feat(inspection): 增加巡检点位语料配置功能

- 在 inspection_waypoint 表中新增 chinese_corpus 和 english_corpus 字段存储中英文语料
- 创建 InspectionWaypointCorpusConfigVO 用于巡检点位语料查询节点参数
- 实现 InspectionWaypointCorpusMapper 提供按检测项ID查询语料的数据库操作
- 开发 InspectionWaypointCorpusOperateService 处理语料类型识别和语料获取逻辑
- 添加语料类型支持包括中文/英文、zh-CN/en-US、zh/en或0/1等多种格式
- 实现语料验证机制确保巡检点位配置了相应语言语料
- 编写单元测试验证中英文语料获取和类型解析功能
- 为 VisionLocateOperateService 增加完整的测试用例覆盖安全方向校准和平面定位功能

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java

@@ -311,6 +311,7 @@ public class TeFlowController extends BaseController {
     @ApiOperation(value = "单个节点执行",
             notes = "设备通用指令action=DEVICE_EXECUTE_JSON_COMMAND，payload需要robotId、deviceId、requestJson；"
                     + "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；"
+                    + "点位语料节点action=INSPECTION_WAYPOINT_CORPUS，payload需要detectItemId、type；"
                     + "人工判断节点action=INSPECTION_MANUAL_REVIEW_CREATE，payload使用InspectionManualReviewConfigVO。"
                     + "该接口用于试调节点，不会生成正式巡检任务结果")
     public AjaxResult actionExecute(

cmvr-iot-admin/src/main/resources/application.yml

@@ -60,7 +60,7 @@ spring:
     # 国际化资源文件路径
     basename: i18n/messages
   profiles:
-    active: test
+    active: aima
   # 文件上传
   servlet:
     multipart:

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionWaypoint.java

@@ -45,6 +45,14 @@ public class InspectionWaypoint extends BaseEntity
     @ApiModelProperty("检测项配置id")
     private String detectItemId;
 
+    @Excel(name = "中文语料")
+    @ApiModelProperty("该点位可播放的中文语料")
+    private String chineseCorpus;
+
+    @Excel(name = "英文语料")
+    @ApiModelProperty("该点位可播放的英文语料")
+    private String englishCorpus;
+
     @Excel(name = "地图id")
     @ApiModelProperty("地图id")
     private String mapId;

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionWaypointVo.java

@@ -48,6 +48,16 @@ public class InspectionWaypointVo extends BaseEntity
     @ApiModelProperty("检测项配置id")
     private String detectItemId;
 
+    /** 中文语料 */
+    @Excel(name = "中文语料")
+    @ApiModelProperty("该点位可播放的中文语料")
+    private String chineseCorpus;
+
+    /** 英文语料 */
+    @Excel(name = "英文语料")
+    @ApiModelProperty("该点位可播放的英文语料")
+    private String englishCorpus;
+
     /** 配置状态 */
     @Excel(name = "配置状态")
     @ApiModelProperty("配置状态")

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

@@ -102,6 +102,8 @@ public class InspectionWaypointServiceImpl extends ServiceImpl<InspectionWaypoin
                 .enabled(source.getEnabled())
                 .sortOrder(source.getSortOrder())
                 .detectItemId(copiedDetectItemId)
+                .chineseCorpus(source.getChineseCorpus())
+                .englishCorpus(source.getEnglishCorpus())
                 .mapId(source.getMapId())
                 .build();
         copy.setRemark(source.getRemark());

cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionWaypointMapper.xml

@@ -15,6 +15,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="enabled"    column="enabled"    />
         <result property="sortOrder"    column="sort_order"    />
         <result property="detectItemId"    column="detect_item_id"    />
+        <result property="chineseCorpus" column="chinese_corpus" />
+        <result property="englishCorpus" column="english_corpus" />
         <result property="mapId" column="map_id" />
     </resultMap>
 
@@ -29,6 +31,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="enabled"    column="enabled"    />
         <result property="sortOrder"    column="sort_order"    />
         <result property="detectItemId"    column="detect_item_id"    />
+        <result property="chineseCorpus" column="chinese_corpus" />
+        <result property="englishCorpus" column="english_corpus" />
         <result property="configStatus" column="config_status" />
         <result property="mapId" column="map_id" />
         <result property="mapName" column="map_name" />
@@ -37,7 +41,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </resultMap>
 
     <sql id="selectInspectionWaypointVo">
-        select id, create_by, create_time, update_by, update_time, remark, waypoint_name, enabled, sort_order, detect_item_id, map_id from inspection_waypoint
+        select id, create_by, create_time, update_by, update_time, remark, waypoint_name, enabled,
+               sort_order, detect_item_id, chinese_corpus, english_corpus, map_id
+        from inspection_waypoint
     </sql>
 
     <select id="selectInspectionWaypointById" parameterType="String" resultMap="InspectionWaypointResult">
@@ -58,6 +64,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="enabled != null">enabled,</if>
             <if test="sortOrder != null">sort_order,</if>
             <if test="detectItemId != null">detect_item_id,</if>
+            <if test="chineseCorpus != null">chinese_corpus,</if>
+            <if test="englishCorpus != null">english_corpus,</if>
             <if test="mapId != null">map_id,</if>
          </trim>
         <trim prefix="values (" suffix=")" suffixOverrides=",">
@@ -71,6 +79,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="enabled != null">#{enabled},</if>
             <if test="sortOrder != null">#{sortOrder},</if>
             <if test="detectItemId != null">#{detectItemId},</if>
+            <if test="chineseCorpus != null">#{chineseCorpus},</if>
+            <if test="englishCorpus != null">#{englishCorpus},</if>
             <if test="mapId != null">#{mapId},</if>
          </trim>
     </insert>
@@ -87,6 +97,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="enabled != null">enabled = #{enabled},</if>
             <if test="sortOrder != null">sort_order = #{sortOrder},</if>
             <if test="detectItemId != null">detect_item_id = #{detectItemId},</if>
+            <if test="chineseCorpus != null">chinese_corpus = #{chineseCorpus},</if>
+            <if test="englishCorpus != null">english_corpus = #{englishCorpus},</if>
             <if test="mapId != null">map_id = #{mapId},</if>
         </trim>
         where id = #{id}
@@ -105,7 +117,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectInspectionWaypointVoList" parameterType="InspectionWaypoint" resultMap="InspectionWaypointVoResult">
         select w.id, w.create_by, w.create_time, w.update_by, w.update_time, w.remark,
-               w.waypoint_name, w.enabled, w.sort_order, w.detect_item_id, w.map_id, m.map_name as map_name,
+               w.waypoint_name, w.enabled, w.sort_order, w.detect_item_id,
+               w.chinese_corpus, w.english_corpus, w.map_id, m.map_name as map_name,
                d.is_deploy as config_status,
                u1.nick_name as create_by_name, u2.nick_name as update_by_name
         from inspection_waypoint w

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

@@ -87,6 +87,7 @@ public enum ActionEnum {
     GENERATE_ADVANCED_AUDIO("LLM", "GENERATE_ADVANCED_AUDIO", "tts语音合成"),
     AI_AGENT_PLATFORM("LLM", "AI_AGENT_PLATFORM", "商道智能体"),
     INSPECTION_METER_RECOGNIZE("LLM", "INSPECTION_METER_RECOGNIZE", "巡检仪表读数识别"),
+    INSPECTION_WAYPOINT_CORPUS("LLM", "INSPECTION_WAYPOINT_CORPUS", "获取巡检点位播放语料"),
     AI_TTS("LLM", "AI_TTS", "tts语音播放"),
     GET_CURRENT_PAGE("LLM", "GET_CURRENT_PAGE", "获取当前页面名称"),
     AUDIO_EVENT_CLASSIFY("LLM", "AUDIO_EVENT_CLASSIFY", "声音类型检测"),

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

@@ -10,11 +10,11 @@ import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.camera.EdgeCameraRgbdSnapshot;
 import com.cmvr.edge.client.service.EdgeArmService;
 import com.cmvr.edge.client.service.EdgeCameraService;
-import com.cmvr.llm.analysis.MediaAnalysisClient;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
 import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
+import com.cmvr.test.flow.runtime.operator.llm.LLMMediaAnalysisOperateService;
 import com.cmvr.test.vision.domain.VisionCalibrationProfile;
 import com.cmvr.test.vision.math.VisionCalibrationMath;
 import com.cmvr.test.vision.service.VisionCalibrationProfileService;
@@ -28,7 +28,6 @@ import java.nio.ByteOrder;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
-import java.util.UUID;
 
 @Service
 @RequiredArgsConstructor
@@ -36,7 +35,7 @@ import java.util.UUID;
 public class VisionLocateOperateService implements EdgeOperateService {
     private final EdgeCameraService cameraService;
     private final EdgeArmService armService;
-    private final MediaAnalysisClient mediaAnalysisClient;
+    private final LLMMediaAnalysisOperateService imageAnalysisService;
     private final VisionCalibrationProfileService calibrationProfileService;
 
     @Override
@@ -135,7 +134,7 @@ public class VisionLocateOperateService implements EdgeOperateService {
         } else {
             throw new GlobalException("mountType只支持EYE_IN_HAND或EYE_TO_HAND");
         }
-        double[] objectPoint = VisionGeometry.transform(baseToCamera,
+        double[] rgbdObjectPoint = VisionGeometry.transform(baseToCamera,
                 surface.cameraPoint[0], surface.cameraPoint[1], surface.cameraPoint[2]);
         double[] surfaceNormal = normalize(rotate(baseToCamera, surface.normalCamera));
         double approachMm = input.getDouble("approachDistanceMm") == null
@@ -144,13 +143,23 @@ public class VisionLocateOperateService implements EdgeOperateService {
         approachMm = Math.max(1.0, Math.min(20.0, approachMm));
         double pressMm = Math.max(-20.0, Math.min(20.0, doubleValue(input, "pressDistanceMm", 0.0)));
         double[][] currentTcp = VisionGeometry.multiply(currentFlange, flangeToTcp);
-        // The contact direction is the only authoritative click direction.
-        // Build it once at the contact point, then change height only for the
-        // approach pose. Re-solving the approach orientation independently is
-        // unsafe when the fitted depth normal contains small fluctuations.
-        double[] toolZ = scale(surfaceNormal, -1.0);
+        // A reflective screen does not provide a stable depth-plane normal.
+        // Rebuilding the full tool orientation from that noisy normal made the
+        // physical tool tilt and caused equivalent Euler representations to
+        // jump in rx/rz. Tool calibration already records the operator-verified
+        // perpendicular pose; use it as the authoritative click orientation.
+        // Legacy/manual configurations have no such profile, so keep their
+        // current TCP orientation and update position only.
+        StableToolOrientation stableOrientation = stableToolOrientation(
+                currentTcp, flangeToTcp, toolProfile);
+        double[][] orientedTcp = stableOrientation.tcpPose;
+        double[] toolZ = normalize(new double[]{orientedTcp[0][2], orientedTcp[1][2], orientedTcp[2][2]});
+        TargetPosition targetPosition = targetPosition(
+                baseToCamera, snapshot, pixel.x, pixel.y, rgbdObjectPoint,
+                surface.samplesCamera, stableOrientation, input.getDouble("planeOffsetMm"));
+        double[] objectPoint = targetPosition.point;
         double[] contactPosition = add(objectPoint, scale(toolZ, pressMm / 1000.0));
-        double[][] contactTcp = targetToolPose(currentTcp, toolZ, contactPosition);
+        double[][] contactTcp = translatedPose(orientedTcp, contactPosition);
         double[] approachPosition = add(contactPosition, scale(toolZ, -(approachMm + pressMm) / 1000.0));
         double[][] approachTcp = translatedPose(contactTcp, approachPosition);
         double[][] tcpToFlange = VisionGeometry.rigidInverse(flangeToTcp);
@@ -170,8 +179,15 @@ public class VisionLocateOperateService implements EdgeOperateService {
         output.put("confidence", pixel.confidence);
         output.put("depth", depth);
         output.put("cameraPoint", point3(surface.cameraPoint[0], surface.cameraPoint[1], depth));
+        output.put("rgbdObjectPoint", point3(
+                rgbdObjectPoint[0], rgbdObjectPoint[1], rgbdObjectPoint[2]));
         output.put("objectPoint", point3(objectPoint[0], objectPoint[1], objectPoint[2]));
+        output.put("positionSource", targetPosition.source);
+        output.put("depthResidualMm", targetPosition.depthResidualMm);
+        output.put("planeOffsetMm", input.getDouble("planeOffsetMm"));
         output.put("surfaceNormal", point3(surfaceNormal[0], surfaceNormal[1], surfaceNormal[2]));
+        output.put("toolAxis", point3(toolZ[0], toolZ[1], toolZ[2]));
+        output.put("orientationSource", stableOrientation.source);
         output.put("surfaceFitErrorMm", surface.rmse * 1000.0);
         output.put("approachTcpPose", poseJson(VisionGeometry.pose(approachTcp)));
         output.put("contactTcpPose", poseJson(VisionGeometry.pose(contactTcp)));
@@ -197,62 +213,81 @@ public class VisionLocateOperateService implements EdgeOperateService {
                 .fluentPut("fy", snapshot.getFy())
                 .fluentPut("cx", snapshot.getCx())
                 .fluentPut("cy", snapshot.getCy()));
+        log.info("视觉定位三维结果: pixel=({},{}), rgbdZ={}, targetZ={}, depthResidualMm={}, "
+                        + "positionSource={}, orientationSource={}, contactFlangePose={}",
+                pixel.x, pixel.y, rgbdObjectPoint[2], objectPoint[2], targetPosition.depthResidualMm,
+                targetPosition.source, stableOrientation.source,
+                output.getJSONObject("contactFlangePose"));
         return TaskNodeExecuteResult.success(output);
     }
 
-    private JSONObject analyze(TaskNodeExecuteMessage message, String imageUrl, String profileCode,
-                               String prompt, JSONObject input, String effectiveAnalysisMethod) {
-        JSONObject options = new JSONObject();
+    JSONObject analyze(TaskNodeExecuteMessage message, String imageUrl, String profileCode,
+                       String prompt, JSONObject input, String effectiveAnalysisMethod) {
         String analysisMethod = StringUtils.defaultIfBlank(effectiveAnalysisMethod, "TEXT_LOCATE").toUpperCase();
-        options.put("prompt", "REFERENCE_MATCH".equals(analysisMethod)
-                ? "在大图中查找参考小图，返回目标中心坐标。"
+        JSONObject analysisInput = new JSONObject();
+        analysisInput.put("profileCode", profileCode);
+        analysisInput.put("imageUrl", new JSONArray().fluentAdd(imageUrl));
+        analysisInput.put("prompt", "REFERENCE_MATCH".equals(analysisMethod)
+                ? "在大图中查找小图，返回原图像素坐标 [x1,y1,x2,y2]"
                 : ("TEXT_LOCATE".equals(analysisMethod) ? prompt : buildLocatePrompt(prompt)));
-        // Reference matching is deterministic OpenCV matching; FAST/ACCURATE
-        // only select model strategies for description-based analysis. Force
-        // the same advertised mode as the generic precise-image component so
-        // legacy nodes cannot silently diverge in their request metadata.
-        options.put("analysisMode", "REFERENCE_MATCH".equals(analysisMethod)
+        // 精确找图直接复用通用图片分析组件的 FAST + REFERENCE_MATCH 请求，
+        // 不在视觉定位节点中维护第二套匹配实现或参数契约。
+        analysisInput.put("analysisMode", "REFERENCE_MATCH".equals(analysisMethod)
                 ? "FAST"
                 : StringUtils.defaultIfBlank(input.getString("analysisMode"), "FAST"));
-        options.put("analysisMethod", analysisMethod);
+        analysisInput.put("analysisMethod", analysisMethod);
+        analysisInput.put("asynchronous", false);
         String referenceImageUrl = referenceImageUrl(input);
-        if (StringUtils.isNotBlank(referenceImageUrl)) options.put("referenceImageUrl", referenceImageUrl);
+        if (StringUtils.isNotBlank(referenceImageUrl)) {
+            analysisInput.put("referenceImageUrl", referenceImageUrl);
+        }
         JSONObject tuning = input.getJSONObject("analysisTuning");
-        if (tuning == null) tuning = new JSONObject();
+        tuning = tuning == null ? new JSONObject() : new JSONObject(tuning);
         if (input.getString("matchSelector") != null) tuning.put("matchSelector", input.getString("matchSelector"));
         if (input.get("matchIndex") != null) tuning.put("matchIndex", input.get("matchIndex"));
         if (input.getString("matchSort") != null) tuning.put("matchSort", input.getString("matchSort"));
         if (input.get("matchThreshold") != null) tuning.put("matchThreshold", input.get("matchThreshold"));
-        // Keep precise-location matching consistent with the generic image
-        // analysis component. Older visual-location nodes do not have an
-        // analysisTuning object, so fill in the same stable defaults here.
+        if (input.get("locateConfidenceThreshold") != null) {
+            tuning.put("locateConfidenceThreshold", input.get("locateConfidenceThreshold"));
+        } else if (input.get("confidenceThreshold") != null) {
+            tuning.put("locateConfidenceThreshold", input.get("confidenceThreshold"));
+        }
+        // 旧视觉定位节点没有 analysisTuning，补齐通用图片分析组件当前的
+        // 精确找图默认值，保证单独使用视觉定位时发出的匹配请求完全一致。
         if ("REFERENCE_MATCH".equals(analysisMethod)) {
-            // Preserve small-icon detail for template matching. The analysis
-            // service still caps this value for very large source images.
-            if (!tuning.containsKey("maxWidth")) tuning.put("maxWidth", 1600);
-            if (!tuning.containsKey("maxImages")) tuning.put("maxImages", 1);
+            if (!tuning.containsKey("maxWidth")) tuning.put("maxWidth", 896);
+            if (!tuning.containsKey("maxImages")) tuning.put("maxImages", 12);
             if (!tuning.containsKey("maxOutputTokens")) tuning.put("maxOutputTokens", 384);
             if (!tuning.containsKey("matchThreshold")) tuning.put("matchThreshold", 0.48D);
             if (!tuning.containsKey("matchSelector")) tuning.put("matchSelector", "BEST");
             if (!tuning.containsKey("matchIndex")) tuning.put("matchIndex", 1);
             if (!tuning.containsKey("matchSort")) tuning.put("matchSort", "ROW_MAJOR");
+            if (!tuning.containsKey("locateConfidenceThreshold")) {
+                tuning.put("locateConfidenceThreshold", 0.45D);
+            }
         }
-        if (!tuning.isEmpty()) options.put("tuning", tuning);
-        JSONObject request = new JSONObject();
-        request.put("requestId", "vision-locate-" + UUID.randomUUID());
-        request.put("analysisType", "IMAGE_ANALYSIS");
-        request.put("profileCode", profileCode);
-        request.put("mediaUrl", imageUrl);
-        request.put("mediaUrls", List.of(imageUrl));
-        request.put("options", options);
-        request.put("context", new JSONObject()
-                .fluentPut("flowInstId", message.getInstId())
-                .fluentPut("nodeId", message.getNodeId())
-                .fluentPut("trial", message.isTrial()));
-        JSONObject response = mediaAnalysisClient.analyze(request);
-        JSONObject result = response.getJSONObject("result");
-        if (result == null) throw new GlobalException("图片分析未返回目标结果");
-        return result;
+        if (!tuning.isEmpty()) analysisInput.put("analysisTuning", tuning);
+
+        TaskNodeExecuteMessage analysisMessage = imageAnalysisMessage(message, analysisInput);
+        TaskNodeExecuteResult analysisResult = imageAnalysisService.execute(analysisMessage);
+        if (analysisResult == null || !analysisResult.isSuccess()
+                || analysisResult.getOutputParams() == null) {
+            String error = analysisResult == null ? null : analysisResult.getErrorMsg();
+            throw new GlobalException(StringUtils.defaultIfBlank(error, "图片分析未返回目标结果"));
+        }
+        return analysisResult.getOutputParams();
+    }
+
+    private TaskNodeExecuteMessage imageAnalysisMessage(TaskNodeExecuteMessage source, JSONObject input) {
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setInstId(source.getInstId());
+        message.setTaskId(source.getTaskId());
+        message.setItemId(source.getItemId());
+        message.setNodeId(source.getNodeId());
+        message.setTrial(source.isTrial());
+        message.setAction(ActionEnum.IMAGE_ANALYZE);
+        message.setInputParams(input);
+        return message;
     }
 
     private String referenceImageUrl(JSONObject input) {
@@ -450,6 +485,12 @@ public class VisionLocateOperateService implements EdgeOperateService {
 
     private SurfacePoint fitSurface(EdgeCameraRgbdSnapshot snapshot, double centerX, double centerY,
                                     int radius, Double configuredScale) {
+        // Position is tied to the requested image pixel. A local plane fit is
+        // useful as diagnostics, but its slope must not move the target point.
+        double centerDepth = medianDepth(
+                snapshot, centerX, centerY, Math.max(radius, 8), configuredScale);
+        double[] center = {(centerX - snapshot.getCx()) * centerDepth / snapshot.getFx(),
+                (centerY - snapshot.getCy()) * centerDepth / snapshot.getFy(), centerDepth};
         List<double[]> points = new ArrayList<>();
         int step = Math.max(1, radius / 6);
         for (int y = (int) Math.round(centerY) - radius; y <= (int) Math.round(centerY) + radius; y += step) {
@@ -468,15 +509,14 @@ public class VisionLocateOperateService implements EdgeOperateService {
             // Reflective phone screens often contain only a few valid stereo
             // pixels. Keep the target depth and use the camera optical normal
             // as a conservative fallback instead of failing the whole node.
-            double depth = medianDepth(snapshot, centerX, centerY, Math.max(radius, 8), configuredScale);
-            double[] center = {(centerX - snapshot.getCx()) * depth / snapshot.getFx(),
-                    (centerY - snapshot.getCy()) * depth / snapshot.getFy(), depth};
-            return new SurfacePoint(center, new double[]{0, 0, -1}, 0.0);
+            return new SurfacePoint(center, new double[]{0, 0, -1}, 0.0, points);
         }
         List<Double> depths = points.stream().map(point -> point[2]).sorted().toList();
         double median = depths.get(depths.size() / 2);
         points.removeIf(point -> Math.abs(point[2] - median) > 0.02);
-        if (points.size() < 15) return fallbackSurface(snapshot, centerX, centerY, radius, configuredScale);
+        if (points.size() < 15) {
+            return new SurfacePoint(center, new double[]{0, 0, -1}, 0.0, points);
+        }
 
         double[][] normal = new double[3][3];
         double[] rhs = new double[3];
@@ -491,24 +531,13 @@ public class VisionLocateOperateService implements EdgeOperateService {
         double length = Math.sqrt(solution[0] * solution[0] + solution[1] * solution[1] + 1);
         double[] planeNormal = {solution[0] / length, solution[1] / length, -1 / length};
         double planeD = solution[2] / length;
-        double[] ray = {(centerX - snapshot.getCx()) / snapshot.getFx(),
-                (centerY - snapshot.getCy()) / snapshot.getFy(), 1};
-        double rayScale = -planeD / dot(planeNormal, ray);
-        double[] center = scale(ray, rayScale);
         double squaredError = 0;
         for (double[] point : points) {
             double error = dot(planeNormal, point) + planeD;
             squaredError += error * error;
         }
-        return new SurfacePoint(center, planeNormal, Math.sqrt(squaredError / points.size()));
-    }
-
-    private SurfacePoint fallbackSurface(EdgeCameraRgbdSnapshot snapshot, double centerX, double centerY,
-                                         int radius, Double configuredScale) {
-        double depth = medianDepth(snapshot, centerX, centerY, Math.max(radius, 8), configuredScale);
-        double[] center = {(centerX - snapshot.getCx()) * depth / snapshot.getFx(),
-                (centerY - snapshot.getCy()) * depth / snapshot.getFy(), depth};
-        return new SurfacePoint(center, new double[]{0, 0, -1}, 0.0);
+        return new SurfacePoint(
+                center, planeNormal, Math.sqrt(squaredError / points.size()), points);
     }
 
     private double[] solve3(double[][] source, double[] right) {
@@ -537,23 +566,119 @@ public class VisionLocateOperateService implements EdgeOperateService {
         return result;
     }
 
-    private double[][] targetToolPose(double[][] currentTcp, double[] targetZ, double[] position) {
-        targetZ = normalize(targetZ);
-        double[] xSeed = {currentTcp[0][0], currentTcp[1][0], currentTcp[2][0]};
-        double[] x = subtract(xSeed, scale(targetZ, dot(xSeed, targetZ)));
-        if (length(x) < 1e-8) {
-            xSeed = new double[]{currentTcp[0][1], currentTcp[1][1], currentTcp[2][1]};
-            x = subtract(xSeed, scale(targetZ, dot(xSeed, targetZ)));
+    StableToolOrientation stableToolOrientation(double[][] currentTcp, double[][] flangeToTcp,
+                                                VisionCalibrationProfile toolProfile) {
+        if (toolProfile == null || StringUtils.isBlank(toolProfile.getMetadataJson())) {
+            return new StableToolOrientation(currentTcp, "CURRENT_TCP", null, null);
         }
-        x = normalize(x);
-        double[] y = normalize(cross(targetZ, x));
-        x = normalize(cross(y, targetZ));
-        double[][] result = new double[4][4];
-        result[3][3] = 1;
-        for (int row = 0; row < 3; row++) {
-            result[row][0] = x[row]; result[row][1] = y[row]; result[row][2] = targetZ[row]; result[row][3] = position[row];
+        try {
+            JSONObject metadata = JSON.parseObject(toolProfile.getMetadataJson());
+            Object safeDirectionPose = metadata == null ? null : metadata.get("safeDirectionPose");
+            if (safeDirectionPose == null) {
+                return new StableToolOrientation(currentTcp, "CURRENT_TCP", null, null);
+            }
+            double[][] safeFlange = VisionGeometry.parseMatrix(
+                    safeDirectionPose, "toolCalibration.safeDirectionPose");
+            double[][] safeTcp = VisionGeometry.multiply(safeFlange, flangeToTcp);
+            double[] planeNormal = vector3(metadata.get("planeNormalBase"));
+            double[] planePoint = planeNormal == null ? null
+                    : new double[]{safeTcp[0][3], safeTcp[1][3], safeTcp[2][3]};
+            return new StableToolOrientation(
+                    safeTcp, "TOOL_CALIBRATION_SAFE_DIRECTION", planePoint, planeNormal);
+        } catch (RuntimeException exception) {
+            log.warn("工具标定安全方向无效，保持当前TCP姿态: profileId={}",
+                    toolProfile.getId(), exception);
+            return new StableToolOrientation(
+                    currentTcp, "CURRENT_TCP_INVALID_CALIBRATION_FALLBACK", null, null);
         }
-        return result;
+    }
+
+    TargetPosition targetPosition(double[][] baseToCamera, EdgeCameraRgbdSnapshot snapshot,
+                                  double pixelX, double pixelY, double[] rgbdObjectPoint,
+                                  List<double[]> samplesCamera,
+                                  StableToolOrientation orientation,
+                                  Double configuredPlaneOffsetMm) {
+        if (orientation.planeNormal == null) {
+            return new TargetPosition(rgbdObjectPoint, "RGBD_MEDIAN_DEPTH", 0.0);
+        }
+        double[] rayCamera = {(pixelX - snapshot.getCx()) / snapshot.getFx(),
+                (pixelY - snapshot.getCy()) / snapshot.getFy(), 1.0};
+        double[] rayOrigin = {baseToCamera[0][3], baseToCamera[1][3], baseToCamera[2][3]};
+        double[] rayDirection = rotate(baseToCamera, rayCamera);
+        double[] planeNormal = normalize(orientation.planeNormal);
+        double denominator = dot(planeNormal, rayDirection);
+        if (Math.abs(denominator) < 1e-8) {
+            throw new GlobalException("目标像素射线与标定平面平行，无法计算稳定坐标");
+        }
+        double planeDistance;
+        String source;
+        if (configuredPlaneOffsetMm != null && orientation.planePoint != null) {
+            // A known height offset is fully deterministic and provides the
+            // best repeatability for fixtures with discrete height settings.
+            planeDistance = dot(planeNormal, orientation.planePoint)
+                    + configuredPlaneOffsetMm / 1000.0;
+            source = "TOOL_CALIBRATION_PLANE_OFFSET";
+        } else {
+            List<Double> distances = new ArrayList<>();
+            if (samplesCamera != null) {
+                for (double[] cameraPoint : samplesCamera) {
+                    double[] pointBase = VisionGeometry.transform(
+                            baseToCamera, cameraPoint[0], cameraPoint[1], cameraPoint[2]);
+                    double distance = dot(planeNormal, pointBase);
+                    if (Double.isFinite(distance)) distances.add(distance);
+                }
+            }
+            if (distances.size() < 9) {
+                // Height cannot be inferred robustly, but the median depth at
+                // the target pixel still adapts to a moved parallel surface.
+                return new TargetPosition(rgbdObjectPoint, "RGBD_MEDIAN_DEPTH", 0.0);
+            }
+            planeDistance = robustMedian(distances);
+            source = "RGBD_PARALLEL_PLANE";
+        }
+        double rayScale = (planeDistance - dot(planeNormal, rayOrigin)) / denominator;
+        if (!Double.isFinite(rayScale) || rayScale <= 0) {
+            throw new GlobalException("标定平面位于相机目标射线后方，请重新检查工具标定");
+        }
+        double[] point = add(rayOrigin, scale(rayDirection, rayScale));
+        double residualMm = dot(planeNormal, subtract(rgbdObjectPoint, point)) * 1000.0;
+        return new TargetPosition(point, source, residualMm);
+    }
+
+    private double robustMedian(List<Double> values) {
+        List<Double> sorted = new ArrayList<>(values);
+        Collections.sort(sorted);
+        double median = sorted.get(sorted.size() / 2);
+        List<Double> deviations = sorted.stream()
+                .map(value -> Math.abs(value - median))
+                .sorted()
+                .toList();
+        double mad = deviations.get(deviations.size() / 2);
+        if (mad < 1e-9) return median;
+        double limit = Math.max(0.001, mad * 3.5);
+        List<Double> inliers = sorted.stream()
+                .filter(value -> Math.abs(value - median) <= limit)
+                .toList();
+        return inliers.get(inliers.size() / 2);
+    }
+
+    private double[] vector3(Object value) {
+        JSONArray array;
+        try {
+            array = value instanceof String
+                    ? JSON.parseArray(((String) value).trim())
+                    : JSON.parseArray(JSON.toJSONString(value));
+        } catch (RuntimeException exception) {
+            return null;
+        }
+        if (array == null || array.size() != 3) return null;
+        double[] result = new double[3];
+        for (int index = 0; index < 3; index++) {
+            Double number = array.getDouble(index);
+            if (number == null || !Double.isFinite(number)) return null;
+            result[index] = number;
+        }
+        return normalize(result);
     }
 
     /** Keep the contact orientation exactly while changing only TCP height. */
@@ -583,7 +708,6 @@ public class VisionLocateOperateService implements EdgeOperateService {
     private double[] subtract(double[] left, double[] right) { return new double[]{left[0]-right[0], left[1]-right[1], left[2]-right[2]}; }
     private double[] scale(double[] value, double factor) { return new double[]{value[0]*factor, value[1]*factor, value[2]*factor}; }
     private double dot(double[] left, double[] right) { return left[0]*right[0]+left[1]*right[1]+left[2]*right[2]; }
-    private double[] cross(double[] left, double[] right) { return new double[]{left[1]*right[2]-left[2]*right[1], left[2]*right[0]-left[0]*right[2], left[0]*right[1]-left[1]*right[0]}; }
     private double length(double[] value) { return Math.sqrt(dot(value, value)); }
     private double[] normalize(double[] value) { double length = length(value); if (length < 1e-10) throw new GlobalException("无法确定目标表面方向"); return scale(value, 1/length); }
 
@@ -656,6 +780,14 @@ public class VisionLocateOperateService implements EdgeOperateService {
     private record TargetPixel(double x, double y, double confidence) {
     }
 
-    private record SurfacePoint(double[] cameraPoint, double[] normalCamera, double rmse) {
+    private record SurfacePoint(double[] cameraPoint, double[] normalCamera, double rmse,
+                                List<double[]> samplesCamera) {
+    }
+
+    record StableToolOrientation(double[][] tcpPose, String source,
+                                 double[] planePoint, double[] planeNormal) {
+    }
+
+    record TargetPosition(double[] point, String source, double depthResidualMm) {
     }
 }

cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/FlowActionRequestVO.java

@@ -15,7 +15,7 @@ public class FlowActionRequestVO {
     /**
      * 动作
      */
-    @ApiModelProperty(value = "动作编码，例如 DEVICE_EXECUTE_JSON_COMMAND、INSPECTION_METER_RECOGNIZE",
+    @ApiModelProperty(value = "动作编码，例如 DEVICE_EXECUTE_JSON_COMMAND、INSPECTION_METER_RECOGNIZE、INSPECTION_WAYPOINT_CORPUS",
             required = true, example = "DEVICE_EXECUTE_JSON_COMMAND")
     private String action;
 

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/llm/LLMMediaAnalysisOperateServiceTest.java

@@ -10,6 +10,7 @@ import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
 import org.junit.Test;
 
 import java.util.concurrent.atomic.AtomicReference;
+import java.util.function.Function;
 
 import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertNull;
@@ -20,7 +21,7 @@ public class LLMMediaAnalysisOperateServiceTest {
     @Test
     public void mapsAudioArrayInputAndReturnsAnalysisMetadata() {
         AtomicReference<JSONObject> captured = new AtomicReference<>();
-        MediaAnalysisClient client = request -> {
+        MediaAnalysisClient client = client(request -> {
             captured.set(request);
             return new JSONObject()
                     .fluentPut("status", "SUCCEEDED")
@@ -31,7 +32,7 @@ public class LLMMediaAnalysisOperateServiceTest {
                     .fluentPut("result", new JSONObject()
                             .fluentPut("label", "POWER_ON")
                             .fluentPut("matched", true));
-        };
+        });
         LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
         JSONObject input = new JSONObject()
                 .fluentPut("profileCode", "aima.power_state.v1")
@@ -52,7 +53,7 @@ public class LLMMediaAnalysisOperateServiceTest {
     @Test
     public void comparesRecognizedAudioWithExpectedType() {
         AtomicReference<JSONObject> captured = new AtomicReference<>();
-        MediaAnalysisClient client = request -> {
+        MediaAnalysisClient client = client(request -> {
             captured.set(request);
             return new JSONObject()
                     .fluentPut("status", "SUCCEEDED")
@@ -62,7 +63,7 @@ public class LLMMediaAnalysisOperateServiceTest {
                             .fluentPut("label", "POWER_OFF")
                             .fluentPut("labelName", "关机")
                             .fluentPut("matched", true));
-        };
+        });
         LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
         JSONObject input = new JSONObject()
                 .fluentPut("profileCode", "aima.power_state.v1")
@@ -80,14 +81,14 @@ public class LLMMediaAnalysisOperateServiceTest {
 
     @Test
     public void passesBroadVehicleSoundTargetWhenConcreteLabelIsAmbiguous() {
-        MediaAnalysisClient client = request -> new JSONObject()
+        MediaAnalysisClient client = client(request -> new JSONObject()
                 .fluentPut("status", "SUCCEEDED")
                 .fluentPut("analysisType", "AUDIO_CLASSIFICATION")
                 .fluentPut("profileCode", "aima.power_state.v1")
                 .fluentPut("result", new JSONObject()
                         .fluentPut("label", "UNKNOWN")
                         .fluentPut("matched", false)
-                        .fluentPut("vehicleSoundDetected", true));
+                        .fluentPut("vehicleSoundDetected", true)));
         LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
         JSONObject input = new JSONObject()
                 .fluentPut("profileCode", "aima.power_state.v1")
@@ -104,7 +105,7 @@ public class LLMMediaAnalysisOperateServiceTest {
     @Test
     public void forwardsVideoInstruction() {
         AtomicReference<JSONObject> captured = new AtomicReference<>();
-        MediaAnalysisClient client = request -> {
+        MediaAnalysisClient client = client(request -> {
             captured.set(request);
             return new JSONObject()
                     .fluentPut("status", "SUCCEEDED")
@@ -113,7 +114,7 @@ public class LLMMediaAnalysisOperateServiceTest {
                     .fluentPut("timingMs", 30L)
                     .fluentPut("model", new JSONObject().fluentPut("name", "qwen3-vl:32b"))
                     .fluentPut("result", new JSONObject().fluentPut("summary", "ok"));
-        };
+        });
         LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
         JSONObject input = new JSONObject()
                 .fluentPut("profileCode", "aima.power_video.v1")
@@ -146,7 +147,8 @@ public class LLMMediaAnalysisOperateServiceTest {
 
     @Test(expected = GlobalException.class)
     public void rejectsOutOfRangeVideoTuning() {
-        LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(request -> new JSONObject());
+        LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(
+                client(request -> new JSONObject()));
         JSONObject input = new JSONObject()
                 .fluentPut("profileCode", "aima.power_video.v1")
                 .fluentPut("videoUrl", "https://files.example/video.mp4")
@@ -159,7 +161,7 @@ public class LLMMediaAnalysisOperateServiceTest {
     @Test
     public void forwardsMultipleImagesAndReferenceImage() {
         AtomicReference<JSONObject> captured = new AtomicReference<>();
-        MediaAnalysisClient client = request -> {
+        MediaAnalysisClient client = client(request -> {
             captured.set(request);
             return new JSONObject()
                     .fluentPut("status", "SUCCEEDED")
@@ -168,7 +170,7 @@ public class LLMMediaAnalysisOperateServiceTest {
                     .fluentPut("result", new JSONObject()
                             .fluentPut("result", new JSONObject().fluentPut("x", 120).fluentPut("y", 80))
                             .fluentPut("resultText", "{\"x\":120,\"y\":80}"));
-        };
+        });
         LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
         JSONObject input = new JSONObject()
                 .fluentPut("profileCode", "common.image_analysis.v1")
@@ -210,7 +212,7 @@ public class LLMMediaAnalysisOperateServiceTest {
     @Test
     public void forwardsDescriptionLocationMethodAndThreshold() {
         AtomicReference<JSONObject> captured = new AtomicReference<>();
-        MediaAnalysisClient client = request -> {
+        MediaAnalysisClient client = client(request -> {
             captured.set(request);
             return new JSONObject()
                     .fluentPut("status", "SUCCEEDED")
@@ -219,7 +221,7 @@ public class LLMMediaAnalysisOperateServiceTest {
                     .fluentPut("result", new JSONObject()
                             .fluentPut("result", new JSONArray().fluentAdd(10).fluentAdd(20).fluentAdd(30).fluentAdd(40))
                             .fluentPut("matched", true));
-        };
+        });
         LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
         JSONObject input = new JSONObject()
                 .fluentPut("profileCode", "common.image_analysis.v1")
@@ -241,7 +243,7 @@ public class LLMMediaAnalysisOperateServiceTest {
     @Test
     public void restoresStaticImageUrlArraySerializedByLegacyFlowParamModel() {
         AtomicReference<JSONObject> captured = new AtomicReference<>();
-        MediaAnalysisClient client = request -> {
+        MediaAnalysisClient client = client(request -> {
             captured.set(request);
             return new JSONObject()
                     .fluentPut("status", "SUCCEEDED")
@@ -250,7 +252,7 @@ public class LLMMediaAnalysisOperateServiceTest {
                     .fluentPut("result", new JSONObject()
                             .fluentPut("result", "图片正常")
                             .fluentPut("resultText", "图片正常"));
-        };
+        });
         LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
         JSONObject input = new JSONObject()
                 .fluentPut("profileCode", "common.image_analysis.v1")
@@ -281,4 +283,18 @@ public class LLMMediaAnalysisOperateServiceTest {
         message.setInputParams(input);
         return message;
     }
+
+    private MediaAnalysisClient client(Function<JSONObject, JSONObject> analyze) {
+        return new MediaAnalysisClient() {
+            @Override
+            public JSONObject analyze(JSONObject request) {
+                return analyze.apply(request);
+            }
+
+            @Override
+            public JSONObject addAudioReference(JSONObject request) {
+                throw new UnsupportedOperationException("Not used by this test");
+            }
+        };
+    }
 }

sql/inspection_module.sql

@@ -36,6 +36,8 @@ CREATE TABLE `inspection_waypoint` (
   `enabled` char(1) DEFAULT '0' COMMENT '是否启用(0启用 1禁用)',
   `sort_order` int(11) DEFAULT '0' COMMENT '排序号',
   `detect_item_id` varchar(64) DEFAULT NULL COMMENT '检测项ID',
+  `chinese_corpus` text DEFAULT NULL COMMENT '该点位可播放的中文语料',
+  `english_corpus` text DEFAULT NULL COMMENT '该点位可播放的英文语料',
   `map_id` varchar(64) DEFAULT NULL COMMENT '地图ID',
   PRIMARY KEY (`id`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='巡检点位表';