(
         LOG_ERROR("Algorithm profile is missing for workpiece %d\n", workpieceNumber);
         return ERR_CODE(DEV_CONFIG_ERR);
     }
+    const VrToolParam& toolParam = profile->toolParam;
+    const HECEulerOrder toolEulerOrder = ToHandEyeEulerOrder(toolParam.eulerOrder);
 
     // 获取当前相机的校准参数
     VrCameraPlaneCalibParam cameraCalibParamValue;
@@ -136,6 +181,10 @@ int DetectPresenter::DetectWorkpieceHole(
              growParam.maxLineSkipNum, growParam.yDeviation_max,
              growParam.maxSkipDistance, growParam.zDeviation_max,
              growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
+    LOG_INFO("Workpiece %d tool params: eulerOrder=%d, rot=(%.3f,%.3f,%.3f), offset=(%.3f,%.3f,%.3f)\n",
+             workpieceNumber, toolParam.eulerOrder,
+             toolParam.rotX, toolParam.rotY, toolParam.rotZ,
+             toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
 
     // 准备平面校准参数
     SSG_planeCalibPara groundCalibPara = AlgoParamConverter::ToAlgoPlaneCalibParam(cameraCalibParam);
@@ -162,22 +211,26 @@ int DetectPresenter::DetectWorkpieceHole(
 
     std::vector<WD_workpieceInfo> workpiecePositioning;
     const char* algorithmName = nullptr;
-    switch (workpieceNumber) {
-    case 1:
+    const WorkpieceProduct::ProductInfo* product = WorkpieceProduct::Find(workpieceNumber);
+    if (!product || !product->detectionSupported) {
+        LOG_ERROR("No product or detection algorithm for software workpiece %d\n", workpieceNumber);
+        return ERR_CODE(FUN_UNSUPPORT);
+    }
+
+    switch (product->algorithmApi) {
+    case WorkpieceProduct::AlgorithmApi::Api1:
         algorithmName = "wd_workpieceHolePositioning";
         wd_workpieceHolePositioning(
             algorithmData, workpiecePara, lineSegPara, filterParam, growParam,
             groundCalibPara, workpiecePositioning, &errCode);
         break;
-    case 2:
-    case 5:
+    case WorkpieceProduct::AlgorithmApi::Api2:
         algorithmName = "wd_workpieceHolePositioning_2";
         wd_workpieceHolePositioning_2(
             algorithmData, workpiecePara, lineSegPara, filterParam, growParam,
             groundCalibPara, workpiecePositioning, &errCode);
         break;
-    case 3:
-    case 4:
+    case WorkpieceProduct::AlgorithmApi::Api3:
         algorithmName = "wd_workpieceHolePositioning_3";
         wd_workpieceHolePositioning_3(
             algorithmData, workpiecePara, workpieceParam.bigHoleDiameter,
@@ -185,7 +238,7 @@ int DetectPresenter::DetectWorkpieceHole(
             workpiecePositioning, &errCode);
         break;
     default:
-        LOG_ERROR("No detection algorithm for workpiece %d\n", workpieceNumber);
+        LOG_ERROR("Unsupported algorithm API for software workpiece %d\n", workpieceNumber);
         return ERR_CODE(FUN_UNSUPPORT);
     }
 
@@ -213,6 +266,12 @@ int DetectPresenter::DetectWorkpieceHole(
         if (i == 0) {
             detectionResult.workpieceType = workpiece.workpieceType;
         }
+        if (IsReversedWorkpieceType(workpiece.workpieceType)) {
+            // 算法执行成功，但反向工件属于异常物料；保留结果继续生成可视化图片。
+            detectionResult.errorCode = SX_ERR_UNKNOWN_OBJECT;
+            LOG_WARNING("Detected reversed workpiece %zu (workpieceType=%d)\n",
+                        i + 1, workpiece.workpieceType);
+        }
 
         // 六轴转换：位置+姿态（转换到机械臂坐标系）
         HECPoint3D eyeCenter(workpiece.center.x, workpiece.center.y, workpiece.center.z);
@@ -242,6 +301,9 @@ int DetectPresenter::DetectWorkpieceHole(
                 break;
         }
 
+        // 工具姿态补偿在 Eye 坐标系内合成，再进入手眼旋转链。
+        ApplyToolRotationToEyeAxes(*handEyeCalib, toolEulerOrder, toolParam, dirVectors_eye);
+
         // 1. 位置转换：R * P_eye + T
         HECPoint3D ptRobot;
         handEyeCalib->TransformPoint(calibResult.R, calibResult.T, eyeCenter, ptRobot);
@@ -264,15 +326,17 @@ int DetectPresenter::DetectWorkpieceHole(
         R_pose[2][1] = dirVectors_robot[1].z;
         R_pose[2][2] = dirVectors_robot[2].z;
 
-        // 4. 使用算法库的 rotationMatrixToEulerZYX 转换为欧拉角（返回角度）
-        SSG_EulerAngles robotRpy = rotationMatrixToEulerZYX(R_pose);
+        // 4. 保持既有 ZYX 输出分解约定，确保零工具补偿时输出完全兼容。
+        // toolParam.eulerOrder 只控制上面的工具补偿旋转合成顺序。
+        const SSG_EulerAngles robotRpy = rotationMatrixToEulerZYX(R_pose);
 
         // 将机器人坐标系下的位姿添加到positions列表
         // 根据 poseOutputOrder 重映射欧拉角输出顺序
         HolePosition centerRobotPos;
-        centerRobotPos.x = ptRobot.x;
-        centerRobotPos.y = ptRobot.y;
-        centerRobotPos.z = ptRobot.z;
+        centerRobotPos.workpieceType = workpiece.workpieceType;
+        centerRobotPos.x = ptRobot.x + toolParam.offsetX;
+        centerRobotPos.y = ptRobot.y + toolParam.offsetY;
+        centerRobotPos.z = ptRobot.z + toolParam.offsetZ;
         switch (poseOutputOrder) {
             case POSE_ORDER_RPY:
                 centerRobotPos.roll  = robotRpy.roll;
@@ -315,9 +379,9 @@ int DetectPresenter::DetectWorkpieceHole(
 
         if(debugParam.enableDebug && debugParam.printDetailLog){
             LOG_INFO("[Algo Thread] Direction vectors (eye): X=(%.3f,%.3f,%.3f), Y=(%.3f,%.3f,%.3f), Z=(%.3f,%.3f,%.3f)\n",
-                    workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z,
-                    workpiece.y_dir.x, workpiece.y_dir.y, workpiece.y_dir.z,
-                    workpiece.z_dir.x, workpiece.z_dir.y, workpiece.z_dir.z);
+                    dirVectors_eye[0].x, dirVectors_eye[0].y, dirVectors_eye[0].z,
+                    dirVectors_eye[1].x, dirVectors_eye[1].y, dirVectors_eye[1].z,
+                    dirVectors_eye[2].x, dirVectors_eye[2].y, dirVectors_eye[2].z);
             LOG_INFO("[Algo Thread] Direction vectors (robot): X=(%.3f,%.3f,%.3f), Y=(%.3f,%.3f,%.3f), Z=(%.3f,%.3f,%.3f)\n",
                     dirVectors_robot[0].x, dirVectors_robot[0].y, dirVectors_robot[0].z,
                     dirVectors_robot[1].x, dirVectors_robot[1].y, dirVectors_robot[1].z,
@@ -325,22 +389,25 @@ int DetectPresenter::DetectWorkpieceHole(
             LOG_INFO("[Algo Thread] Center Eye   Coords: X=%.3f, Y=%.3f, Z=%.3f\n",
                     workpiece.center.x, workpiece.center.y, workpiece.center.z);
             LOG_INFO("[Algo Thread] Center Robot Coords: X=%.3f, Y=%.3f, Z=%.3f, R=%.4f, P=%.4f, Y=%.4f\n",
-                    ptRobot.x, ptRobot.y, ptRobot.z,
+                    centerRobotPos.x, centerRobotPos.y, centerRobotPos.z,
                     centerRobotPos.roll, centerRobotPos.pitch, centerRobotPos.yaw);
         }
     }
 
-    // 使用 PointCloudCanvas 生成点云图像（灰色底图 + 红色孔位标记 + 中心点编号）
+    // 使用 PointCloudCanvas 生成点云图像（正向红点、反向蓝点 + 中心点编号）
     {
         PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
         for (size_t i = 0; i < workpiecePositioning.size(); i++) {
             const WD_workpieceInfo& workpiece = workpiecePositioning[i];
-            // 红色小圆点标记每个孔
+            const QColor markerColor = IsReversedWorkpieceType(workpiece.workpieceType)
+                                           ? QColor(0, 0, 255)
+                                           : QColor(255, 0, 0);
+            // 小圆点标记每个孔
             for (size_t j = 0; j < workpiece.holes.size(); j++) {
-                canvas.drawPoint(workpiece.holes[j].x, workpiece.holes[j].y, QColor(255, 0, 0), 4);
+                canvas.drawPoint(workpiece.holes[j].x, workpiece.holes[j].y, markerColor, 4);
             }
             // 中心点标记 + 白色编号
-            canvas.drawPoint(workpiece.center.x, workpiece.center.y, QColor(255, 0, 0), 4);
+            canvas.drawPoint(workpiece.center.x, workpiece.center.y, markerColor, 4);
             canvas.drawText(workpiece.center.x, workpiece.center.y,
                             QString("%1").arg(i + 1), Qt::white, 14);
         }
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/WorkpieceHolePresenter.cpp b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/WorkpieceHolePresenter.cpp
index a6c7053d..f138bd8c 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/WorkpieceHolePresenter.cpp
+++ b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/WorkpieceHolePresenter.cpp
@@ -62,6 +62,14 @@ const char* GetPLCStatusDescription(int statusCode)
     }
 }
 
+bool ContainsReversedWorkpiece(const WorkpieceHoleDetectionResult& result)
+{
+    return std::any_of(result.positions.begin(), result.positions.end(),
+                       [](const HolePosition& position) {
+                           return IsReversedWorkpieceType(position.workpieceType);
+                       });
+}
+
 } // namespace
 
 void ConfigChangeListenerProxy::OnSystemConfigChanged(const SystemConfig& config)
@@ -390,16 +398,6 @@ int WorkpieceHolePresenter::ProcessAlgoDetection(std::vector<std::pair<EVzResult
     ConfigResult configResult = m_pConfigManager->GetConfigResult();
     VrDebugParam debugParam = configResult.debugParam;
 
-    // 获取旋转顺序配置（从当前相机对应的标定矩阵获取）
-    int eulerOrder = 11;  // 默认外旋ZYX
-    int matrixIdx = m_currentCameraIndex - 1;
-    if (matrixIdx >= 0 && matrixIdx < static_cast<int>(configResult.handEyeCalibMatrixList.size())) {
-        eulerOrder = configResult.handEyeCalibMatrixList[matrixIdx].eulerOrder;
-    } else if (!configResult.handEyeCalibMatrixList.empty()) {
-        eulerOrder = configResult.handEyeCalibMatrixList[0].eulerOrder;
-    }
-    LOG_INFO("[Algo Thread] Using euler order: %d\n", eulerOrder);
-
     // 获取方向向量反向配置
     int dirVectorInvert = configResult.plcRobotServerConfig.dirVectorInvert;
     LOG_INFO("[Algo Thread] Using dir vector invert: %d\n", dirVectorInvert);
@@ -412,12 +410,22 @@ int WorkpieceHolePresenter::ProcessAlgoDetection(std::vector<std::pair<EVzResult
 
     int nRet = m_pDetectPresenter->DetectWorkpieceHole(workpieceNumber, m_currentCameraIndex, detectionDataCache,
                                 algorithmParams, debugParam, m_dataLoader,
-                                currentClibMatrix.clibMatrix, eulerOrder, dirVectorInvert,
+                                currentClibMatrix.clibMatrix, dirVectorInvert,
                                 poseOutputOrder, detectionResult);
+    const bool hasReversedWorkpiece = ContainsReversedWorkpiece(detectionResult);
     // 根据项目类型选择处理方式
     if (GetStatusCallback<IYWorkpieceHoleStatus>()) {
-        QString err = QString("错误:%1").arg(nRet);
-        if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate(QString("检测%1").arg(SUCCESS == nRet ? "成功": err).toStdString());
+        QString detectionStatus;
+        if (nRet != SUCCESS) {
+            detectionStatus = QString("检测错误:%1").arg(nRet);
+        } else if (hasReversedWorkpiece) {
+            detectionStatus = "检测异常:工件反向";
+        } else {
+            detectionStatus = "检测成功";
+        }
+        if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
+            pStatus->OnStatusUpdate(detectionStatus.toStdString());
+        }
     }
 
     LOG_INFO("[Algo Thread] wd_workpieceHolePositioning detected %zu workpieces time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
@@ -435,7 +443,9 @@ int WorkpieceHolePresenter::ProcessAlgoDetection(std::vector<std::pair<EVzResult
     }
 
     // 更新状态
-    QString statusMsg = QString("检测完成，发现%1个工件").arg(detectionResult.positions.size());
+    QString statusMsg = hasReversedWorkpiece
+        ? QString("检测完成，发现%1个工件，其中包含反向工件").arg(detectionResult.positions.size())
+        : QString("检测完成，发现%1个工件").arg(detectionResult.positions.size());
     if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());
 
     // 发送检测结果给TCP客户端
@@ -895,7 +905,9 @@ void WorkpieceHolePresenter::SendCoordinateDataToPLC(const WorkpieceHoleDetectio
         if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
             switch (plcStatus) {
             case PLCModbusClient::RESULT_ABNORMAL_MATERIAL:
-                pStatus->OnStatusUpdate("检测结果为异常物料，已通知PLC");
+                pStatus->OnStatusUpdate(ContainsReversedWorkpiece(result)
+                    ? "检测到反向工件，已按异常物料通知PLC"
+                    : "检测结果为异常物料，已通知PLC");
                 break;
             case PLCModbusClient::RESULT_NO_PRODUCT:
                 pStatus->OnStatusUpdate("检测结果为无产品，已通知PLC");
@@ -926,7 +938,7 @@ void WorkpieceHolePresenter::SendCoordinateDataToPLC(const WorkpieceHoleDetectio
     int poseOutputOrder = configResult.plcRobotServerConfig.poseOutputOrder;
     LOG_INFO("Using pose output order: %d\n", poseOutputOrder);
 
-    // 协议单点输出改为最后一个工件。
+    // 协议单点输出使用最后一个工件。
     const auto& pos = result.positions.back();
     PLCModbusClient::CoordinateData coord;
 
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Version.h b/App/WorkpieceHole/WorkpieceHoleApp/Version.h
index 943d927e..9ad434d3 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/Version.h
+++ b/App/WorkpieceHole/WorkpieceHoleApp/Version.h
@@ -5,8 +5,8 @@
 #define WORKPIECEHOLE_APP_NAME "工件孔定位"
 
 // 版本字符串
-#define WORKPIECEHOLE_VERSION_STRING "1.2.1"
-#define WORKPIECEHOLE_BUILD_STRING "1"
+#define WORKPIECEHOLE_VERSION_STRING "1.2.2"
+#define WORKPIECEHOLE_BUILD_STRING "2"
 #define WORKPIECEHOLE_FULL_VERSION_STRING "V" WORKPIECEHOLE_VERSION_STRING "_" WORKPIECEHOLE_BUILD_STRING
 
 // 构建日期
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Version.md b/App/WorkpieceHole/WorkpieceHoleApp/Version.md
index eded20bd..0bdb987a 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/Version.md
+++ b/App/WorkpieceHole/WorkpieceHoleApp/Version.md
@@ -1,3 +1,8 @@
+# 1.2.2
+## build_1 2026-07-14
+1. 工件3和工件5 反了。   
+2. 每个工件有独立的工具参数调整
+
 # 1.2.1
 ## build_1 2026-07-14
 1. 更新算法包含1-5工件算法
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.cpp b/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.cpp
index e6ed0def..f0962969 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.cpp
+++ b/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.cpp
@@ -13,6 +13,7 @@
 #include "PathManager.h"
 #include "StyledMessageBox.h"
 #include "HandEyeCalibWidget.h"
+#include "ToolExtrinsicWidget.h"
 #include "WorkpieceProduct.h"
 
 #include "VrLog.h"
@@ -24,6 +25,7 @@ DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
     , m_currentWorkpieceNumber(1)
     , m_isSwitchingWorkpieceProfile(true)
     , m_handEyeCalibWidget(nullptr)
+    , m_toolExtrinsicWidget(nullptr)
 {
     try {
         ui->setupUi(this);
@@ -52,6 +54,9 @@ DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
         // 初始化工件参数组下拉框
         InitWorkpieceProfileComboBox();
 
+        // 初始化工具参数 tab；工具参数由顶部工件选择器驱动
+        InitToolExtrinsicTab();
+
         // 从配置文件加载数据到界面
         LoadConfigToUI();
         m_isSwitchingWorkpieceProfile = false;
@@ -156,17 +161,39 @@ void DialogAlgoarg::LoadCurrentWorkpieceProfileToUI()
     LoadLineSegParamToUI(profile.lineSegParam);
     LoadFilterParamToUI(profile.filterParam);
     LoadGrowParamToUI(profile.growParam);
+
+    if (m_toolExtrinsicWidget) {
+        m_toolExtrinsicWidget->setData(
+            profile.toolParam.eulerOrder,
+            profile.toolParam.rotX, profile.toolParam.rotY, profile.toolParam.rotZ,
+            profile.toolParam.offsetX, profile.toolParam.offsetY, profile.toolParam.offsetZ);
+    }
 }
 
 bool DialogAlgoarg::SaveCurrentWorkpieceProfileFromUI()
 {
+    if (m_toolExtrinsicWidget && !m_toolExtrinsicWidget->hasAcceptableInput()) {
+        return false;
+    }
+
     VrWorkpieceAlgorithmProfile& profile =
         m_algorithmParams.GetOrCreateWorkpieceProfile(m_currentWorkpieceNumber);
 
-    return SaveWorkpieceHoleParamFromUI(profile.workpieceHoleParam) &&
-           SaveLineSegParamFromUI(profile.lineSegParam) &&
-           SaveFilterParamFromUI(profile.filterParam) &&
-           SaveGrowParamFromUI(profile.growParam);
+    if (!SaveWorkpieceHoleParamFromUI(profile.workpieceHoleParam) ||
+        !SaveLineSegParamFromUI(profile.lineSegParam) ||
+        !SaveFilterParamFromUI(profile.filterParam) ||
+        !SaveGrowParamFromUI(profile.growParam)) {
+        return false;
+    }
+
+    if (m_toolExtrinsicWidget) {
+        m_toolExtrinsicWidget->getData(
+            profile.toolParam.eulerOrder,
+            profile.toolParam.rotX, profile.toolParam.rotY, profile.toolParam.rotZ,
+            profile.toolParam.offsetX, profile.toolParam.offsetY, profile.toolParam.offsetZ);
+    }
+
+    return true;
 }
 
 void DialogAlgoarg::on_comboBox_workpieceProfile_currentIndexChanged(int index)
@@ -243,8 +270,9 @@ bool DialogAlgoarg::SaveConfigFromUI()
     }
 
     try {
-        // 获取当前配置
-        SystemConfig systemConfig = m_pConfigManager->GetConfig();
+        // 基于当前配置构造候选值；落盘失败时恢复运行时配置。
+        const SystemConfig previousSystemConfig = m_pConfigManager->GetConfig();
+        SystemConfig systemConfig = previousSystemConfig;
         VrAlgorithmParams& algoParams = systemConfig.configResult.algorithmParams;
 
         // 先暂存当前工件，再一次性保存所有工件参数组。
@@ -300,7 +328,12 @@ bool DialogAlgoarg::SaveConfigFromUI()
             return false;
         }
 
-        return m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString());
+        if (!m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString())) {
+            m_pConfigManager->UpdateFullConfig(previousSystemConfig);
+            return false;
+        }
+
+        return true;
 
     } catch (const std::exception& e) {
         return false;
@@ -407,6 +440,21 @@ void DialogAlgoarg::on_btn_camer_cancel_clicked()
     reject();
 }
 
+// ========== 工具参数相关实现 ==========
+
+void DialogAlgoarg::InitToolExtrinsicTab()
+{
+    if (!ui || !ui->verticalLayout_toolExtrinsicHost || m_toolExtrinsicWidget) {
+        return;
+    }
+
+    m_toolExtrinsicWidget = new ToolExtrinsicWidget(this);
+    m_toolExtrinsicWidget->setCameraSelectorVisible(false);
+    m_toolExtrinsicWidget->setTargetOffsetVisible(true);
+    m_toolExtrinsicWidget->setAxialAngleRangeVisible(false);
+    ui->verticalLayout_toolExtrinsicHost->addWidget(m_toolExtrinsicWidget);
+}
+
 // ========== 手眼标定相关实现 ==========
 
 void DialogAlgoarg::InitHandEyeCalibTab()
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.h b/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.h
index 7c50fbc4..a6dda668 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.h
+++ b/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.h
@@ -7,6 +7,7 @@
 #include "ConfigManager.h"
 
 class HandEyeCalibWidget;
+class ToolExtrinsicWidget;
 
 namespace Ui {
 class DialogAlgoarg;
@@ -59,6 +60,9 @@ private:
     void InitHandEyeCalibTab();
     void InitEulerOrderComboBox();
 
+    // 工具参数
+    void InitToolExtrinsicTab();
+
 private:
     Ui::DialogAlgoarg *ui;
     ConfigManager* m_pConfigManager;
@@ -69,6 +73,9 @@ private:
 
     // 手眼标定共享控件
     HandEyeCalibWidget* m_handEyeCalibWidget;
+
+    // 工具参数共享控件
+    ToolExtrinsicWidget* m_toolExtrinsicWidget;
 };
 
 #endif // DIALOGALGOARG_H
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.ui b/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.ui
index 133307cb..4ad5e5b4 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.ui
+++ b/App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.ui
@@ -774,6 +774,12 @@ QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px;
        </item>
       </layout>
      </widget>
+     <widget class="QWidget" name="tab_toolExtrinsic">
+      <attribute name="title">
+       <string>工具参数</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_toolExtrinsicHost"/>
+     </widget>
      <widget class="QWidget" name="tab_network">
       <attribute name="title">
        <string>网络配置</string>
diff --git a/App/WorkpieceHole/WorkpieceHoleApp/mainwindow.cpp b/App/WorkpieceHole/WorkpieceHoleApp/mainwindow.cpp
index da3aba8c..f16541e7 100644
--- a/App/WorkpieceHole/WorkpieceHoleApp/mainwindow.cpp
+++ b/App/WorkpieceHole/WorkpieceHoleApp/mainwindow.cpp
@@ -434,7 +434,7 @@ int MainWindow::selectWorkpieceForDetection()
     layout.setContentsMargins(20, 20, 20, 20);
     layout.setSpacing(12);
 
-    QLabel header(tr("序号        产品型号"), &dialog);
+    QLabel header(tr("显示序号 - 产品型号"), &dialog);
     layout.addWidget(&header);
 
     QListWidget productList(&dialog);
@@ -446,7 +446,7 @@ int MainWindow::selectWorkpieceForDetection()
     const WorkpieceProduct::ProductInfo* products = WorkpieceProduct::Products();
     for (int i = 0; i < WorkpieceProduct::ProductCount(); ++i) {
         const WorkpieceProduct::ProductInfo& product = products[i];
-        QString text = QString("%1            %2")
+        QString text = tr("%1 - %2")
                            .arg(product.number)
                            .arg(QString::fromLatin1(product.model));
         if (!product.detectionSupported) {
diff --git a/App/WorkpieceHole/WorkpieceHoleConfig/Inc/IVrConfig.h b/App/WorkpieceHole/WorkpieceHoleConfig/Inc/IVrConfig.h
index 399c5bb0..0585c5f0 100644
--- a/App/WorkpieceHole/WorkpieceHoleConfig/Inc/IVrConfig.h
+++ b/App/WorkpieceHole/WorkpieceHoleConfig/Inc/IVrConfig.h
@@ -26,7 +26,7 @@ struct VrOutlierFilterParam
  */
 struct VrLineSegParam
 {
-    double distScale = 3.0;      // 计算方向角的窗口比例因子
+    double distScale = 10.0;     // 计算方向角的窗口比例因子
     double segGapTh_y = 15.0;     // Y方向间隔阈值，大于此值认为是分段
     double segGapTh_z = 0.0;    // Z方向间隔阈值，大于此值认为是分段
 };
@@ -51,7 +51,7 @@ struct VrWorkpieceHoleParam
 {
     int workpieceType = 0;       // 工件类型
     double holeDiameter = 6.0;   // 孔直径 (mm)
-    double bigHoleDiameter = 33.0; // 大孔直径 (mm)，工件3算法使用
+    double bigHoleDiameter = 33.0; // 大孔直径 (mm)，API_3 算法使用
     double holeDist_L = 40.0;    // 孔间距_长 (mm)
     double holeDist_W = 32.0;    // 孔间距_宽 (mm)
     double xLen = 44.0;          // x轴方向长度，用于绘制平面 (mm)
@@ -59,6 +59,22 @@ struct VrWorkpieceHoleParam
     double H = 47.0;             // 高度 (mm)
 };
 
+/**
+ * @brief 工具参数
+ *
+ * 每个工件独立保存一套工具姿态补偿和目标点偏移参数。
+ */
+struct VrToolParam
+{
+    int eulerOrder = 11;         // 欧拉角旋转顺序，默认外旋 ZYX
+    double rotX = 0.0;           // 工具姿态 X 轴补偿 (deg)
+    double rotY = 0.0;           // 工具姿态 Y 轴补偿 (deg)
+    double rotZ = 0.0;           // 工具姿态 Z 轴补偿 (deg)
+    double offsetX = 0.0;        // 目标点 X 方向偏移 (mm)
+    double offsetY = 0.0;        // 目标点 Y 方向偏移 (mm)
+    double offsetZ = 0.0;        // 目标点 Z 方向偏移 (mm)
+};
+
 /**
  * @brief PLC Modbus 寄存器地址配置
  *
@@ -198,6 +214,7 @@ struct VrWorkpieceAlgorithmProfile
     VrLineSegParam lineSegParam;
     VrOutlierFilterParam filterParam;
     VrTreeGrowParam growParam;
+    VrToolParam toolParam;
 
     VrWorkpieceAlgorithmProfile() = default;
 
@@ -220,7 +237,7 @@ struct VrWorkpieceAlgorithmProfile
         workpieceHoleParam.yLen = 70.0;
         workpieceHoleParam.H = 47.0;
 
-        lineSegParam.distScale = 3.0;
+        lineSegParam.distScale = 10.0;
         lineSegParam.segGapTh_y = 15.0;
         lineSegParam.segGapTh_z = 0.0;
 
@@ -234,13 +251,29 @@ struct VrWorkpieceAlgorithmProfile
         growParam.minLTypeTreeLen = 2.0;
         growParam.minVTypeTreeLen = 2.0;
 
-        if (number == 3 || number == 4) {
+        toolParam = VrToolParam();
+
+        // 参数编号始终采用软件产品顺序，不依赖算法 test 的历史工件编号。
+        switch (number) {
+        case 1: // 4WE6 / API_1 / 原 test1
+            break;
+        case 2: // Z2S6 / API_2 / 原 test2
+            workpieceHoleParam.holeDiameter = 8.0;
+            break;
+        case 3: // Z2FS6_30_2 / API_2 / 原 test5
+            workpieceHoleParam.H = 28.0;
+            lineSegParam.distScale = 14.0;
+            growParam.minLTypeTreeLen = 1.5;
+            growParam.minVTypeTreeLen = 1.5;
+            break;
+        case 4: // DB10 / API_3 / 原 test3
+        case 5: // DB20 / API_3 / 原 test4
             workpieceHoleParam.H = 60.0;
             lineSegParam.distScale = 30.0;
             lineSegParam.segGapTh_y = 40.0;
-        } else if (number == 5) {
-            workpieceHoleParam.holeDiameter = 10.0;
-            workpieceHoleParam.H = 28.0;
+            break;
+        default:
+            break;
         }
     }
 };
diff --git a/App/WorkpieceHole/WorkpieceHoleConfig/Src/VrConfig.cpp b/App/WorkpieceHole/WorkpieceHoleConfig/Src/VrConfig.cpp
index eb2d63f1..4554d425 100644
--- a/App/WorkpieceHole/WorkpieceHoleConfig/Src/VrConfig.cpp
+++ b/App/WorkpieceHole/WorkpieceHoleConfig/Src/VrConfig.cpp
@@ -10,6 +10,23 @@ using namespace tinyxml2;
 
 namespace {
 
+constexpr int kSoftwareProductNumberingVersion = 2;
+
+int ToSoftwareWorkpieceNumber(int storedNumber, bool usesSoftwareProductNumbering)
+{
+    if (usesSoftwareProductNumbering) {
+        return storedNumber;
+    }
+
+    // 旧配置按算法 test 编号保存；运行时统一转换为软件产品编号。
+    switch (storedNumber) {
+    case 3: return 4;
+    case 4: return 5;
+    case 5: return 3;
+    default: return storedNumber;
+    }
+}
+
 void LoadWorkpieceProfileParams(
     XMLElement* parentElement,
     VrWorkpieceAlgorithmProfile& profile)
@@ -75,6 +92,25 @@ void LoadWorkpieceProfileParams(
         if (growParamElement->Attribute("minVTypeTreeLen"))
             profile.growParam.minVTypeTreeLen = growParamElement->DoubleAttribute("minVTypeTreeLen");
     }
+
+    XMLElement* toolParamElement = parentElement->FirstChildElement("ToolParam");
+    if (toolParamElement)
+    {
+        if (toolParamElement->Attribute("eulerOrder"))
+            profile.toolParam.eulerOrder = toolParamElement->IntAttribute("eulerOrder");
+        if (toolParamElement->Attribute("rotX"))
+            profile.toolParam.rotX = toolParamElement->DoubleAttribute("rotX");
+        if (toolParamElement->Attribute("rotY"))
+            profile.toolParam.rotY = toolParamElement->DoubleAttribute("rotY");
+        if (toolParamElement->Attribute("rotZ"))
+            profile.toolParam.rotZ = toolParamElement->DoubleAttribute("rotZ");
+        if (toolParamElement->Attribute("offsetX"))
+            profile.toolParam.offsetX = toolParamElement->DoubleAttribute("offsetX");
+        if (toolParamElement->Attribute("offsetY"))
+            profile.toolParam.offsetY = toolParamElement->DoubleAttribute("offsetY");
+        if (toolParamElement->Attribute("offsetZ"))
+            profile.toolParam.offsetZ = toolParamElement->DoubleAttribute("offsetZ");
+    }
 }
 
 void SaveWorkpieceProfileParams(
@@ -116,6 +152,16 @@ void SaveWorkpieceProfileParams(
     growParamElement->SetAttribute("minLTypeTreeLen", profile.growParam.minLTypeTreeLen);
     growParamElement->SetAttribute("minVTypeTreeLen", profile.growParam.minVTypeTreeLen);
     profileElement->InsertEndChild(growParamElement);
+
+    XMLElement* toolParamElement = doc.NewElement("ToolParam");
+    toolParamElement->SetAttribute("eulerOrder", profile.toolParam.eulerOrder);
+    toolParamElement->SetAttribute("rotX", profile.toolParam.rotX);
+    toolParamElement->SetAttribute("rotY", profile.toolParam.rotY);
+    toolParamElement->SetAttribute("rotZ", profile.toolParam.rotZ);
+    toolParamElement->SetAttribute("offsetX", profile.toolParam.offsetX);
+    toolParamElement->SetAttribute("offsetY", profile.toolParam.offsetY);
+    toolParamElement->SetAttribute("offsetZ", profile.toolParam.offsetZ);
+    profileElement->InsertEndChild(toolParamElement);
 }
 
 } // namespace
@@ -149,6 +195,14 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
         return LOAD_CONFIG_INVALID_FORMAT;
     }
 
+    const int productNumberingVersion =
+        root->IntAttribute("productNumberingVersion", 1);
+    const bool usesSoftwareProductNumbering =
+        productNumberingVersion >= kSoftwareProductNumberingVersion;
+    if (!usesSoftwareProductNumbering) {
+        LOG_INFO("Migrating legacy workpiece profiles to software product numbering\n");
+    }
+
     // 解析摄像头列表
     ConfigXmlUtils::LoadCameraList(root, configResult.cameraList);
 
@@ -181,7 +235,10 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
         XMLElement* profileElement = algoParamsElement->FirstChildElement("WorkpieceParamGroup");
         if (profileElement) {
             while (profileElement) {
-                const int workpieceNumber = profileElement->IntAttribute("workpieceNumber", 0);
+                const int storedWorkpieceNumber =
+                    profileElement->IntAttribute("workpieceNumber", 0);
+                const int workpieceNumber = ToSoftwareWorkpieceNumber(
+                    storedWorkpieceNumber, usesSoftwareProductNumbering);
                 VrWorkpieceAlgorithmProfile* workpieceProfile =
                     configResult.algorithmParams.FindWorkpieceProfile(workpieceNumber);
                 if (workpieceProfile) {
@@ -265,6 +322,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
 
     // 创建根元素
     XMLElement* root = doc.NewElement("WorkpieceHoleConfig");
+    root->SetAttribute("productNumberingVersion", kSoftwareProductNumberingVersion);
     doc.InsertEndChild(root);
 
     // 添加摄像头列表
diff --git a/App/WorkpieceHole/WorkpieceHoleConfig/config/config.xml b/App/WorkpieceHole/WorkpieceHoleConfig/config/config.xml
index 37885f75..59dd2add 100644
--- a/App/WorkpieceHole/WorkpieceHoleConfig/config/config.xml
+++ b/App/WorkpieceHole/WorkpieceHoleConfig/config/config.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<WorkpieceHoleConfig>
+<WorkpieceHoleConfig productNumberingVersion="2">
     <Cameras>
         <Camera name="Camera1" ip="192.168.1.100"/>
     </Cameras>
@@ -10,32 +10,37 @@
         <WorkpieceParamGroup workpieceNumber="1">
             <WorkpieceHoleParam workpieceType="0" holeDiameter="6.0" bigHoleDiameter="33.0" holeDist_L="40.0" holeDist_W="32.0" xLen="44.0" yLen="70.0" H="47.0"/>
             <FilterParam continuityTh="20.0" outlierTh="5.0"/>
-            <LineSegParam distScale="3.0" segGapTh_y="15.0" segGapTh_z="0.0"/>
+            <LineSegParam distScale="10.0" segGapTh_y="15.0" segGapTh_z="0.0"/>
             <GrowParam maxLineSkipNum="2" yDeviation_max="4.0" maxSkipDistance="0.0" zDeviation_max="10.0" minLTypeTreeLen="2.0" minVTypeTreeLen="2.0"/>
+            <ToolParam eulerOrder="11" rotX="0.0" rotY="0.0" rotZ="0.0" offsetX="0.0" offsetY="0.0" offsetZ="0.0"/>
         </WorkpieceParamGroup>
         <WorkpieceParamGroup workpieceNumber="2">
-            <WorkpieceHoleParam workpieceType="0" holeDiameter="6.0" bigHoleDiameter="33.0" holeDist_L="40.0" holeDist_W="32.0" xLen="44.0" yLen="70.0" H="47.0"/>
+            <WorkpieceHoleParam workpieceType="0" holeDiameter="8.0" bigHoleDiameter="33.0" holeDist_L="40.0" holeDist_W="32.0" xLen="44.0" yLen="70.0" H="47.0"/>
             <FilterParam continuityTh="5.0" outlierTh="5.0"/>
-            <LineSegParam distScale="3.0" segGapTh_y="15.0" segGapTh_z="0.0"/>
+            <LineSegParam distScale="10.0" segGapTh_y="15.0" segGapTh_z="0.0"/>
             <GrowParam maxLineSkipNum="2" yDeviation_max="4.0" maxSkipDistance="0.0" zDeviation_max="10.0" minLTypeTreeLen="2.0" minVTypeTreeLen="2.0"/>
+            <ToolParam eulerOrder="11" rotX="0.0" rotY="0.0" rotZ="0.0" offsetX="0.0" offsetY="0.0" offsetZ="0.0"/>
         </WorkpieceParamGroup>
         <WorkpieceParamGroup workpieceNumber="3">
-            <WorkpieceHoleParam workpieceType="0" holeDiameter="6.0" bigHoleDiameter="33.0" holeDist_L="40.0" holeDist_W="32.0" xLen="44.0" yLen="70.0" H="60.0"/>
+            <WorkpieceHoleParam workpieceType="0" holeDiameter="6.0" bigHoleDiameter="33.0" holeDist_L="40.0" holeDist_W="32.0" xLen="44.0" yLen="70.0" H="28.0"/>
             <FilterParam continuityTh="5.0" outlierTh="5.0"/>
-            <LineSegParam distScale="30.0" segGapTh_y="40.0" segGapTh_z="0.0"/>
-            <GrowParam maxLineSkipNum="2" yDeviation_max="4.0" maxSkipDistance="0.0" zDeviation_max="10.0" minLTypeTreeLen="2.0" minVTypeTreeLen="2.0"/>
+            <LineSegParam distScale="14.0" segGapTh_y="15.0" segGapTh_z="0.0"/>
+            <GrowParam maxLineSkipNum="2" yDeviation_max="4.0" maxSkipDistance="0.0" zDeviation_max="10.0" minLTypeTreeLen="1.5" minVTypeTreeLen="1.5"/>
+            <ToolParam eulerOrder="11" rotX="0.0" rotY="0.0" rotZ="0.0" offsetX="0.0" offsetY="0.0" offsetZ="0.0"/>
         </WorkpieceParamGroup>
         <WorkpieceParamGroup workpieceNumber="4">
             <WorkpieceHoleParam workpieceType="0" holeDiameter="6.0" bigHoleDiameter="33.0" holeDist_L="40.0" holeDist_W="32.0" xLen="44.0" yLen="70.0" H="60.0"/>
             <FilterParam continuityTh="5.0" outlierTh="5.0"/>
             <LineSegParam distScale="30.0" segGapTh_y="40.0" segGapTh_z="0.0"/>
             <GrowParam maxLineSkipNum="2" yDeviation_max="4.0" maxSkipDistance="0.0" zDeviation_max="10.0" minLTypeTreeLen="2.0" minVTypeTreeLen="2.0"/>
+            <ToolParam eulerOrder="11" rotX="0.0" rotY="0.0" rotZ="0.0" offsetX="0.0" offsetY="0.0" offsetZ="0.0"/>
         </WorkpieceParamGroup>
         <WorkpieceParamGroup workpieceNumber="5">
-            <WorkpieceHoleParam workpieceType="0" holeDiameter="10.0" bigHoleDiameter="33.0" holeDist_L="40.0" holeDist_W="32.0" xLen="44.0" yLen="70.0" H="28.0"/>
+            <WorkpieceHoleParam workpieceType="0" holeDiameter="6.0" bigHoleDiameter="33.0" holeDist_L="40.0" holeDist_W="32.0" xLen="44.0" yLen="70.0" H="60.0"/>
             <FilterParam continuityTh="5.0" outlierTh="5.0"/>
-            <LineSegParam distScale="3.0" segGapTh_y="15.0" segGapTh_z="0.0"/>
+            <LineSegParam distScale="30.0" segGapTh_y="40.0" segGapTh_z="0.0"/>
             <GrowParam maxLineSkipNum="2" yDeviation_max="4.0" maxSkipDistance="0.0" zDeviation_max="10.0" minLTypeTreeLen="2.0" minVTypeTreeLen="2.0"/>
+            <ToolParam eulerOrder="11" rotX="0.0" rotY="0.0" rotZ="0.0" offsetX="0.0" offsetY="0.0" offsetZ="0.0"/>
         </WorkpieceParamGroup>
         <PlaneCalibParams>
             <CameraCalibParam cameraIndex="1" cameraName="Camera1" isCalibrated="false" planeHeight="-1.0"
diff --git a/AppAlgo/stereo_bolt_delivery/DELIVERY.md b/AppAlgo/stereo_bolt_delivery/DELIVERY.md
index 93ccf8c5..f7765156 100644
--- a/AppAlgo/stereo_bolt_delivery/DELIVERY.md
+++ b/AppAlgo/stereo_bolt_delivery/DELIVERY.md
@@ -1,107 +1,107 @@
-# RK3588 螺栓测量主线路交付说明
-
-## 交付定位
-
-本包将原“四组图特化”实现升级为当前主线路。算法高度定义为：螺杆三维顶点沿拟合轴线，到轴线与局部支撑平面交点的距离。
-
-推理后端只保留原有两条直接路线：
-
-- Windows：OpenCV DNN 直接加载 ONNX。
-- RK3588：RKNN Runtime 直接加载 RKNN。
-
-本包不包含、也不依赖 AI Studio Runtime 平台封装层。公共 C ABI、输出结构和函数签名保持不变。
-
-## 主线算法
-
-```text
-stereo rectify
--> YOLO OBB left/right
--> stereo ROI pairing
--> 2D bolt centerline and top endpoint
--> sparse stereo 3D centerline
--> local SGBM support-plane fitting
--> centerline/plane intersection
--> axial bolt height and adjacent distances
-```
-
-主线参数：
-
-- `plane_use_sgbm: true`
-- `height_from_plane: true`
-- `plane_height_along_axis: true`
-- `plane_anchor_max_foot_gap_std_mm: 20.0`
-- `plane_sgbm_scale: 0.25`
-- `plane_max_samples: 40000`
-- YOLO input `1024x1024`, confidence `0.50`, IoU `0.45`
-
-## 固定交付件
-
-- 算法库：`lib/libstereo_bolt.so`
-  - SHA256 `5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd`
-  - AArch64 Build ID `79fbed2add268e6ceadad58e1e8f93731c844907`
-- RKNN 模型：`weights/model_20260713T084621+0000_c732327c.rknn`
-  - SHA256 `b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169`
-- 配置：`config/config.rk3588.mainline.yaml`
-  - SHA256 `d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de`
-- 标定：`calib/stereo_calib_20260621_202857_ascii.xml`
-  - SHA256 `751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4`
-- 公共头文件：`include/stereo_bolt/c_api.h`
-  - SHA256 `61a56da934fe4ed1fb7e98a4d145aeaf1789c56a8494ccc9bec193cf9701c163`
-
-## 接口兼容
-
-导出的 9 个 C 符号与 `stereo_bolt_delivery_selected4_20260710` 完全一致：
-
-```text
-sb_create
-sb_create_ex
-sb_default_params
-sb_destroy
-sb_last_error
-sb_free_bolt_module_result
-sb_process_bolt_module_files
-sb_process_bolt_module_buffers
-sb_range_bolt_binned
-```
-
-生产集成继续使用原接口。`StereoBoltParamsC` 通过 `struct_size` 兼容较短的旧调用方结构；本次没有改变任何已发布函数签名或输出结构布局。
-
-## 验证边界
-
-Windows 对 `7.3` 全部 79 组图像做了真实执行：测距入口 79/79 找到结果，完整 center/top 53/79，严格精测成功 24/79。选定的 19/20/28/43 四帧均为 8 检测、8 配对、8 精测成功。详细结果见 `validation/WINDOWS_7_3_VALIDATION_SUMMARY.md`。
-
-因此，本包对四帧验收集做了完整固定验收，但不能把 24/79 的全量结果表述为已经完成全场景泛化。其余失败主要为数量不符、配对失败和测量失败，仍需要后续数据/算法迭代。
-
-RK3588 真机从本包独立解压执行的结果如下；两种入口均为 4/4 PASS：
-
-| 帧 | 左/右检测 | 配对 | 精测 | 测距 | 显式入口代表距离/mm |
-|---:|---:|---:|---:|---:|---:|
-| 19 | 8/8 | 8 | 8 | 8 | 2306.606 |
-| 20 | 8/8 | 8 | 8 | 8 | 2286.189 |
-| 28 | 8/8 | 8 | 8 | 8 | 2554.382 |
-| 43 | 8/8 | 8 | 8 | 8 | 1890.147 |
-
-真机原始输出保存在 `validation/mainline_package_reverify.log`，SHA256 为 `3faf413b9503400f3e89a8928108ec8bba1eb165d5e1160fd353edede74eb810`。
-
-板端一键验收脚本同时覆盖：
-
-1. `sb_create(YAML)` + 文件接口。
-2. `sb_create_ex(model bytes)` + buffer 精测接口 + 测距接口。
-3. 包内 MANIFEST 和动态依赖闭包。
-
-本次脚本返回码为 0，末行已出现 `PACKAGE_REVERIFY_PASS`。
-
-## 目录
-
-```text
-lib/                         主算法库、RKNN 与 OpenCV 运行库
-include/stereo_bolt/c_api.h  公共 C ABI
-weights/                     主线 RKNN 模型
-calib/                       双目标定
-config/                      RK3588 主线配置
-example/                     纯 C 接入示例
-validation/                  双入口验收器、日志和四组原图
-ABI_FINGERPRINT.txt          ELF/ABI 指纹
-SELECTED4_PROVENANCE.txt     算法、模型、配置与构建来源
-INSTALL_3588.md              安装和复验命令
-```
+# RK3588 螺栓测量主线路交付说明
+
+## 交付定位
+
+本包将原“四组图特化”实现升级为当前主线路。算法高度定义为：螺杆三维顶点沿拟合轴线，到轴线与局部支撑平面交点的距离。
+
+推理后端只保留原有两条直接路线：
+
+- Windows：OpenCV DNN 直接加载 ONNX。
+- RK3588：RKNN Runtime 直接加载 RKNN。
+
+本包不包含、也不依赖 AI Studio Runtime 平台封装层。公共 C ABI、输出结构和函数签名保持不变。
+
+## 主线算法
+
+```text
+stereo rectify
+-> YOLO OBB left/right
+-> stereo ROI pairing
+-> 2D bolt centerline and top endpoint
+-> sparse stereo 3D centerline
+-> local SGBM support-plane fitting
+-> centerline/plane intersection
+-> axial bolt height and adjacent distances
+```
+
+主线参数：
+
+- `plane_use_sgbm: true`
+- `height_from_plane: true`
+- `plane_height_along_axis: true`
+- `plane_anchor_max_foot_gap_std_mm: 20.0`
+- `plane_sgbm_scale: 0.25`
+- `plane_max_samples: 40000`
+- YOLO input `1024x1024`, confidence `0.50`, IoU `0.45`
+
+## 固定交付件
+
+- 算法库：`lib/libstereo_bolt.so`
+  - SHA256 `5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd`
+  - AArch64 Build ID `79fbed2add268e6ceadad58e1e8f93731c844907`
+- RKNN 模型：`weights/model_20260713T084621+0000_c732327c.rknn`
+  - SHA256 `b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169`
+- 配置：`config/config.rk3588.mainline.yaml`
+  - SHA256 `d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de`
+- 标定：`calib/stereo_calib_20260621_202857_ascii.xml`
+  - SHA256 `751e376ef074a4627f95256cac2ba8ea6b96dec2f672689fc5e3cf9b5cb205b4`
+- 公共头文件：`include/stereo_bolt/c_api.h`
+  - SHA256 `61a56da934fe4ed1fb7e98a4d145aeaf1789c56a8494ccc9bec193cf9701c163`
+
+## 接口兼容
+
+导出的 9 个 C 符号与 `stereo_bolt_delivery_selected4_20260710` 完全一致：
+
+```text
+sb_create
+sb_create_ex
+sb_default_params
+sb_destroy
+sb_last_error
+sb_free_bolt_module_result
+sb_process_bolt_module_files
+sb_process_bolt_module_buffers
+sb_range_bolt_binned
+```
+
+生产集成继续使用原接口。`StereoBoltParamsC` 通过 `struct_size` 兼容较短的旧调用方结构；本次没有改变任何已发布函数签名或输出结构布局。
+
+## 验证边界
+
+Windows 对 `7.3` 全部 79 组图像做了真实执行：测距入口 79/79 找到结果，完整 center/top 53/79，严格精测成功 24/79。选定的 19/20/28/43 四帧均为 8 检测、8 配对、8 精测成功。详细结果见 `validation/WINDOWS_7_3_VALIDATION_SUMMARY.md`。
+
+因此，本包对四帧验收集做了完整固定验收，但不能把 24/79 的全量结果表述为已经完成全场景泛化。其余失败主要为数量不符、配对失败和测量失败，仍需要后续数据/算法迭代。
+
+RK3588 真机从本包独立解压执行的结果如下；两种入口均为 4/4 PASS：
+
+| 帧 | 左/右检测 | 配对 | 精测 | 测距 | 显式入口代表距离/mm |
+|---:|---:|---:|---:|---:|---:|
+| 19 | 8/8 | 8 | 8 | 8 | 2306.606 |
+| 20 | 8/8 | 8 | 8 | 8 | 2286.189 |
+| 28 | 8/8 | 8 | 8 | 8 | 2554.382 |
+| 43 | 8/8 | 8 | 8 | 8 | 1890.147 |
+
+真机原始输出保存在 `validation/mainline_package_reverify.log`，SHA256 为 `3faf413b9503400f3e89a8928108ec8bba1eb165d5e1160fd353edede74eb810`。
+
+板端一键验收脚本同时覆盖：
+
+1. `sb_create(YAML)` + 文件接口。
+2. `sb_create_ex(model bytes)` + buffer 精测接口 + 测距接口。
+3. 包内 MANIFEST 和动态依赖闭包。
+
+本次脚本返回码为 0，末行已出现 `PACKAGE_REVERIFY_PASS`。
+
+## 目录
+
+```text
+lib/                         主算法库、RKNN 与 OpenCV 运行库
+include/stereo_bolt/c_api.h  公共 C ABI
+weights/                     主线 RKNN 模型
+calib/                       双目标定
+config/                      RK3588 主线配置
+example/                     纯 C 接入示例
+validation/                  双入口验收器、日志和四组原图
+ABI_FINGERPRINT.txt          ELF/ABI 指纹
+SELECTED4_PROVENANCE.txt     算法、模型、配置与构建来源
+INSTALL_3588.md              安装和复验命令
+```
diff --git a/AppAlgo/stereo_bolt_delivery/INSTALL_3588.md b/AppAlgo/stereo_bolt_delivery/INSTALL_3588.md
index 2830ddc5..17911c8d 100644
--- a/AppAlgo/stereo_bolt_delivery/INSTALL_3588.md
+++ b/AppAlgo/stereo_bolt_delivery/INSTALL_3588.md
@@ -1,66 +1,66 @@
-# RK3588 安装与验证
-
-## 环境
-
-- AArch64 RK3588
-- Ubuntu 22.04 / glibc >= 2.35
-- 可用的 RKNN NPU 驱动
-- 不需要安装系统 OpenCV；标准 SONAME 的 OpenCV 4.5.0 和 `librknnrt.so` 已包含在 `lib/`
-- 不需要 AI Studio Runtime
-
-## 解包
-
-```bash
-tar xzf stereo_bolt_delivery_mainline_20260714.tar.gz
-cd stereo_bolt_delivery_mainline_20260714
-export LD_LIBRARY_PATH="$(pwd)/lib:${LD_LIBRARY_PATH:-}"
-chmod +x validation/c_example_centerline \
-  validation/selected4_delivery_validate \
-  validation/run_selected4.sh
-```
-
-## 完整性与依赖
-
-```bash
-sha256sum -c MANIFEST_SHA256.txt
-ldd lib/libstereo_bolt.so | grep "not found"
-# 第二条命令预期无输出
-```
-
-关键文件预期 SHA256：
-
-```text
-5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd  lib/libstereo_bolt.so
-b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169  weights/model_20260713T084621+0000_c732327c.rknn
-d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de  config/config.rk3588.mainline.yaml
-```
-
-## 四帧板端复验
-
-```bash
-bash validation/run_selected4.sh
-```
-
-脚本会分别执行 YAML 文件接口和显式模型 buffer 接口，并检查 19、20、28、43 四帧。每帧应包含：
-
-```text
-PRECISE ... success=1 yolo_left=8 yolo_right=8 pairs=8 bolts=8
-RANGE ... found=1 bolts=8 status=ok
-VERDICT=PASS
-```
-
-最终必须出现：
-
-```text
-=== PACKAGE_REVERIFY_PASS ===
-```
-
-## 原接口调用
-
-文件入口保持不变：
-
-```c
-StereoBoltCtx* ctx = sb_create("config/config.rk3588.mainline.yaml");
-```
-
-生产 buffer 入口仍使用 `sb_create_ex()`、`sb_process_bolt_module_buffers()` 和 `sb_range_bolt_binned()`；调用方只需继续包含 `include/stereo_bolt/c_api.h`。配置中的模型和标定路径均相对于解包根目录解析。
+# RK3588 安装与验证
+
+## 环境
+
+- AArch64 RK3588
+- Ubuntu 22.04 / glibc >= 2.35
+- 可用的 RKNN NPU 驱动
+- 不需要安装系统 OpenCV；标准 SONAME 的 OpenCV 4.5.0 和 `librknnrt.so` 已包含在 `lib/`
+- 不需要 AI Studio Runtime
+
+## 解包
+
+```bash
+tar xzf stereo_bolt_delivery_mainline_20260714.tar.gz
+cd stereo_bolt_delivery_mainline_20260714
+export LD_LIBRARY_PATH="$(pwd)/lib:${LD_LIBRARY_PATH:-}"
+chmod +x validation/c_example_centerline \
+  validation/selected4_delivery_validate \
+  validation/run_selected4.sh
+```
+
+## 完整性与依赖
+
+```bash
+sha256sum -c MANIFEST_SHA256.txt
+ldd lib/libstereo_bolt.so | grep "not found"
+# 第二条命令预期无输出
+```
+
+关键文件预期 SHA256：
+
+```text
+5e7884a9f68ba389105d2af17f57482f4a15c2953f7845ead636653ae2d0aebd  lib/libstereo_bolt.so
+b9ed3b46c416919dc969637a7093cf01312eda91320066e40e33daad56d9f169  weights/model_20260713T084621+0000_c732327c.rknn
+d9157898f966927b38cbe4d9531baa9ea514c28153001654d1e2d5c2c4ad14de  config/config.rk3588.mainline.yaml
+```
+
+## 四帧板端复验
+
+```bash
+bash validation/run_selected4.sh
+```
+
+脚本会分别执行 YAML 文件接口和显式模型 buffer 接口，并检查 19、20、28、43 四帧。每帧应包含：
+
+```text
+PRECISE ... success=1 yolo_left=8 yolo_right=8 pairs=8 bolts=8
+RANGE ... found=1 bolts=8 status=ok
+VERDICT=PASS
+```
+
+最终必须出现：
+
+```text
+=== PACKAGE_REVERIFY_PASS ===
+```
+
+## 原接口调用
+
+文件入口保持不变：
+
+```c
+StereoBoltCtx* ctx = sb_create("config/config.rk3588.mainline.yaml");
+```
+
+生产 buffer 入口仍使用 `sb_create_ex()`、`sb_process_bolt_module_buffers()` 和 `sb_range_bolt_binned()`；调用方只需继续包含 `include/stereo_bolt/c_api.h`。配置中的模型和标定路径均相对于解包根目录解析。
diff --git a/AppAlgo/stereo_bolt_delivery/validation/WINDOWS_7_3_VALIDATION_SUMMARY.md b/AppAlgo/stereo_bolt_delivery/validation/WINDOWS_7_3_VALIDATION_SUMMARY.md
index 73423bc7..b123b122 100644
--- a/AppAlgo/stereo_bolt_delivery/validation/WINDOWS_7_3_VALIDATION_SUMMARY.md
+++ b/AppAlgo/stereo_bolt_delivery/validation/WINDOWS_7_3_VALIDATION_SUMMARY.md
@@ -1,31 +1,31 @@
-# Windows 7.3 全量验证摘要
-
-- 日期：2026-07-14
-- 数据：`7.3` 全部 79 组双目图像
-- 后端：OpenCV DNN 直接加载 `model_20260713T084621+0000_c732327c.onnx`
-- 阈值：confidence 0.50，期望螺栓数 8
-- 高度：三维顶点沿拟合螺杆轴线，到轴线/局部 SGBM 支撑平面交点的距离
-- 单元测试：29/29 PASS
-
-## 汇总
-
-| 指标 | 结果 |
-|---|---:|
-| 测距入口 found | 79/79 |
-| 完整 center/top | 53/79 |
-| 严格精测 success | 24/79 |
-| 检出数量正好为 8 | 26/79 |
-| 19/20/28/43 四帧精测 | 4/4，每帧 8 根 |
-
-失败原因计数：`count_mismatch=26`、`pairing_failed=15`、`measurement_failed=14`。
-
-严格成功帧：1, 2, 3, 4, 5, 6, 7, 15, 19, 20, 21, 22, 28, 29, 34, 36, 37, 43, 44, 49, 54, 60, 61, 66。
-
-## 四帧轴向高度（mm）
-
-- 19：188.573, 189.837, 185.532, 185.495, 179.350, 196.637, 194.677, 194.563
-- 20：193.177, 190.347, 184.390, 184.689, 190.018, 191.536, 192.582, 196.692
-- 28：189.841, 197.338, 195.061, 183.737, 175.843, 177.208, 171.662, 189.185
-- 43：209.407, 206.103, 204.961, 206.985, 196.889, 205.353, 207.920, 211.450
-
-结果图和 CSV 位于 Windows 工程输出目录 `outputs/win_7_3_mainline_20260714/`。本摘要明确保留全量失败情况；四帧验收通过不等于 79 帧全量泛化已经完成。
+# Windows 7.3 全量验证摘要
+
+- 日期：2026-07-14
+- 数据：`7.3` 全部 79 组双目图像
+- 后端：OpenCV DNN 直接加载 `model_20260713T084621+0000_c732327c.onnx`
+- 阈值：confidence 0.50，期望螺栓数 8
+- 高度：三维顶点沿拟合螺杆轴线，到轴线/局部 SGBM 支撑平面交点的距离
+- 单元测试：29/29 PASS
+
+## 汇总
+
+| 指标 | 结果 |
+|---|---:|
+| 测距入口 found | 79/79 |
+| 完整 center/top | 53/79 |
+| 严格精测 success | 24/79 |
+| 检出数量正好为 8 | 26/79 |
+| 19/20/28/43 四帧精测 | 4/4，每帧 8 根 |
+
+失败原因计数：`count_mismatch=26`、`pairing_failed=15`、`measurement_failed=14`。
+
+严格成功帧：1, 2, 3, 4, 5, 6, 7, 15, 19, 20, 21, 22, 28, 29, 34, 36, 37, 43, 44, 49, 54, 60, 61, 66。
+
+## 四帧轴向高度（mm）
+
+- 19：188.573, 189.837, 185.532, 185.495, 179.350, 196.637, 194.677, 194.563
+- 20：193.177, 190.347, 184.390, 184.689, 190.018, 191.536, 192.582, 196.692
+- 28：189.841, 197.338, 195.061, 183.737, 175.843, 177.208, 171.662, 189.185
+- 43：209.407, 206.103, 204.961, 206.985, 196.889, 205.353, 207.920, 211.450
+
+结果图和 CSV 位于 Windows 工程输出目录 `outputs/win_7_3_mainline_20260714/`。本摘要明确保留全量失败情况；四帧验收通过不等于 79 帧全量泛化已经完成。
diff --git a/AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so b/AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so
index 049ad755..a5202ae6 100644
Binary files a/AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so and b/AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so differ
diff --git a/AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so b/AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so
index 01b516da..5c8f53fb 100644
Binary files a/AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so and b/AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so differ
diff --git a/AppAlgo/workpieceHolePositioning/Inc/SG_errCode.h b/AppAlgo/workpieceHolePositioning/Inc/SG_errCode.h
index 812f8d81..b4b8fe11 100644
--- a/AppAlgo/workpieceHolePositioning/Inc/SG_errCode.h
+++ b/AppAlgo/workpieceHolePositioning/Inc/SG_errCode.h
@@ -12,6 +12,7 @@
 #define SG_ERR_SCAN_DIR_NOT_SUPPORTED	-1009
 #define SX_ERR_ZERO_OBJECTS				-1010
 #define SX_ERR_NULL_GROUND_PLANE		-1011
+#define SX_ERR_ZERO_2D_OBJECTS			-1012
 
 //BQ_workpiece
 #define SX_ERR_INVLD_VTREE_NUM		-2001
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll
index 0f4eda8b..cfff0457 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.lib b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.lib
index 085d76be..4f39771b 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.lib and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.lib differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb
index 340868e2..0f61b9e0 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll
index 0fd8571c..2ce25b28 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.lib b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.lib
index e4f70216..84f541a6 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.lib and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.lib differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb
index 5dccd8da..f8921a42 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll
index 0a6b28cc..de720dd4 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.lib b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.lib
index e20123e5..b140c0eb 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.lib and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.lib differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb
index 27b41b37..35e79238 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll
index 3ae134fc..8e182fc1 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.lib b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.lib
index 4d8f40da..af37d9dc 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.lib and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.lib differ
diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb
index 88219782..fc581d78 100644
Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb differ
diff --git a/AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp b/AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp
index b67cd842..a668473a 100644
--- a/AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp
+++ b/AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp
@@ -189,7 +189,7 @@ void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpi
 	int number = (int)workpiecePositioning.size();
 	for (int i = 0; i < number; i++)
 	{
-		sprintf_s(dataStr, 250, "工件_%d", i + 1);
+		sprintf_s(dataStr, 250, "工件_%d: type=%x", i + 1, workpiecePositioning[i].workpieceType);
 		sw << dataStr << std::endl;
 		int holeNumber = (int)workpiecePositioning[i].holes.size();
 		for (int j = 0; j < holeNumber; j++)
@@ -947,11 +947,15 @@ void _XOYprojection(
 			if (i == 0)
 			{
 				rgb = { 255, 0, 0 };
+				if((holes[i].workpieceType&0xffff0000) > 0)//方向为反
+					rgb = { 255, 0, 255 };
 				size = int(3.0/scale);
 			}
 			else
 			{
 				rgb = { 255, 255, 0 };
+				if ((holes[i].workpieceType & 0xffff0000) > 0)//方向为反
+					rgb = { 0, 255, 255 };
 				size = int(3.0 / scale);
 			}
 			WD_workpieceInfo& a_hole = holes[i];
@@ -1569,7 +1573,7 @@ void TuoPuFa_holePosition_test3(void)
 	};
 
 	SVzNLRange fileIdx[TPF3_TEST_GROUP] = {
-		{1,10}, {1, 10}, {1,10}, {1,10}, {1, 10},
+		{1,11}, {1, 10}, {1,10}, {1,10}, {1, 10},
 		{1,10}, {1, 10},
 	};
 
@@ -1635,7 +1639,7 @@ void TuoPuFa_holePosition_test3(void)
 
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx = 2;
+			//fidx = 3;
 			char _scan_file[256];
 			sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx);
 			std::vector<std::vector< SVzNL3DPosition>> scanLines;
@@ -2736,11 +2740,11 @@ int main()
 		TuoPuFa_holePosition_test5();
 	else if (keSG_拓普发孔定位_工件全测试 == testMode)
 	{
-		TuoPuFa_holePosition_test();
-		TuoPuFa_holePosition_test2();
+		//TuoPuFa_holePosition_test();
+		//TuoPuFa_holePosition_test2();
 		TuoPuFa_holePosition_test3();
 		TuoPuFa_holePosition_test4();
-		TuoPuFa_holePosition_test5();
+		//TuoPuFa_holePosition_test5();
 	}
 	else if (keSG_华航孔定位 == testMode)
 		HuaHang_holePosition_test();
diff --git a/AppUtils/UICommon/Inc/ToolExtrinsicWidget.h b/AppUtils/UICommon/Inc/ToolExtrinsicWidget.h
index ebf8b60c..d2691b27 100644
--- a/AppUtils/UICommon/Inc/ToolExtrinsicWidget.h
+++ b/AppUtils/UICommon/Inc/ToolExtrinsicWidget.h
@@ -90,6 +90,9 @@ public:
                  double& axialAngleMin, double& axialAngleMax) const;
 
     int currentCameraIndex() const;
+    bool hasAcceptableInput() const;
+    // 单条目编辑场景可隐藏控件内置选择器，由外部选择器驱动 setData/getData。
+    void setCameraSelectorVisible(bool visible);
     void setTargetOffsetVisible(bool visible);
     void setAxialAngleRangeVisible(bool visible);
 
@@ -108,6 +111,7 @@ private:
     Ui::ToolExtrinsicWidget* ui = nullptr;
 
     QGroupBox*   m_groupExtrinsic;
+    QLabel*      m_labelCamera;
     QComboBox*   m_comboCamera;
     QComboBox*   m_comboEulerOrder;
     QLineEdit*   m_editRotX;
diff --git a/AppUtils/UICommon/Src/ToolExtrinsicWidget.cpp b/AppUtils/UICommon/Src/ToolExtrinsicWidget.cpp
index 2c59f799..39be281a 100644
--- a/AppUtils/UICommon/Src/ToolExtrinsicWidget.cpp
+++ b/AppUtils/UICommon/Src/ToolExtrinsicWidget.cpp
@@ -10,6 +10,7 @@ ToolExtrinsicWidget::ToolExtrinsicWidget(QWidget *parent)
     : QWidget(parent)
     , ui(new Ui::ToolExtrinsicWidget)
     , m_groupExtrinsic(nullptr)
+    , m_labelCamera(nullptr)
     , m_comboCamera(nullptr)
     , m_comboEulerOrder(nullptr)
     , m_editRotX(nullptr)
@@ -206,6 +207,29 @@ int ToolExtrinsicWidget::currentCameraIndex() const
     return m_comboCamera->currentData().toInt();
 }
 
+bool ToolExtrinsicWidget::hasAcceptableInput() const
+{
+    const auto isAcceptable = [](const QLineEdit* edit) {
+        return !edit || edit->hasAcceptableInput();
+    };
+
+    return m_comboEulerOrder && m_comboEulerOrder->currentIndex() >= 0
+        && isAcceptable(m_editRotX)
+        && isAcceptable(m_editRotY)
+        && isAcceptable(m_editRotZ)
+        && isAcceptable(m_editAxialAngleMin)
+        && isAcceptable(m_editAxialAngleMax)
+        && isAcceptable(m_editOffsetX)
+        && isAcceptable(m_editOffsetY)
+        && isAcceptable(m_editOffsetZ);
+}
+
+void ToolExtrinsicWidget::setCameraSelectorVisible(bool visible)
+{
+    if (m_labelCamera) m_labelCamera->setVisible(visible);
+    if (m_comboCamera) m_comboCamera->setVisible(visible);
+}
+
 void ToolExtrinsicWidget::setTargetOffsetVisible(bool visible)
 {
     if (m_labelTargetOffset) m_labelTargetOffset->setVisible(visible);
@@ -332,6 +356,7 @@ void ToolExtrinsicWidget::setupUI()
     }
 
     m_groupExtrinsic = ui->groupExtrinsic;
+    m_labelCamera = ui->labelCamera;
     m_comboCamera = ui->comboCamera;
     m_comboEulerOrder = ui->comboEulerOrder;
     m_editRotX = ui->editRotX;
diff --git a/Device b/Device
index 76d33caa..1136a522 160000
--- a/Device
+++ b/Device
@@ -1 +1 @@
-Subproject commit 76d33caae885f1b47eec264f65f8e5f76cc131d0
+Subproject commit 1136a52250ae2595291f231492c770b29fe3354f
diff --git a/GrabBagPrj/AppList.md b/GrabBagPrj/AppList.md
index 0f7cfe5b..b28776bb 100644
--- a/GrabBagPrj/AppList.md
+++ b/GrabBagPrj/AppList.md
@@ -17,7 +17,7 @@
 | 11 | 铁路隧道槽道测量 | TunnelChannel | 1.0.0.3 |
 | 12 | 螺杆定位 | ScrewPosition | 1.2.4.1 |
 | 13 | 包裹拆线位置定位 | BagThreadPosition | 1.0.0.4 |
-| 14 | 工件孔定位 | WorkpieceHole | 1.2.1.1 |
+| 14 | 工件孔定位 | WorkpieceHole | 1.2.2.2 |
 | 15 | 轮胎孔定位 | TireHolePose | 1.0.2.1 |
 | 16 | 坑孔定位 | HolePitPosition | 无 |
 | 17 | 钢筋焊缝定位 | RodWeldSeam | 1.0.0.1 |