From e82dc48483c4d06b688de795fad24a5660b316e2 Mon Sep 17 00:00:00 2001
From: lixiaolong <702156524@qq.com>
Date: Wed, 16 Sep 2026 11:40:47 +0800
Subject: [PATCH] =?UTF-8?q?feat(flow):=20=E6=96=B0=E5=A2=9E=E8=81=8A?=
 =?UTF-8?q?=E5=A4=A9=E5=8F=82=E6=95=B0=E7=BB=84=E4=BB=B6=E5=92=8C=E8=A7=86?=
 =?UTF-8?q?=E8=A7=89=E6=A0=87=E5=AE=9A=E7=AE=A1=E7=90=86=E5=8A=9F=E8=83=BD?=
MIME-Version: 1.0
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- 添加 ChatParams.vue 组件用于配置聊天节点参数
- 实现文本来源选择（直接输入或引用上游输出）
- 集成提示词模式设置（固定或自定义）
- 添加 TTS 语音播放开关功能
- 创建视觉标定管理界面（手眼标定和工具 TCP）
- 实现标定方案列表展示和状态管理
- 添加标定会话实时监控和进度显示
- 支持标定结果验证和误差分析
- 提供六自由度人工微调功能
---
 src/api/resource/visionCalibration.js         |  55 +++
 src/views/flow/chatPrompt.js                  |  34 ++
 .../flow/components/params/ChatParams.vue     | 165 +++++++
 .../components/params/VisionLocateParams.vue  | 437 ++++++++++++++++++
 .../resource/visionCalibration/index.vue      | 371 +++++++++++++++
 5 files changed, 1062 insertions(+)
 create mode 100644 src/api/resource/visionCalibration.js
 create mode 100644 src/views/flow/chatPrompt.js
 create mode 100644 src/views/flow/components/params/ChatParams.vue
 create mode 100644 src/views/flow/components/params/VisionLocateParams.vue
 create mode 100644 src/views/resource/visionCalibration/index.vue

diff --git a/src/api/resource/visionCalibration.js b/src/api/resource/visionCalibration.js
new file mode 100644
index 0000000..7e9728b
--- /dev/null
+++ b/src/api/resource/visionCalibration.js
@@ -0,0 +1,55 @@
+import request from '@/utils/request'
+
+const base = '/vision/calibration'
+
+export function listCalibrationProfiles(params) {
+  return request({ url: `${base}/profiles`, method: 'get', params })
+}
+
+export function getCalibrationProfile(id) {
+  return request({ url: `${base}/profiles/${id}`, method: 'get' })
+}
+
+export function updateCalibrationCorrection(id, data) {
+  return request({ url: `${base}/profiles/${id}/correction`, method: 'put', data })
+}
+
+export function activateCalibrationProfile(id, forced = false) {
+  return request({ url: `${base}/profiles/${id}/activate`, method: 'put', data: { forced } })
+}
+
+export function invalidateCalibrationProfile(id) {
+  return request({ url: `${base}/profiles/${id}`, method: 'delete' })
+}
+
+export function startHandEyeCalibration(data) {
+  return request({ url: `${base}/sessions/hand-eye`, method: 'post', data })
+}
+
+export function startToolCalibration(data) {
+  return request({ url: `${base}/sessions/tool`, method: 'post', data })
+}
+
+export function startCalibrationVerification(id) {
+  return request({ url: `${base}/profiles/${id}/verify`, method: 'post' })
+}
+
+export function calibrationHeartbeat(id) {
+  return request({ url: `${base}/sessions/${id}/heartbeat`, method: 'post' })
+}
+
+export function getCalibrationSession(id) {
+  return request({ url: `${base}/sessions/${id}`, method: 'get' })
+}
+
+export function stopCalibrationSession(id) {
+  return request({ url: `${base}/sessions/${id}/stop`, method: 'post' })
+}
+
+export function recordToolPivot(id) {
+  return request({ url: `${base}/sessions/${id}/tool/pivot`, method: 'post' })
+}
+
+export function recordToolDirection(id) {
+  return request({ url: `${base}/sessions/${id}/tool/direction`, method: 'post' })
+}
diff --git a/src/views/flow/chatPrompt.js b/src/views/flow/chatPrompt.js
new file mode 100644
index 0000000..0e1db9b
--- /dev/null
+++ b/src/views/flow/chatPrompt.js
@@ -0,0 +1,34 @@
+export const DEFAULT_CHAT_SYSTEM_PROMPT = `【系统人设·固定设定】
+你是长安汽车龙兴工厂总装车间智能巡检轮式人形机器人小安，常驻车间、负责巡检、物流辅助、智能讲解、员工日常闲聊陪伴。
+你的人设：温柔、乖巧、智能、话不多余、活泼不油腻、专业但接地气。
+你不是冰冷AI，是车间里的「智能小工友」，懂生产、懂设备、懂车间工艺、也会轻松闲聊。
+【知识绑定·必须精通】
+你100%熟记长安龙兴总装车间全部参观路线、所有点位工艺、技术、设备、党建、安全、智慧系统：
+- 车间数字大屏、MES/SCADA系统、一屏观全局
+- 核心零部件、模块化生产、轮式人形机器人应用场景
+- 车间产能、柔性共线、生产节拍、红色车间、党建攻坚、SOS三级安全体系、EHS管理
+- 自动化小分装、ECU自动刷写
+- AI视觉检测、防错技术EP、螺栓拧紧大数据系统
+- 智慧立体库、AGV配送、Kitting物流、5G追溯
+- 班组文化、党员传帮带、员工人文关怀看板
+- L2++自动驾驶、ICA智能领航、多传感器融合
+- 自动车门/座椅装配、安辰云检整车检测
+- 轮胎自动装配、高精度液体加注
+- 智慧绿色照明、节能智造体系
+用户问任何车间技术、工艺、设备、参观讲解、工厂知识，你都能精准、简洁、专业讲解。
+【闲聊风格·核心规则】
+1. 日常闲聊：轻松、简短、温柔、可爱、像车间小机器人工友，不官话、不论文、不啰嗦。
+2. 可以聊天、唠嗑、安慰、解压、陪聊、开玩笑、温柔互动。
+3. 被问专业问题：立刻切换工厂讲解员模式，清晰、标准、正式、贴合官方解说词。
+4. 说话语气：干净、年轻化、自然、不机械、不AI味。
+5. 禁止：生硬模板、过度搞笑、油腻、网络烂梗、夸张情绪化。
+【可聊范围】
+- 车间日常、机器人工作、巡检、物流、设备状态
+- 工厂技术、智能制造、自动化、数字工厂
+- 员工解压、日常闲聊、心情陪伴、轻松对话
+- 参观讲解、点位介绍、路线答疑
+- 科普、生活、工作、放松对话全覆盖
+【输出要求】
+• 闲聊短句为主，不超长段落
+• 专业提问自动切换正式讲解
+• 始终保持：智能、温柔、靠谱、车间专属机器人人设`
diff --git a/src/views/flow/components/params/ChatParams.vue b/src/views/flow/components/params/ChatParams.vue
new file mode 100644
index 0000000..904cb8e
--- /dev/null
+++ b/src/views/flow/components/params/ChatParams.vue
@@ -0,0 +1,165 @@
+<template>
+  <div class="chat-params">
+    <el-alert :title="labels.intro" type="info" :closable="false" show-icon />
+    <el-form ref="formRef" :model="form" label-position="top" class="chat-form">
+      <el-form-item :label="labels.textSource" required>
+        <el-radio-group v-model="textParam.type" @change="handleTextTypeChange">
+          <el-radio-button value="input">{{ labels.directInput }}</el-radio-button>
+          <el-radio-button value="quote">{{ labels.quoteOutput }}</el-radio-button>
+        </el-radio-group>
+      </el-form-item>
+
+      <el-form-item v-if="textParam.type === 'input'" :label="labels.inputText" required>
+        <el-input
+          v-model="textParam.input"
+          type="textarea"
+          :rows="4"
+          maxlength="2000"
+          show-word-limit
+          :placeholder="labels.inputPlaceholder"
+        />
+      </el-form-item>
+      <el-form-item v-else :label="labels.upstreamOutput" required>
+        <el-cascader
+          v-model="textParam.quote"
+          :options="quoteOptions"
+          :props="{ checkStrictly: true }"
+          :placeholder="labels.quotePlaceholder"
+          style="width: 100%"
+          @visible-change="visibleChange"
+          @change="value => cascaderChange(value, textParam)"
+        />
+        <div class="field-hint">{{ labels.quoteHint }}</div>
+      </el-form-item>
+
+      <el-form-item :label="labels.promptMode">
+        <el-radio-group v-model="form.promptMode">
+          <el-radio-button value="FIXED">{{ labels.fixedPrompt }}</el-radio-button>
+          <el-radio-button value="CUSTOM">{{ labels.customPrompt }}</el-radio-button>
+        </el-radio-group>
+      </el-form-item>
+      <el-form-item v-if="form.promptMode === 'CUSTOM'" :label="labels.customPrompt" required>
+        <el-input
+          v-model="form.prompt"
+          type="textarea"
+          :rows="4"
+          maxlength="2000"
+          show-word-limit
+          :placeholder="labels.promptPlaceholder"
+        />
+        <div class="field-hint">{{ labels.promptHint }}</div>
+      </el-form-item>
+      <el-form-item :label="labels.invokeTts">
+        <el-switch v-model="form.invokeTts" />
+        <div class="field-hint">{{ labels.ttsHint }}</div>
+      </el-form-item>
+    </el-form>
+  </div>
+</template>
+
+<script setup>
+import { reactive, ref, watch } from 'vue'
+import { ElMessage } from 'element-plus'
+import { useQuote } from './useQuote.js'
+import { DEFAULT_CHAT_SYSTEM_PROMPT } from '../../chatPrompt.js'
+
+const props = defineProps({ data: Object })
+const emit = defineEmits(['save-success', 'save-error'])
+const formRef = ref()
+const form = reactive({ promptMode: 'CUSTOM', prompt: DEFAULT_CHAT_SYSTEM_PROMPT, invokeTts: false })
+const textParam = reactive({
+  name: 'text',
+  type: 'input',
+  input: '',
+  quote: [],
+  quoteType: 'output',
+  required: true,
+})
+const { quoteOptions, handleTypeChange, cascaderChange, visibleChange } = useQuote(props.data.id)
+
+const labels = {
+  intro: '\u8f93\u5165\u4e00\u53e5\u8bdd\u6216\u5f15\u7528\u4e0a\u6e38\u8282\u70b9\u8f93\u51fa\uff0c\u8c03\u7528\u5927\u6a21\u578b\u8fdb\u884c\u95f2\u804a\uff0c\u53ea\u8fd4\u56de\u7eaf\u6587\u672c\u3002',
+  textSource: '\u6587\u672c\u6765\u6e90',
+  directInput: '\u76f4\u63a5\u8f93\u5165',
+  quoteOutput: '\u5f15\u7528\u4e0a\u6e38\u8f93\u51fa',
+  inputText: '\u8f93\u5165\u6587\u672c',
+  inputPlaceholder: '\u8bf7\u8f93\u5165\u8981\u53d1\u9001\u7ed9\u5927\u6a21\u578b\u7684\u5185\u5bb9',
+  upstreamOutput: '\u4e0a\u6e38\u8282\u70b9\u8f93\u51fa',
+  quotePlaceholder: '\u8bf7\u9009\u62e9\u4e0a\u6e38\u8282\u70b9\u7684\u6587\u672c\u8f93\u51fa',
+  quoteHint: '\u6d41\u7a0b\u8fd0\u884c\u65f6\u4f1a\u81ea\u52a8\u5c06\u5f15\u7528\u503c\u4f5c\u4e3a\u95f2\u804a\u8f93\u5165\u3002',
+  promptMode: '\u63d0\u793a\u8bcd\u6a21\u5f0f',
+  fixedPrompt: '\u56fa\u5b9a\u63d0\u793a\u8bcd\uff08\u63a8\u8350\uff09',
+  customPrompt: '\u81ea\u5b9a\u4e49\u63d0\u793a\u8bcd',
+  promptPlaceholder: '\u4f8b\u5982\uff1a\u8bf7\u7528\u7b80\u6d01\u3001\u4e13\u4e1a\u7684\u8bed\u6c14\u56de\u7b54',
+  promptHint: '\u81ea\u5b9a\u4e49\u63d0\u793a\u8bcd\u53ef\u80fd\u589e\u52a0\u5904\u7406\u65f6\u95f4\uff0c\u7cfb\u7edf\u4ecd\u4f1a\u8981\u6c42\u6a21\u578b\u53ea\u8fd4\u56de\u7eaf\u6587\u672c\u3002',
+  invokeTts: '\u8fb9\u751f\u6210\u8fb9\u64ad\u653e\u8bed\u97f3',
+  ttsHint: '\u5f00\u542f\u540e\u6309\u53e5\u63a5\u6536\u6a21\u578b\u6d41\u5f0f\u8f93\u51fa\u5e76\u7acb\u5373\u8c03\u7528 TTS\uff0c\u8282\u70b9\u6700\u7ec8\u4ecd\u8f93\u51fa\u5b8c\u6574\u6587\u672c\u3002',
+}
+
+const init = () => {
+  const params = props.data?.properties?.nodeParams || []
+  const savedText = params.find(item => item?.name === 'text')
+  if (savedText) {
+    textParam.type = savedText.type === 'quote' ? 'quote' : 'input'
+    textParam.input = savedText.input ?? ''
+    textParam.quote = Array.isArray(savedText.quote) ? [...savedText.quote] : []
+    textParam.quoteType = savedText.quoteType || 'output'
+  }
+  form.promptMode = params.find(item => item?.name === 'promptMode')?.input || 'CUSTOM'
+  form.prompt = params.find(item => item?.name === 'prompt')?.input || DEFAULT_CHAT_SYSTEM_PROMPT
+  form.invokeTts = Boolean(params.find(item => item?.name === 'invokeTts')?.input)
+}
+watch(() => props.data, init, { immediate: true, deep: true })
+
+const handleTextTypeChange = () => handleTypeChange(textParam)
+
+const validateAndSave = async () => {
+  if (textParam.type === 'input' && !String(textParam.input || '').trim()) {
+    ElMessage.warning('\u8bf7\u8f93\u5165\u95f2\u804a\u6587\u672c')
+    emit('save-error')
+    return
+  }
+  if (textParam.type === 'quote' && (!Array.isArray(textParam.quote) || textParam.quote.length < 3)) {
+    ElMessage.warning('\u8bf7\u9009\u62e9\u4e0a\u6e38\u8282\u70b9\u8f93\u51fa')
+    emit('save-error')
+    return
+  }
+  if (form.promptMode === 'CUSTOM' && !String(form.prompt || '').trim()) {
+    ElMessage.warning('\u8bf7\u8f93\u5165\u81ea\u5b9a\u4e49\u63d0\u793a\u8bcd')
+    emit('save-error')
+    return
+  }
+
+  const savedTextParam = {
+    name: 'text',
+    type: textParam.type,
+    required: true,
+    ...(textParam.type === 'quote'
+      ? { quote: [...textParam.quote], quoteType: textParam.quoteType || 'output' }
+      : { input: textParam.input }),
+  }
+  const properties = {
+    ...props.data.properties,
+    nodeParams: [
+      savedTextParam,
+      { name: 'promptMode', type: 'input', input: form.promptMode, required: true },
+      { name: 'prompt', type: 'input', input: form.prompt, required: form.promptMode === 'CUSTOM' },
+      { name: 'invokeTts', type: 'input', input: form.invokeTts, required: false },
+    ],
+    outputType: 'json',
+    outputParams: [{ name: 'text', type: 'string', desc: '\u5927\u6a21\u578b\u8fd4\u56de\u7684\u95f2\u804a\u6587\u672c', disabled: true }],
+  }
+  globalThis.lf.setProperties(props.data.id, properties)
+  emit('save-success')
+}
+
+defineExpose({ validateAndSave })
+</script>
+
+<style scoped>
+.chat-params { padding-bottom: 24px; }
+.chat-form { padding-top: 8px; }
+.chat-form :deep(.el-radio-group) { width: 100%; display: flex; }
+.chat-form :deep(.el-radio-button) { flex: 1; }
+.field-hint { margin-top: 4px; color: var(--el-text-color-secondary); font-size: 12px; line-height: 18px; }
+</style>
diff --git a/src/views/flow/components/params/VisionLocateParams.vue b/src/views/flow/components/params/VisionLocateParams.vue
new file mode 100644
index 0000000..0ea1543
--- /dev/null
+++ b/src/views/flow/components/params/VisionLocateParams.vue
@@ -0,0 +1,437 @@
+<template>
+  <div class="vision-locate-params">
+    <div class="intro">
+      <div class="intro__title">视觉定位执行</div>
+      <div class="intro__desc">拍摄彩色和深度图，识别目标位置，并换算为机械臂可以使用的末端坐标。</div>
+    </div>
+
+    <el-form ref="formRef" :model="form" label-position="top">
+      <el-form-item label="配置模式">
+        <el-segmented v-model="configMode" :options="configModeOptions" block />
+        <div class="field-hint">{{ configModeDescription }}</div>
+      </el-form-item>
+
+      <div class="section-heading">执行设备</div>
+      <el-form-item label="由谁执行" required>
+        <el-select v-model="resource.roleKey" placeholder="选择开始节点中配置的机器人角色" style="width: 100%">
+          <el-option v-for="role in roles" :key="role.roleKey" :label="role.displayName" :value="role.roleKey" />
+        </el-select>
+        <div v-if="!roles.length" class="field-warning">请先在开始节点添加一个机器人角色。</div>
+      </el-form-item>
+
+      <el-form-item label="深度相机" required>
+        <el-select
+          v-if="cameraSlots.length"
+          v-model="resource.cameraSlotKey"
+          filterable
+          :placeholder="cameraSlots.length === 1 ? '已自动匹配相机' : '选择相机用途'"
+          style="width: 100%"
+        >
+          <el-option v-for="slot in cameraSlots" :key="slot.slotKey" :label="slotLabel(slot)" :value="slot.slotKey" />
+        </el-select>
+        <el-input v-else v-model="form.cameraDeviceId" clearable placeholder="输入相机设备 ID" />
+        <div v-if="!cameraSlots.length" class="field-warning">当前机器人角色没有相机用途，可暂时输入设备 ID，建议在开始节点统一配置。</div>
+      </el-form-item>
+
+      <el-form-item label="机械臂" required>
+        <el-select
+          v-if="armSlots.length"
+          v-model="resource.armSlotKey"
+          filterable
+          :placeholder="armSlots.length === 1 ? '已自动匹配机械臂' : '选择机械臂用途'"
+          style="width: 100%"
+        >
+          <el-option v-for="slot in armSlots" :key="slot.slotKey" :label="slotLabel(slot)" :value="slot.slotKey" />
+        </el-select>
+        <el-input v-else v-model="form.armDeviceId" clearable placeholder="输入机械臂设备 ID" />
+        <div v-if="!armSlots.length" class="field-warning">当前机器人角色没有机械臂用途，可暂时输入设备 ID，建议在开始节点统一配置。</div>
+      </el-form-item>
+
+      <el-form-item label="末端工具" required>
+        <el-select v-model="form.toolCode" filterable placeholder="选择已标定的笔、吸盘或其他工具" style="width: 100%">
+          <el-option v-for="tool in toolOptions" :key="tool.value" :label="tool.label" :value="tool.value" />
+        </el-select>
+        <div v-if="toolOptions.length" class="field-hint">运行时按实际机器人和机械臂自动使用该工具的当前启用 TCP。</div>
+        <div v-else class="field-warning">
+          尚无工具档案，请先到机器人管理中的视觉标定管理新增并启用工具 TCP。
+          <el-button text type="primary" @click="openCalibrationManager">打开标定管理</el-button>
+        </div>
+      </el-form-item>
+
+      <div class="section-heading">定位任务</div>
+      <el-form-item v-if="form.analysisMethod !== 'REFERENCE_MATCH'" label="要定位什么" required>
+        <el-input
+          v-model="form.prompt"
+          type="textarea"
+          :rows="4"
+          maxlength="1000"
+          show-word-limit
+          placeholder="例如：定位手机屏幕右上角的蓝牙图标中心"
+        />
+        <div class="field-hint">直接描述目标即可，系统会自动要求模型返回可计算的坐标。</div>
+      </el-form-item>
+
+      <el-form-item label="识别方式">
+        <el-radio-group v-model="form.analysisMethod">
+          <el-radio-button value="TEXT_LOCATE">描述找图</el-radio-button>
+          <el-radio-button value="REFERENCE_MATCH">精确找图</el-radio-button>
+        </el-radio-group>
+        <div class="field-hint">精确找图需要一张目标小图，例如方形标记码；小图和 RGBD 彩色图在本次执行中一起匹配。</div>
+      </el-form-item>
+      <el-form-item v-if="form.analysisMethod === 'REFERENCE_MATCH'" label="目标参考小图" required>
+        <el-input v-model="form.referenceImageUrl" clearable placeholder="输入方形码或目标小图的 HTTP/HTTPS 地址" />
+      </el-form-item>
+      <template v-if="form.analysisMethod === 'REFERENCE_MATCH'">
+        <el-form-item label="匹配选择">
+          <el-radio-group v-model="form.matchSelector">
+            <el-radio-button value="BEST">最佳匹配</el-radio-button>
+            <el-radio-button value="INDEX">指定序号</el-radio-button>
+          </el-radio-group>
+        </el-form-item>
+        <el-form-item v-if="form.matchSelector === 'INDEX'" label="匹配序号">
+          <el-radio-group v-model="matchIndexMode" size="small">
+            <el-radio-button value="input">输入</el-radio-button>
+            <el-radio-button value="quote">引用</el-radio-button>
+          </el-radio-group>
+          <el-input-number v-if="matchIndexMode === 'input'" v-model="form.matchIndex" :min="1" :max="20" />
+          <el-cascader
+            v-else
+            v-model="matchIndexQuote"
+            :options="quoteOptions"
+            :props="{ checkStrictly: true }"
+            clearable
+            filterable
+            style="width: 100%; margin-top: 8px"
+            placeholder="选择上游节点输出的序号"
+            @visible-change="refreshQuoteOptions"
+          />
+        </el-form-item>
+        <el-form-item label="匹配排序">
+          <el-select v-model="form.matchSort" style="width: 100%">
+            <el-option label="从左到右、从上到下" value="ROW_MAJOR" />
+            <el-option label="从上到下、从左到右" value="COLUMN_MAJOR" />
+          </el-select>
+        </el-form-item>
+      </template>
+
+      <el-form-item label="定位精度">
+        <el-segmented v-model="form.analysisMode" :options="analysisModeOptions" block />
+        <div class="field-hint">{{ analysisModeDescription }}</div>
+      </el-form-item>
+
+      <el-form-item label="安全接近距离">
+        <el-slider v-model="form.approachDistanceMm" :min="1" :max="20" :step="1" show-input />
+        <div class="field-hint">先到达手机表面法向外侧的安全位置，范围 1–20 mm。</div>
+      </el-form-item>
+
+      <el-form-item label="按压距离">
+        <el-slider v-model="form.pressDistanceMm" :min="0" :max="20" :step="0.1" show-input />
+        <div class="field-hint">在理论接触面基础上继续前进的距离，默认 0 mm。</div>
+      </el-form-item>
+      <el-alert
+        title="本节点只计算位姿，不控制机械臂。请将输出的接近法兰位姿和接触法兰位姿分别引用到后续运动节点。"
+        type="info"
+        :closable="false"
+        show-icon
+        class="movement-warning"
+      />
+
+      <div v-if="configMode === 'BASIC'" class="parameter-summary">
+        <div class="parameter-summary__head">
+          <span>当前高级参数</span>
+          <el-button text type="primary" @click="configMode = 'ADVANCED'">查看和修改</el-button>
+        </div>
+        <div class="summary-row"><span>手眼标定</span><el-tag size="small" type="success" effect="plain">运行时自动选择</el-tag></div>
+        <div class="summary-row"><span>工具 TCP</span><strong>{{ selectedToolLabel || '尚未选择' }}</strong></div>
+        <div class="summary-row"><span>输出方式</span><strong>接近位姿 + 接触位姿</strong></div>
+      </div>
+
+      <el-collapse v-else v-model="advancedSections" class="advanced-settings">
+        <el-collapse-item name="model" title="识别参数">
+          <el-form-item label="分析配置">
+            <el-select
+              v-model="form.profileCode"
+              filterable
+              allow-create
+              default-first-option
+              placeholder="选择或输入分析配置编码"
+              style="width: 100%"
+            >
+              <el-option label="通用图片目标分析（推荐）" value="common.image_analysis.v1" />
+            </el-select>
+          </el-form-item>
+          <el-form-item label="最低识别置信度">
+            <el-slider v-model="form.confidenceThreshold" :min="0.2" :max="0.95" :step="0.01" show-input />
+          </el-form-item>
+          <el-form-item label="平面拟合范围（像素）">
+            <el-slider v-model="form.normalSampleRadius" :min="3" :max="40" :step="1" show-input />
+            <div class="field-hint">使用目标周围深度点拟合手机平面和法向。目标靠近边缘时减小范围。</div>
+          </el-form-item>
+          <el-row :gutter="12">
+            <el-col :span="12">
+              <el-form-item label="最小深度（米）"><el-input-number v-model="form.minDepth" :min="0.01" :step="0.05" /></el-form-item>
+            </el-col>
+            <el-col :span="12">
+              <el-form-item label="最大深度（米）"><el-input-number v-model="form.maxDepth" :min="0.1" :step="0.1" /></el-form-item>
+            </el-col>
+          </el-row>
+        </el-collapse-item>
+
+        <el-collapse-item name="calibration">
+          <template #title>
+            <div class="collapse-title">
+              <span>标定与工具 TCP</span>
+              <el-tag size="small" type="success" effect="plain">自动选用</el-tag>
+            </div>
+          </template>
+          <el-alert title="矩阵由视觉标定管理统一维护。运行时根据实际机器人、机械臂、相机和工具自动选择当前启用版本。" type="info" :closable="false" show-icon />
+          <el-button class="manager-button" type="primary" plain @click="openCalibrationManager">打开视觉标定管理</el-button>
+        </el-collapse-item>
+
+        <el-collapse-item name="motion" title="定位安全校验">
+          <el-form-item label="目标最大允许距离（米）">
+            <el-slider v-model="form.maxMovement" :min="0.01" :max="2" :step="0.01" show-input />
+            <div class="field-hint">计算结果相对当前法兰超过此距离时直接报错，防止错误识别产生异常位姿。</div>
+          </el-form-item>
+          <el-button :icon="Refresh" text type="primary" @click="restoreAdvancedDefaults">恢复推荐参数</el-button>
+        </el-collapse-item>
+      </el-collapse>
+    </el-form>
+
+    <el-divider content-position="left">节点输出</el-divider>
+    <div class="output-list">
+      <div v-for="item in outputSummary" :key="item.name" class="output-item">
+        <code>{{ item.name }}</code><span>{{ item.desc }}</span>
+      </div>
+    </div>
+  </div>
+</template>
+
+<script setup>
+import { computed, reactive, ref, watch } from 'vue'
+import { useRouter } from 'vue-router'
+import { Refresh } from '@element-plus/icons-vue'
+import { ElMessage } from 'element-plus'
+import { getResourceRoles } from '@/utils/flowResources'
+import { DEVICE_KIND } from '@/utils/robotDevice'
+import { listCalibrationProfiles } from '@/api/resource/visionCalibration'
+import { useQuote } from './useQuote.js'
+
+const props = defineProps({ data: Object })
+const emit = defineEmits(['save-success', 'save-error'])
+const router = useRouter()
+const formRef = ref()
+const roles = ref([])
+const toolOptions = ref([])
+const matchIndexMode = ref('input')
+const matchIndexQuote = ref([])
+const { quoteOptions, refreshQuoteOptions } = useQuote(props.data?.id)
+const configMode = ref('BASIC')
+const advancedSections = ref(['calibration'])
+
+const configModeOptions = [{ label: '普通配置', value: 'BASIC' }, { label: '高级配置', value: 'ADVANCED' }]
+const analysisModeOptions = [{ label: '快速', value: 'FAST' }, { label: '精准', value: 'ACCURATE' }]
+
+const form = reactive({
+  cameraDeviceId: '', armDeviceId: '', profileCode: 'common.image_analysis.v1',
+  toolCode: '', prompt: '定位目标中心点', analysisMethod: 'TEXT_LOCATE', referenceImageUrl: '', matchSelector: 'BEST', matchIndex: 1, matchSort: 'ROW_MAJOR', analysisMode: 'FAST', confidenceThreshold: 0.7,
+  approachDistanceMm: 10, pressDistanceMm: 0, autoMove: false, maxMovement: 0.5,
+  normalSampleRadius: 12, minDepth: 0.05, maxDepth: 5,
+})
+const resource = reactive({ roleKey: '', cameraSlotKey: '', armSlotKey: '' })
+const selectedRole = computed(() => roles.value.find(role => role.roleKey === resource.roleKey))
+const cameraSlots = computed(() => (selectedRole.value?.deviceSlots || []).filter(slot => Number(slot.deviceKind) === DEVICE_KIND.CAMERA))
+const armSlots = computed(() => (selectedRole.value?.deviceSlots || []).filter(slot => Number(slot.deviceKind) === DEVICE_KIND.ARM))
+const configModeDescription = computed(() => configMode.value === 'BASIC'
+  ? '选择设备、工具和目标即可，标定矩阵由系统自动匹配。'
+  : '用于调整识别、平面拟合和异常距离校验。')
+const analysisModeDescription = computed(() => form.analysisMode === 'FAST'
+  ? '优先响应速度，适合目标明显、环境稳定的场景。'
+  : '优先定位可靠性，适合目标较小或背景复杂的场景。')
+const selectedToolLabel = computed(() => toolOptions.value.find(item => item.value === form.toolCode)?.label)
+const pointChildren = [
+  { name: 'x', type: 'number', desc: 'X坐标' },
+  { name: 'y', type: 'number', desc: 'Y坐标' },
+  { name: 'z', type: 'number', desc: 'Z坐标' },
+]
+const poseChildren = [
+  ...pointChildren,
+  { name: 'rx', type: 'number', desc: 'RX旋转（弧度）' },
+  { name: 'ry', type: 'number', desc: 'RY旋转（弧度）' },
+  { name: 'rz', type: 'number', desc: 'RZ旋转（弧度）' },
+]
+const outputSummary = [
+  { name: 'objectPoint', desc: '目标在机器人基座坐标系中的位置' },
+  { name: 'surfaceNormal', desc: '手机表面朝外法向' },
+  { name: 'approachFlangePose', desc: '安全接近位置对应的法兰位姿' },
+  { name: 'contactFlangePose', desc: '最终接触位置对应的法兰位姿' },
+  { name: 'approachTcpPose', desc: '安全接近工具 TCP 位姿' },
+  { name: 'contactTcpPose', desc: '最终接触工具 TCP 位姿' },
+]
+
+const slotLabel = slot => `${slot.displayName} · ${Number(slot.deviceKind) === DEVICE_KIND.CAMERA ? '相机' : '机械臂'}`
+const selectSingleSlots = () => {
+  if (cameraSlots.value.length === 1) resource.cameraSlotKey = cameraSlots.value[0].slotKey
+  if (armSlots.value.length === 1) resource.armSlotKey = armSlots.value[0].slotKey
+}
+
+const loadTools = async () => {
+  try {
+    const response = await listCalibrationProfiles({ profileType: 'TOOL_TCP' })
+    const byCode = new Map()
+    ;(response.data || []).filter(item => item.status !== 'INVALID' && item.toolCode).forEach(item => {
+      if (!byCode.has(item.toolCode)) byCode.set(item.toolCode, { value: item.toolCode, label: `${item.profileName}（${item.toolCode}）` })
+    })
+    toolOptions.value = [...byCode.values()]
+  } catch {
+    toolOptions.value = []
+  }
+}
+
+const openCalibrationManager = () => router.push('/resource/vision-calibration')
+
+const init = () => {
+  const params = props.data?.properties?.nodeParams || []
+  params.forEach(item => {
+    if (item?.name && Object.prototype.hasOwnProperty.call(form, item.name) && item.input !== undefined) form[item.name] = item.input
+  })
+  // Legacy nodes sometimes retained a reference image while their method was
+  // still VISION_MODEL. A reference image unambiguously means precise matching
+  // and the backend applies the same migration at runtime.
+  if (String(form.referenceImageUrl || '').trim() && form.analysisMethod !== 'REFERENCE_MATCH') {
+    form.analysisMethod = 'REFERENCE_MATCH'
+  }
+  if (form.analysisMethod === 'REFERENCE_MATCH' && Number(form.confidenceThreshold) === 0.7) {
+    form.confidenceThreshold = 0.45
+  }
+  configMode.value = props.data?.properties?.visionConfigMode || 'BASIC'
+  roles.value = getResourceRoles()
+  const target = props.data?.properties?.executionTarget || {}
+  resource.roleKey = target.roleKey || roles.value[0]?.roleKey || ''
+  const bindings = target.deviceBindings || []
+  resource.cameraSlotKey = bindings.find(item => item?.parameterName === 'cameraDeviceId')?.slotKey || ''
+  resource.armSlotKey = bindings.find(item => item?.parameterName === 'armDeviceId')?.slotKey || ''
+  selectSingleSlots()
+  const matchIndexParam = params.find(item => item?.name === 'matchIndex')
+  matchIndexMode.value = matchIndexParam?.type === 'quote' ? 'quote' : 'input'
+  matchIndexQuote.value = Array.isArray(matchIndexParam?.quote) ? [...matchIndexParam.quote] : []
+  refreshQuoteOptions()
+  loadTools()
+}
+watch(() => props.data, init, { immediate: true, deep: true })
+watch(() => resource.roleKey, () => {
+  if (!cameraSlots.value.some(slot => slot.slotKey === resource.cameraSlotKey)) resource.cameraSlotKey = ''
+  if (!armSlots.value.some(slot => slot.slotKey === resource.armSlotKey)) resource.armSlotKey = ''
+  selectSingleSlots()
+})
+watch(() => form.analysisMethod, method => {
+  if (method === 'REFERENCE_MATCH' && Number(form.confidenceThreshold) === 0.7) form.confidenceThreshold = 0.45
+  if (method !== 'REFERENCE_MATCH' && Number(form.confidenceThreshold) === 0.45) form.confidenceThreshold = 0.7
+})
+
+const restoreAdvancedDefaults = () => {
+  form.profileCode = 'common.image_analysis.v1'
+  form.analysisMode = 'FAST'
+  form.confidenceThreshold = 0.7
+  form.normalSampleRadius = 12
+  form.minDepth = 0.05
+  form.maxDepth = 5
+  form.maxMovement = 0.5
+  ElMessage.success('已恢复识别、平面拟合和距离校验推荐参数')
+}
+
+const validateAndSave = async () => {
+  if (!resource.roleKey) {
+    ElMessage.warning('请选择执行机器人角色'); emit('save-error'); return
+  }
+  if ((!resource.cameraSlotKey && !String(form.cameraDeviceId || '').trim())
+    || (!resource.armSlotKey && !String(form.armDeviceId || '').trim())) {
+    ElMessage.warning('请选择相机和机械臂，或填写对应设备 ID'); emit('save-error'); return
+  }
+  if (form.analysisMethod !== 'REFERENCE_MATCH' && !String(form.prompt || '').trim()) {
+    ElMessage.warning('请描述要定位的目标'); emit('save-error'); return
+  }
+  if (form.analysisMethod === 'REFERENCE_MATCH' && !String(form.referenceImageUrl || '').trim()) {
+    ElMessage.warning('精确找图需要填写目标参考小图地址'); emit('save-error'); return
+  }
+  if (!String(form.toolCode || '').trim()) {
+    ElMessage.warning('请选择已标定的末端工具'); emit('save-error'); return
+  }
+  if (!String(form.profileCode || '').trim()) {
+    ElMessage.warning('分析配置不能为空'); emit('save-error'); return
+  }
+  if (Number(form.minDepth) >= Number(form.maxDepth)) {
+    ElMessage.warning('最大深度必须大于最小深度'); emit('save-error'); return
+  }
+  form.autoMove = false
+  const requiredNames = new Set(['cameraDeviceId', 'armDeviceId', 'profileCode', 'toolCode'])
+  if (form.analysisMethod !== 'REFERENCE_MATCH') requiredNames.add('prompt')
+  if (form.matchSelector === 'INDEX' && matchIndexMode.value === 'quote' && !matchIndexQuote.value.length) {
+    ElMessage.warning('请选择用于匹配序号的上游输出'); emit('save-error'); return
+  }
+  const nodeParams = Object.entries(form)
+    .filter(([name]) => name !== 'matchIndex')
+    .map(([name, input]) => ({ name, type: 'input', input, required: requiredNames.has(name) }))
+  if (form.matchSelector === 'INDEX' && matchIndexMode.value === 'quote') {
+    nodeParams.push({ name: 'matchIndex', type: 'quote', input: '', quote: [...matchIndexQuote.value],
+      quoteType: matchIndexQuote.value[1] === 'input' ? 'input' : 'output', required: true })
+  } else {
+    nodeParams.push({ name: 'matchIndex', type: 'input', input: form.matchIndex, required: false })
+  }
+  const properties = {
+    ...props.data.properties,
+    visionConfigMode: configMode.value,
+    nodeParams,
+    outputType: 'json',
+    outputParams: [
+      { name: 'objectPoint', type: 'object', desc: '目标基座坐标', children: pointChildren },
+      { name: 'surfaceNormal', type: 'object', desc: '手机表面法向', children: pointChildren },
+      { name: 'approachTcpPose', type: 'object', desc: '安全接近工具位姿', children: poseChildren },
+      { name: 'contactTcpPose', type: 'object', desc: '最终接触工具位姿', children: poseChildren },
+      { name: 'approachFlangePose', type: 'object', desc: '安全接近法兰位姿', children: poseChildren },
+      { name: 'contactFlangePose', type: 'object', desc: '最终接触法兰位姿', children: poseChildren },
+      { name: 'pixel', type: 'object', desc: '目标像素坐标', children: [] },
+      { name: 'depth', type: 'number', desc: '目标深度' },
+      { name: 'depthUnitScale', type: 'number', desc: '深度单位比例' },
+      { name: 'intrinsics', type: 'object', desc: '相机内参', children: [] },
+    ],
+    executionTarget: {
+      ...(props.data.properties.executionTarget || {}),
+      roleKey: resource.roleKey,
+      dispatchPolicy: 'ONE',
+      deviceBindings: [
+        resource.cameraSlotKey && { parameterName: 'cameraDeviceId', slotKey: resource.cameraSlotKey },
+        resource.armSlotKey && { parameterName: 'armDeviceId', slotKey: resource.armSlotKey },
+      ].filter(Boolean),
+    },
+  }
+  globalThis.lf.setProperties(props.data.id, properties)
+  emit('save-success')
+}
+
+defineExpose({ validateAndSave })
+</script>
+
+<style scoped lang="scss">
+.vision-locate-params { padding-top: 16px; padding-bottom: 24px; }
+.intro { margin-bottom: 20px; padding: 14px 16px; border-left: 3px solid var(--el-color-primary); background: var(--el-fill-color-light); }
+.intro__title { color: var(--el-text-color-primary); font-weight: 650; }
+.intro__desc, .field-hint, .field-warning { margin-top: 5px; color: var(--el-text-color-secondary); font-size: 12px; line-height: 18px; }
+.field-warning { color: var(--el-color-warning-dark-2); }
+.section-heading { margin: 22px 0 14px; padding-bottom: 9px; border-bottom: 1px solid var(--el-border-color-lighter); color: var(--el-text-color-primary); font-size: 14px; font-weight: 650; }
+.movement-warning { margin: 2px 0 18px; }
+.parameter-summary { margin: 6px 0 20px; padding: 12px 14px; border: 1px solid var(--el-border-color-lighter); border-radius: 6px; background: var(--el-fill-color-extra-light); }
+.parameter-summary__head, .summary-row { display: flex; min-height: 32px; align-items: center; justify-content: space-between; gap: 12px; }
+.parameter-summary__head { margin-bottom: 4px; color: var(--el-text-color-primary); font-weight: 650; }
+.summary-row { color: var(--el-text-color-regular); font-size: 13px; }
+.summary-row strong { font-weight: 500; }
+.advanced-settings { margin: 6px 0 20px; border-top: 1px solid var(--el-border-color-lighter); }
+.advanced-settings :deep(.el-collapse-item__header) { min-height: 50px; height: auto; }
+.advanced-settings :deep(.el-collapse-item__content) { padding: 6px 2px 10px; }
+.collapse-title { display: flex; min-width: 0; align-items: center; gap: 8px; }
+.output-list { display: grid; gap: 8px; }
+.output-item { display: flex; gap: 12px; align-items: baseline; color: var(--el-text-color-regular); font-size: 13px; }
+.output-item code { min-width: 104px; color: var(--el-color-primary); }
+:deep(.el-input-number) { width: 100%; }
+:deep(.el-segmented) { width: 100%; }
+</style>
diff --git a/src/views/resource/visionCalibration/index.vue b/src/views/resource/visionCalibration/index.vue
new file mode 100644
index 0000000..8aa7267
--- /dev/null
+++ b/src/views/resource/visionCalibration/index.vue
@@ -0,0 +1,371 @@
+<template>
+  <div class="app-container calibration-page">
+    <div class="page-heading">
+      <div>
+        <h2>视觉标定管理</h2>
+        <p>管理每台机器人的手眼标定和末端工具 TCP。工作流自动使用当前启用版本。</p>
+      </div>
+      <div class="heading-actions">
+        <el-button :icon="Camera" type="primary" @click="openHandEye">新建手眼标定</el-button>
+        <el-button :icon="Aim" @click="openTool">新增工具 TCP</el-button>
+      </div>
+    </div>
+
+    <div class="filters">
+      <el-segmented v-model="query.profileType" :options="profileTypeOptions" @change="loadProfiles" />
+      <el-select v-model="query.robotId" clearable filterable placeholder="全部机器人" @change="loadProfiles">
+        <el-option v-for="robot in robots" :key="robot.robotId" :label="robotLabel(robot)" :value="robot.robotId" />
+      </el-select>
+      <el-input v-model="query.keyword" clearable placeholder="搜索方案或工具" :prefix-icon="Search" @keyup.enter="loadProfiles" />
+      <el-button :icon="Refresh" @click="loadProfiles">刷新</el-button>
+    </div>
+
+    <el-table v-loading="loading" :data="profiles" row-key="id" empty-text="暂无标定方案">
+      <el-table-column label="方案" min-width="190">
+        <template #default="{ row }">
+          <strong>{{ row.profileName }}</strong>
+          <div class="secondary">{{ row.profileType === 'HAND_EYE' ? '手眼标定' : `工具 · ${row.toolCode}` }}</div>
+        </template>
+      </el-table-column>
+      <el-table-column label="机器人/设备" min-width="260">
+        <template #default="{ row }">
+          <div>{{ robotName(row.robotId) }}</div>
+          <div class="secondary">机械臂 {{ row.armDeviceId }}</div>
+          <div v-if="row.cameraDeviceId" class="secondary">相机 {{ row.cameraDeviceId }}</div>
+        </template>
+      </el-table-column>
+      <el-table-column label="版本" width="80" align="center"><template #default="{ row }">V{{ row.versionNo }}</template></el-table-column>
+      <el-table-column label="验证误差" width="150">
+        <template #default="{ row }">
+          <span v-if="row.maxErrorMm != null" :class="Number(row.maxErrorMm) > 1 ? 'error-value' : 'ok-value'">
+            最大 {{ Number(row.maxErrorMm).toFixed(2) }} mm
+          </span>
+          <span v-else class="secondary">待验证</span>
+          <div v-if="row.meanErrorMm != null" class="secondary">平均 {{ Number(row.meanErrorMm).toFixed(2) }} mm</div>
+        </template>
+      </el-table-column>
+      <el-table-column label="状态" width="110" align="center">
+        <template #default="{ row }">
+          <el-tag :type="statusType(row.status)" effect="plain">{{ statusLabel(row.status) }}</el-tag>
+          <div v-if="row.forcedEnabled" class="forced-label">人工启用</div>
+        </template>
+      </el-table-column>
+      <el-table-column label="验证时间" prop="verifiedTime" width="170"><template #default="{ row }">{{ row.verifiedTime || '-' }}</template></el-table-column>
+      <el-table-column label="操作" width="285" fixed="right">
+        <template #default="{ row }">
+          <el-button link type="primary" @click="openCorrection(row)">微调</el-button>
+          <el-button link type="primary" :disabled="row.status === 'INVALID'" @click="verifyProfile(row)">验证</el-button>
+          <el-button v-if="row.status !== 'ACTIVE'" link type="success" :disabled="!row.verifiedTime" @click="activateProfile(row)">启用</el-button>
+          <el-button link type="danger" :disabled="row.status === 'INVALID'" @click="invalidateProfile(row)">失效</el-button>
+        </template>
+      </el-table-column>
+    </el-table>
+
+    <el-dialog v-model="setupOpen" :title="setupType === 'HAND_EYE' ? '新建手眼标定' : '新增工具 TCP'" width="620px" destroy-on-close>
+      <el-alert
+        :title="setupType === 'HAND_EYE' ? '先使用示教按钮将相机移动到能看清唯一方形标定码的位置，并确认周围无障碍。' : '先将相机移动到能看清该工具方向标定码的位置。'"
+        type="info" show-icon :closable="false" class="dialog-alert"
+      />
+      <el-form ref="setupRef" :model="setup" :rules="setupRules" label-position="top">
+        <el-form-item label="机器人" prop="robotId">
+          <el-select v-model="setup.robotId" filterable style="width: 100%" @change="loadSetupDevices">
+            <el-option v-for="robot in robots" :key="robot.robotId" :label="robotLabel(robot)" :value="robot.robotId" />
+          </el-select>
+        </el-form-item>
+        <el-form-item label="机械臂" prop="armDeviceId">
+          <el-select v-model="setup.armDeviceId" filterable style="width: 100%"><el-option v-for="item in armDevices" :key="item.deviceId" :label="deviceLabel(item)" :value="item.deviceId" /></el-select>
+        </el-form-item>
+        <el-form-item label="深度相机" prop="cameraDeviceId">
+          <el-select v-model="setup.cameraDeviceId" filterable style="width: 100%"><el-option v-for="item in cameraDevices" :key="item.deviceId" :label="deviceLabel(item)" :value="item.deviceId" /></el-select>
+        </el-form-item>
+        <el-form-item label="方案名称" prop="profileName"><el-input v-model="setup.profileName" placeholder="例如：右臂末端相机" /></el-form-item>
+        <template v-if="setupType === 'TOOL_TCP'">
+          <el-form-item label="工具标识" prop="toolCode">
+            <el-input v-model="setup.toolCode" placeholder="稳定标识，例如 pen、suction，不建议后续修改" />
+          </el-form-item>
+        </template>
+        <template v-else>
+          <el-row :gutter="12">
+            <el-col :span="12"><el-form-item label="平移范围"><el-input-number v-model="setup.translationRangeMm" :min="5" :max="20" /><span class="unit">mm</span></el-form-item></el-col>
+            <el-col :span="12"><el-form-item label="旋转范围"><el-input-number v-model="setup.rotationRangeDeg" :min="3" :max="10" /><span class="unit">°</span></el-form-item></el-col>
+          </el-row>
+          <el-form-item label="标定码外框边长"><el-input-number v-model="setup.markerSizeMm" :min="10" :max="100" /><span class="unit">mm</span></el-form-item>
+        </template>
+      </el-form>
+      <template #footer>
+        <el-button @click="setupOpen = false">取消</el-button>
+        <el-button type="primary" :loading="starting" @click="startSetup">开始标定</el-button>
+      </template>
+    </el-dialog>
+
+    <el-dialog v-model="sessionOpen" title="标定进行中" width="760px" :close-on-click-modal="false" :before-close="closeSession">
+      <div class="session-status">
+        <div class="session-status__top">
+          <strong>{{ session.message }}</strong>
+          <el-tag :type="sessionStatusType">{{ sessionStatusLabel }}</el-tag>
+        </div>
+        <el-progress :percentage="sessionPercent" :status="session.status === 'FAILED' ? 'exception' : (session.status === 'COMPLETED' ? 'success' : '')" />
+        <div class="secondary">已记录 {{ session.sampleCount || 0 }} 组 · 步骤 {{ session.currentStep || 0 }}/{{ session.totalSteps || 0 }}</div>
+      </div>
+
+      <div v-if="session.imageUrl" class="marker-preview">
+        <svg v-if="session.imageWidth && session.imageHeight" :viewBox="`0 0 ${session.imageWidth} ${session.imageHeight}`" role="img" aria-label="标定码识别画面">
+          <image :href="session.imageUrl" x="0" y="0" :width="session.imageWidth" :height="session.imageHeight" />
+          <polygon v-if="markerPolygon" :points="markerPolygon" class="marker-outline" />
+          <g v-if="targetCorner">
+            <circle :cx="targetCorner[0]" :cy="targetCorner[1]" r="10" class="target-corner" />
+            <line :x1="targetCorner[0] - 18" :y1="targetCorner[1]" :x2="targetCorner[0] + 18" :y2="targetCorner[1]" class="target-cross" />
+            <line :x1="targetCorner[0]" :y1="targetCorner[1] - 18" :x2="targetCorner[0]" :y2="targetCorner[1] + 18" class="target-cross" />
+          </g>
+        </svg>
+        <img v-else :src="session.imageUrl" alt="标定码识别画面" />
+        <div class="marker-preview__caption">绿色边框为识别结果；黄色十字是工具定点标定统一使用的规范角点。</div>
+      </div>
+
+      <div v-if="isToolSession && session.status === 'RUNNING'" class="tool-actions">
+        <div class="tool-step">
+          <span class="tool-step__number">1</span>
+          <div><strong>定点旋转</strong><p>使用示教按钮让工具中心对准标定码规范角点，每次明显改变末端角度。</p></div>
+          <el-button type="primary" :loading="recording" @click="recordPivot">记录当前位姿</el-button>
+        </div>
+        <div class="tool-step">
+          <span class="tool-step__number">2</span>
+          <div><strong>安全方向</strong><p>样本足够后，让工具垂直贴合标定码平面，再记录工具工作朝向。</p></div>
+          <el-button :disabled="!canRecordDirection" :loading="recording" @click="recordDirection">记录方向并完成</el-button>
+        </div>
+      </div>
+
+      <div v-if="session.status === 'COMPLETED'" class="result-strip">
+        <div><span>平均误差</span><strong>{{ formatError(session.meanErrorMm) }}</strong></div>
+        <div><span>最大误差</span><strong :class="Number(session.maxErrorMm) > 1 ? 'error-value' : 'ok-value'">{{ formatError(session.maxErrorMm) }}</strong></div>
+        <div v-if="session.directionErrorDeg != null"><span>方向误差</span><strong>{{ Number(session.directionErrorDeg).toFixed(2) }}°</strong></div>
+      </div>
+      <template #footer>
+        <el-button v-if="session.status === 'RUNNING'" type="danger" plain @click="stopSession">停止并保持当前位置</el-button>
+        <el-button v-else type="primary" @click="finishSessionDialog">完成</el-button>
+      </template>
+    </el-dialog>
+
+    <el-dialog v-model="correctionOpen" title="六自由度人工微调" width="620px">
+      <el-alert title="修正不会覆盖算法原始矩阵。保存后方案进入待验证状态，必须完成快速验证才能重新启用。" type="warning" :closable="false" show-icon />
+      <el-form :model="correction" label-position="top" class="correction-form">
+        <el-divider content-position="left">位置修正（毫米）</el-divider>
+        <el-row :gutter="12"><el-col v-for="axis in ['xMm','yMm','zMm']" :key="axis" :span="8"><el-form-item :label="axis[0].toUpperCase()"><el-input-number v-model="correction[axis]" :step="0.1" :precision="2" /></el-form-item></el-col></el-row>
+        <el-divider content-position="left">角度修正（度）</el-divider>
+        <el-row :gutter="12"><el-col v-for="axis in ['rxDeg','ryDeg','rzDeg']" :key="axis" :span="8"><el-form-item :label="axis.slice(0,2).toUpperCase()"><el-input-number v-model="correction[axis]" :step="0.1" :precision="2" /></el-form-item></el-col></el-row>
+      </el-form>
+      <template #footer><el-button @click="correctionOpen = false">取消</el-button><el-button type="primary" @click="saveCorrection">保存并等待验证</el-button></template>
+    </el-dialog>
+  </div>
+</template>
+
+<script setup name="VisionCalibration">
+import { computed, onBeforeUnmount, onMounted, reactive, ref } from 'vue'
+import { Aim, Camera, Refresh, Search } from '@element-plus/icons-vue'
+import { ElMessage, ElMessageBox } from 'element-plus'
+import { getRobotDevicesByRobotId, getRobotList } from '@/api/resource/robot'
+import {
+  activateCalibrationProfile, calibrationHeartbeat, getCalibrationSession, invalidateCalibrationProfile,
+  listCalibrationProfiles, recordToolDirection, recordToolPivot, startCalibrationVerification,
+  startHandEyeCalibration, startToolCalibration, stopCalibrationSession, updateCalibrationCorrection,
+} from '@/api/resource/visionCalibration'
+
+const profileTypeOptions = [{ label: '手眼标定', value: 'HAND_EYE' }, { label: '工具 TCP', value: 'TOOL_TCP' }]
+const query = reactive({ profileType: 'HAND_EYE', robotId: '', keyword: '' })
+const loading = ref(false)
+const profiles = ref([])
+const robots = ref([])
+const setupOpen = ref(false)
+const setupType = ref('HAND_EYE')
+const setupRef = ref()
+const starting = ref(false)
+const armDevices = ref([])
+const cameraDevices = ref([])
+const sessionOpen = ref(false)
+const session = reactive({})
+const recording = ref(false)
+const correctionOpen = ref(false)
+const correctionProfile = ref(null)
+const correction = reactive({ xMm: 0, yMm: 0, zMm: 0, rxDeg: 0, ryDeg: 0, rzDeg: 0 })
+let pollTimer
+let heartbeatTimer
+
+const emptySetup = () => ({ profileName: '', toolCode: '', robotId: '', armDeviceId: '', cameraDeviceId: '', translationRangeMm: 10, rotationRangeDeg: 5, markerSizeMm: 20, velocity: 0.01, acceleration: 0.03, settleTimeMs: 500 })
+const setup = reactive(emptySetup())
+const setupRules = {
+  robotId: [{ required: true, message: '请选择机器人', trigger: 'change' }],
+  armDeviceId: [{ required: true, message: '请选择机械臂', trigger: 'change' }],
+  cameraDeviceId: [{ required: true, message: '请选择深度相机', trigger: 'change' }],
+  profileName: [{ required: true, message: '请输入方案名称', trigger: 'blur' }],
+  toolCode: [{ required: true, message: '请输入稳定的工具标识', trigger: 'blur' }],
+}
+
+const robotLabel = robot => `${robot.robotName || robot.robotId}${robot.connectStatus === '1' ? ' · 在线' : ' · 离线'}`
+const robotName = robotId => robots.value.find(item => item.robotId === robotId)?.robotName || robotId
+const deviceLabel = device => device.deviceName && device.deviceName !== device.deviceId ? `${device.deviceName} (${device.deviceId})` : device.deviceId
+const statusLabel = status => ({ ACTIVE: '已启用', DRAFT: '待验证', INVALID: '已失效' }[status] || status)
+const statusType = status => ({ ACTIVE: 'success', DRAFT: 'warning', INVALID: 'info' }[status] || 'info')
+const isToolSession = computed(() => ['TOOL_TCP', 'TOOL_VERIFY'].includes(session.sessionType))
+const requiredToolSamples = computed(() => session.sessionType === 'TOOL_VERIFY' ? 3 : 5)
+const canRecordDirection = computed(() => Number(session.sampleCount || 0) >= requiredToolSamples.value)
+const sessionPercent = computed(() => session.totalSteps ? Math.min(100, Math.round((session.currentStep || 0) * 100 / session.totalSteps)) : 0)
+const sessionStatusLabel = computed(() => ({ RUNNING: '进行中', COMPLETED: '已完成', FAILED: '失败', CANCELLED: '已停止' }[session.status] || session.status))
+const sessionStatusType = computed(() => ({ RUNNING: 'primary', COMPLETED: 'success', FAILED: 'danger', CANCELLED: 'info' }[session.status] || 'info'))
+const markerPolygon = computed(() => (session.markerCorners || []).map(point => point.join(',')).join(' '))
+const targetCorner = computed(() => session.markerCorners?.[0])
+const formatError = value => value == null ? '-' : `${Number(value).toFixed(2)} mm`
+
+async function loadRobots() {
+  const response = await getRobotList({ pageNum: 1, pageSize: 1000 })
+  robots.value = response.rows || []
+}
+async function loadProfiles() {
+  loading.value = true
+  try {
+    const response = await listCalibrationProfiles(query)
+    profiles.value = response.data || []
+  } finally { loading.value = false }
+}
+function resetSetup(type) {
+  setupType.value = type
+  Object.assign(setup, emptySetup())
+  armDevices.value = []
+  cameraDevices.value = []
+  setupOpen.value = true
+}
+function openHandEye() { resetSetup('HAND_EYE') }
+function openTool() { resetSetup('TOOL_TCP') }
+async function loadSetupDevices(robotId) {
+  setup.armDeviceId = ''
+  setup.cameraDeviceId = ''
+  if (!robotId) return
+  const [arms, cameras] = await Promise.all([
+    getRobotDevicesByRobotId(robotId, { deviceKind: 2 }),
+    getRobotDevicesByRobotId(robotId, { deviceKind: 5 }),
+  ])
+  armDevices.value = arms.data || []
+  cameraDevices.value = cameras.data || []
+  if (armDevices.value.length === 1) setup.armDeviceId = armDevices.value[0].deviceId
+  if (cameraDevices.value.length === 1) setup.cameraDeviceId = cameraDevices.value[0].deviceId
+}
+async function startSetup() {
+  await setupRef.value.validate()
+  starting.value = true
+  try {
+    const response = setupType.value === 'HAND_EYE' ? await startHandEyeCalibration(setup) : await startToolCalibration(setup)
+    setupOpen.value = false
+    openSession(response.data)
+  } finally { starting.value = false }
+}
+function openSession(value) {
+  Object.assign(session, value || {})
+  sessionOpen.value = true
+  startSessionTimers()
+}
+function startSessionTimers() {
+  clearSessionTimers()
+  if (!session.sessionId || session.status !== 'RUNNING') return
+  heartbeatTimer = setInterval(() => calibrationHeartbeat(session.sessionId).catch(() => {}), 2000)
+  pollTimer = setInterval(refreshSession, 1200)
+}
+async function refreshSession() {
+  if (!session.sessionId) return
+  const response = await getCalibrationSession(session.sessionId)
+  Object.assign(session, response.data || {})
+  if (session.status !== 'RUNNING') clearSessionTimers()
+}
+function clearSessionTimers() { clearInterval(pollTimer); clearInterval(heartbeatTimer); pollTimer = null; heartbeatTimer = null }
+async function stopSession() {
+  await stopCalibrationSession(session.sessionId)
+  await refreshSession()
+}
+async function closeSession(done) {
+  if (session.status === 'RUNNING') {
+    await ElMessageBox.confirm('关闭页面将停止标定，机械臂保持当前位置。是否继续？', '停止标定', { type: 'warning' })
+    await stopSession()
+  }
+  clearSessionTimers()
+  done()
+}
+function finishSessionDialog() { sessionOpen.value = false; clearSessionTimers(); loadProfiles() }
+async function recordPivot() {
+  recording.value = true
+  try { Object.assign(session, (await recordToolPivot(session.sessionId)).data || {}) }
+  finally { recording.value = false }
+}
+async function recordDirection() {
+  recording.value = true
+  try { Object.assign(session, (await recordToolDirection(session.sessionId)).data || {}); clearSessionTimers(); loadProfiles() }
+  finally { recording.value = false }
+}
+function openCorrection(row) {
+  correctionProfile.value = row
+  let stored = {}
+  try { stored = JSON.parse(row.correctionJson || '{}') } catch { stored = {} }
+  Object.assign(correction, { xMm: 0, yMm: 0, zMm: 0, rxDeg: 0, ryDeg: 0, rzDeg: 0 }, stored)
+  correctionOpen.value = true
+}
+async function saveCorrection() {
+  await updateCalibrationCorrection(correctionProfile.value.id, correction)
+  correctionOpen.value = false
+  ElMessage.success('修正已保存，请执行快速验证')
+  loadProfiles()
+}
+async function verifyProfile(row) { openSession((await startCalibrationVerification(row.id)).data) }
+async function activateProfile(row) {
+  const forced = Number(row.maxErrorMm) > 1
+  if (forced) await ElMessageBox.confirm('验证误差超过1毫米，启用后可能影响定位精度。确认人工启用？', '超差方案', { type: 'warning' })
+  await activateCalibrationProfile(row.id, forced)
+  ElMessage.success('当前版本已启用')
+  loadProfiles()
+}
+async function invalidateProfile(row) {
+  await ElMessageBox.confirm('失效后工作流不会再使用此版本，是否继续？', '标记失效', { type: 'warning' })
+  await invalidateCalibrationProfile(row.id)
+  loadProfiles()
+}
+
+onMounted(async () => { await loadRobots(); await loadProfiles() })
+onBeforeUnmount(() => clearSessionTimers())
+</script>
+
+<style scoped lang="scss">
+.calibration-page { min-width: 0; }
+.page-heading { display: flex; margin-bottom: 20px; align-items: flex-start; justify-content: space-between; gap: 20px; }
+.page-heading h2 { margin: 0 0 6px; color: #1f2937; font-size: 20px; letter-spacing: 0; }
+.page-heading p, .secondary { margin: 0; color: #667085; font-size: 12px; line-height: 18px; }
+.heading-actions, .filters { display: flex; align-items: center; gap: 10px; }
+.filters { margin-bottom: 16px; }
+.filters .el-select { width: 220px; }
+.filters .el-input { width: 240px; }
+.error-value { color: var(--el-color-danger); }
+.ok-value { color: var(--el-color-success); }
+.forced-label { margin-top: 3px; color: var(--el-color-warning-dark-2); font-size: 11px; }
+.dialog-alert { margin-bottom: 18px; }
+.unit { margin-left: 8px; color: #667085; font-size: 12px; }
+.session-status { padding: 14px 16px; background: var(--el-fill-color-light); border-radius: 6px; }
+.session-status__top { display: flex; margin-bottom: 12px; align-items: center; justify-content: space-between; gap: 12px; }
+.marker-preview { margin-top: 16px; text-align: center; }
+.marker-preview img, .marker-preview svg { display: block; width: 100%; max-height: 320px; object-fit: contain; background: #111827; border-radius: 4px; }
+.marker-outline { fill: none; stroke: #22c55e; stroke-width: 3; vector-effect: non-scaling-stroke; }
+.target-corner { fill: rgba(250, 204, 21, .2); stroke: #facc15; stroke-width: 3; vector-effect: non-scaling-stroke; }
+.target-cross { stroke: #facc15; stroke-width: 3; vector-effect: non-scaling-stroke; }
+.marker-preview__caption { margin-top: 7px; color: #667085; font-size: 12px; }
+.tool-actions { display: grid; gap: 10px; margin-top: 16px; }
+.tool-step { display: grid; grid-template-columns: 32px 1fr auto; padding: 12px; align-items: center; gap: 12px; border: 1px solid var(--el-border-color-lighter); border-radius: 6px; }
+.tool-step__number { display: grid; width: 28px; height: 28px; place-items: center; border-radius: 50%; background: var(--el-color-primary-light-9); color: var(--el-color-primary); font-weight: 700; }
+.tool-step p { margin: 4px 0 0; color: #667085; font-size: 12px; }
+.result-strip { display: grid; grid-template-columns: repeat(3, 1fr); margin-top: 16px; border: 1px solid var(--el-border-color-lighter); border-radius: 6px; }
+.result-strip > div { display: flex; padding: 13px; flex-direction: column; gap: 4px; border-right: 1px solid var(--el-border-color-lighter); }
+.result-strip > div:last-child { border-right: 0; }
+.result-strip span { color: #667085; font-size: 12px; }
+.correction-form { margin-top: 12px; }
+.correction-form :deep(.el-input-number) { width: 100%; }
+@media (max-width: 760px) {
+  .page-heading, .filters { align-items: stretch; flex-direction: column; }
+  .heading-actions { display: grid; grid-template-columns: 1fr 1fr; }
+  .filters .el-select, .filters .el-input { width: 100%; }
+  .tool-step { grid-template-columns: 32px 1fr; }
+  .tool-step .el-button { grid-column: 2; justify-self: start; }
+}
+</style>