diff --git a/sourceCode/hybridPosePositioning.cpp b/sourceCode/hybridPosePositioning.cpp
index 724c40b..b8f5cd7 100644
--- a/sourceCode/hybridPosePositioning.cpp
+++ b/sourceCode/hybridPosePositioning.cpp
@@ -18,7 +18,8 @@
 //version 1.3.5 : 根据现场数据修正了转子钢芯定位算法中的bug
 //version 1.3.6 : 在1.3.5版本的基础上根据现场数据修正了转子钢芯定位算法中的bug
 //version 1.3.7 : 在1.3.6版本的基础上添加了ID， 与2D结果保持一致
-std::string	m_strVersion = "HybridPositioning 1.3.7";
+//version 1.3.8 : 添加了输入栅格格式检查， 调整边缘目标为目标距料筐外廓边的距离在直径的1.1倍以内
+std::string	m_strVersion = "HybridPositioning 1.3.8";
 const char* wd_hybridPositioningVersion(void)
 {
 	return m_strVersion.c_str();
@@ -956,8 +957,24 @@ void wd_HRM_RotorCorePositioning(
 		return;
 	}
 
+	//判断数据格式是否为grid。算法只能处理grid数据格式
 	int lineNum = (int)scanLinesInput.size();
 	int linePtNum = (int)scanLinesInput[0].size();
+	bool isGridData = true;
+	for (int line = 0; line < lineNum; line++)
+	{
+		if (linePtNum != (int)scanLinesInput[line].size())
+		{
+			isGridData = false;
+			break;
+		}
+	}
+	if (false == isGridData)//数据不是网格格式
+	{
+		*errCode = SG_ERR_NOT_GRID_FORMAT;
+		return;
+	}
+	
 	int maxU = 0; //2D图像的最大Col
 	int maxV = 0; //2D图像的最大Row
 	for (int line = 0; line < lineNum; line++)
@@ -1423,7 +1440,7 @@ void wd_HRM_RotorCorePositioning(
 		SWD_3DPointPair lineRight = linePoint[lineRightIdx];
 		//计算工件的位置：左上、右上、左下、右下四个角；上下左右四条边：中央部分
 		//机械臂对不同部分的工件会采用不同的抓取策略
-		double diameter = workpieceParam.radius * 2;
+		double distToSideTh = (workpieceParam.radius * 2) * 1.1;
 		double lineTop_a, lineTop_b, lineTop_c;
 		compute2ptLine(lineTop.pt1, lineTop.pt2, &lineTop_a, &lineTop_b, &lineTop_c);
 		double lineBtm_a, lineBtm_b, lineBtm_c;
@@ -1449,14 +1466,14 @@ void wd_HRM_RotorCorePositioning(
 			double distLeft = computePtDistToLine(objCenter.x, objCenter.y, lineLeft_a, lineLeft_b, lineLeft_c);
 			double distRight = computePtDistToLine(objCenter.x, objCenter.y, lineRight_a, lineRight_b, lineRight_c);
 
-			if (distTop < diameter)
+			if (distTop < distToSideTh)
 			{
-				if (distLeft < diameter)
+				if (distLeft < distToSideTh)
 				{
 					zSortWorkpiece[i].workpieceType = 5;  //左上
 					LTCorner.push_back(zSortWorkpiece[i]);
 				}
-				else if (distRight < diameter)
+				else if (distRight < distToSideTh)
 				{
 					zSortWorkpiece[i].workpieceType = 6;  //右上
 					RTCorner.push_back(zSortWorkpiece[i]);
@@ -1467,14 +1484,14 @@ void wd_HRM_RotorCorePositioning(
 					topSide.push_back(zSortWorkpiece[i]);
 				}
 			}
-			else if (distBtm < diameter)
+			else if (distBtm < distToSideTh)
 			{
-				if (distLeft < diameter)
+				if (distLeft < distToSideTh)
 				{
 					zSortWorkpiece[i].workpieceType = 7;  //左下
 					LBCorner.push_back(zSortWorkpiece[i]);
 				}
-				else if (distRight < diameter)
+				else if (distRight < distToSideTh)
 				{
 					zSortWorkpiece[i].workpieceType = 8;  //右下
 					RBCorner.push_back(zSortWorkpiece[i]);
@@ -1485,12 +1502,12 @@ void wd_HRM_RotorCorePositioning(
 					btmSide.push_back(zSortWorkpiece[i]);
 				}
 			}
-			else if (distLeft < diameter)
+			else if (distLeft < distToSideTh)
 			{
 				zSortWorkpiece[i].workpieceType = 3;  //左
 				leftSide.push_back(zSortWorkpiece[i]);
 			}
-			else if (distRight < diameter)
+			else if (distRight < distToSideTh)
 			{
 				zSortWorkpiece[i].workpieceType = 4;  //右
 				rightSide.push_back(zSortWorkpiece[i]);