Refactor control parameters and enhance depth handling for tomato harvesting

- Updated YOLO model path to a relative path.
- Introduced new parameters for depth handling, including minimum and maximum depth, fallback settings, and pixel validation thresholds.
- Increased maximum pick angle to accommodate wider fruit stems.
- Added cut pull assist feature with configurable options.
- Removed unused resource path resolution functions from control_core.py.
- Simplified resource path handling in main.py.
- Updated UI colors and styles for improved aesthetics.
- Removed outdated requirements.txt file.

README.md

@@ -113,56 +113,6 @@ start_tomatopick.bat
 
 如果需要桌面入口，可以自行在桌面创建快捷方式，并把目标指向 `start_tomatopick.bat`。
 
-## PyInstaller 打包
-
-本项目已经附带 PyInstaller 配置文件：
-
-- `TomatoPick.spec`
-- `build_windows_exe.bat`
-- `build_linux.sh`
-
-打包时会一起带上：
-
-- `models/` 下的 YOLO 模型文件
-- `tools/1.png` 背景图
-- `ultralytics` 的运行数据
-- `pyrealsense2`、`pyaubo_sdk`、`pyaubo_agvc_sdk` 的动态库
-
-### Windows 打包 exe
-
-需要在 Windows 机器上执行，PyInstaller 不能在 Linux 上直接交叉生成可运行的 Windows `.exe`。
-
-```bat
-build_windows_exe.bat
-```
-
-生成结果：
-
-```text
-dist\TomatoPick\TomatoPick.exe
-```
-
-### Linux 打包可执行文件
-
-在 Linux 上执行：
-
-```bash
-chmod +x build_linux.sh
-./build_linux.sh
-```
-
-生成结果：
-
-```text
-dist/TomatoPick/TomatoPick
-```
-
-### 打包后资源路径说明
-
-- 默认模型路径已调整为 `models/best.pt`
-- 背景图会优先在打包资源目录中查找 `tools/1.png`
-- `ui_settings.json` 在打包后会保存到可执行文件所在目录，而不是 PyInstaller 的临时解包目录
-
 界面中主要按钮：
 
 - `启动程序`：运行完整采摘流程，会连接机械臂、AGV、RealSense 并加载 YOLO。
@@ -234,6 +184,16 @@ best.pt
 
 模型类别、关键点顺序和训练定义需要与上述逻辑一致。
 
+### 真实果梗的适配
+
+采摘流程仍保持原来的两关键点和单次剪刀动作：第 0 点用于定位采摘点，第 1 点只用于计算末端角度。为适应真实串番茄，控制参数新增了以下处理：
+
+- 剪切点深度无效时，先扩大邻域取中位深度；仍失败时沿第 0 点到第 1 点的果梗方向取有限次数的邻近深度，并将该深度用于剪切点反投影。
+- 关键点连线按无方向直线处理，方向点在剪切点的上方、下方或侧方均可；默认最大末端旋转已提高到 $70^\circ$。
+- `CUT_PULL_ASSIST_ENABLED` 默认关闭。没有“已剪断”传感反馈时，程序不能可靠判断剪刀是否剪断了老梗。确认撤离方向、碰撞空间和末端承载能力后，才可开启该项，以在原有撤离前增加一个小的 Y 向拉拽动作。
+
+首次调试建议保持辅助拉拽关闭，先以低速确认深度回退输出、关键点角度和机械臂姿态均正确。
+
 ## 运行前检查
 
 完整采摘流程会控制真实硬件。启动前请确认：

acAubo-main/acaubo/TomatoPick.spec

@@ -1,91 +0,0 @@
-# -*- mode: python ; coding: utf-8 -*-
-
-from pathlib import Path
-
-from PyInstaller.utils.hooks import collect_data_files, collect_dynamic_libs, collect_submodules
-
-
-project_dir = Path(SPECPATH).resolve().parent
-
-datas = [
-    (str(project_dir / "acaubo" / "models"), "models"),
-    (str(project_dir / "acaubo" / "tools" / "1.png"), "tools"),
-]
-
-binaries = []
-hiddenimports = []
-
-try:
-    hiddenimports += collect_submodules(
-        "ultralytics",
-        filter=lambda name: not name.startswith("ultralytics.trackers"),
-    )
-except Exception:
-    hiddenimports.append("ultralytics")
-
-for package_name in ("pyrealsense2", "pyaubo_sdk", "pyaubo_agvc_sdk"):
-    try:
-        hiddenimports += collect_submodules(package_name)
-    except Exception:
-        hiddenimports.append(package_name)
-
-for package_name in ("pyrealsense2", "pyaubo_sdk", "pyaubo_agvc_sdk"):
-    try:
-        binaries += collect_dynamic_libs(package_name)
-    except Exception:
-        pass
-
-try:
-    datas += collect_data_files("ultralytics", include_py_files=False)
-except Exception:
-    pass
-
-
-a = Analysis(
-    [str(project_dir / "acaubo" / "main.py")],
-    pathex=[str(project_dir / "acaubo")],
-    binaries=binaries,
-    datas=datas,
-    hiddenimports=hiddenimports,
-    hookspath=[],
-    hooksconfig={},
-    runtime_hooks=[],
-    excludes=[
-        "lap",
-        "ultralytics.trackers",
-        "ultralytics.trackers.basetrack",
-        "ultralytics.trackers.bot_sort",
-        "ultralytics.trackers.byte_tracker",
-        "ultralytics.trackers.track",
-        "ultralytics.trackers.utils",
-        "ultralytics.trackers.utils.gmc",
-        "ultralytics.trackers.utils.kalman_filter",
-        "ultralytics.trackers.utils.matching",
-    ],
-    noarchive=False,
-    optimize=0,
-)
-pyz = PYZ(a.pure)
-
-exe = EXE(
-    pyz,
-    a.scripts,
-    [],
-    exclude_binaries=True,
-    name="TomatoPick",
-    debug=False,
-    bootloader_ignore_signals=False,
-    strip=False,
-    upx=False,
-    console=False,
-)
-
-coll = COLLECT(
-    exe,
-    a.binaries,
-    a.datas,
-    strip=False,
-    upx=False,
-    upx_exclude=[],
-    name="TomatoPick",
-)

acAubo-main/acaubo/requirements.txt

@@ -1,14 +0,0 @@
-# TomatoPick runtime dependencies for Windows packaging.
-# If you need CUDA acceleration, install a matching torch/torchvision/torchaudio
-# build first, then run: pip install -r requirements.txt
-# tkinter is not listed here because it is bundled with the standard Windows
-# CPython installer.
-
-Pillow==11.2.1
-opencv-python==4.10.0.84
-numpy==2.0.0
-pyrealsense2==2.55.1.6486
-pyaubo_agvc_sdk==0.2.0
-pyaubo_sdk==0.24.1
-ultralytics==8.3.112
-pyinstaller>=6,<7

control.py

@@ -27,10 +27,22 @@ AGV_RUN_DISTANCE = 5.0
 TOTAL_DURATION = 300
 AGV_STOP_TIMEOUT = 10
 AGV_PICK_SETTLE_DELAY = 1.5
-YOLO_MODEL_PATH = "models/best.pt"
+YOLO_MODEL_PATH = "best.pt"
 YOLO_DETECT_CONF = 0.5
 PICK_CONFIDENCE_THRESHOLD = 0.7
 
+# 真实果梗较细时，剪切点像素可能没有直接深度。先使用剪切点邻域深度，
+# 失败后可沿关键点 0 -> 关键点 1 的方向寻找同一果串的可靠深度。
+PICK_DEPTH_MIN_M = 0.18
+PICK_DEPTH_MAX_M = 1.20
+PICK_DEPTH_WINDOW_RADIUS = 5
+PICK_DEPTH_FALLBACK_WINDOW_RADIUS = 14
+PICK_DEPTH_MIN_VALID_PIXELS = 5
+PICK_DEPTH_MEDIAN_TOLERANCE_M = 0.05
+PICK_DEPTH_LINE_FALLBACK_ENABLED = True
+PICK_DEPTH_LINE_FALLBACK_STEPS = 5
+PICK_DEPTH_LINE_FALLBACK_STEP_PX = 8
+
 
 # -------------------- 位姿与轨迹参数 --------------------
 # Home 是机械臂的初始/复位关节位。
@@ -45,7 +57,13 @@ PICKUP_X_OFFSET = 0.0
 PICKUP_Y_OFFSET = -0.013
 PICK_ANGLE_ORIENTATION_INDEX = 4
 PICK_ANGLE_SIGN = 1.0
-MAX_PICK_ANGLE_DEG = 30.0
+# 真实果梗可能接近横向；仍受限于此值，避免因姿态变化过大造成不可达或碰撞。
+MAX_PICK_ANGLE_DEG = 70.0
+
+# 默认关闭。剪刀缺少“已剪断”反馈时，不能自动判断是否应强拉。
+# 现场确认撤离方向安全后，才可启用小距离辅助拉拽。
+CUT_PULL_ASSIST_ENABLED = False
+CUT_PULL_ASSIST_Y_OFFSET = 0.03
 
 # 当前项目只使用一个放置位，仍保留列表结构以兼容 control_core。
 place_positions = [[-0.6203, 0.026, 0.1078, 2.9923, 0.0366, -1.4157]]
@@ -78,6 +96,15 @@ _CONFIG_NAMES = (
     "YOLO_MODEL_PATH",
     "YOLO_DETECT_CONF",
     "PICK_CONFIDENCE_THRESHOLD",
+    "PICK_DEPTH_MIN_M",
+    "PICK_DEPTH_MAX_M",
+    "PICK_DEPTH_WINDOW_RADIUS",
+    "PICK_DEPTH_FALLBACK_WINDOW_RADIUS",
+    "PICK_DEPTH_MIN_VALID_PIXELS",
+    "PICK_DEPTH_MEDIAN_TOLERANCE_M",
+    "PICK_DEPTH_LINE_FALLBACK_ENABLED",
+    "PICK_DEPTH_LINE_FALLBACK_STEPS",
+    "PICK_DEPTH_LINE_FALLBACK_STEP_PX",
     "HOME_JOINTS",
     "APPROACH_Y_OFFSET",
     "LIFT_Z_OFFSET",
@@ -86,6 +113,8 @@ _CONFIG_NAMES = (
     "PICK_ANGLE_ORIENTATION_INDEX",
     "PICK_ANGLE_SIGN",
     "MAX_PICK_ANGLE_DEG",
+    "CUT_PULL_ASSIST_ENABLED",
+    "CUT_PULL_ASSIST_Y_OFFSET",
     "GRIPPER_CLOSE_IO",
     "GRIPPER_OPEN_IO",
     "GRIPPER_ACTION_DELAY",

control_core.py

@@ -6,7 +6,6 @@ import os
 import sys
 import threading
 import time
-from pathlib import Path
 
 import cv2
 import numpy as np
@@ -40,13 +39,6 @@ PICK_ENDPOINT_KEYPOINT_INDEX = 1  # YOLO pose 第 1 个点为方向端点 endpoi
 PICK_KEYPOINT_BOX_MARGIN_RATIO = 0.15  # 关键点允许略超出 bbox 的比例。
 PICK_CUTPOINT_MAX_REL_Y = 0.70  # 采摘点在 bbox 内的最大相对高度，防止误取下方点。
 PICK_KEYPOINT_MIN_DISTANCE_PX = 8.0  # cutpoint 与 endpoint 的最小像素距离。
-PICK_ENDPOINT_Y_TOLERANCE_PX = 4  # endpoint 允许比 cutpoint 略高的像素容差。
-PICK_DEPTH_WINDOW_RADIUS = 5  # 首次稳健取深度的窗口半径，5 表示 11x11。
-PICK_DEPTH_FALLBACK_WINDOW_RADIUS = 10  # 首次深度不足时的扩大窗口半径，10 表示 21x21。
-PICK_DEPTH_MIN_VALID_PIXELS = 5  # 深度窗口内至少需要的有效深度点数量。
-PICK_DEPTH_MIN_M = 0.25  # 有效深度下限，单位 m。
-PICK_DEPTH_MAX_M = 0.6  # 有效深度上限，单位 m。
-PICK_DEPTH_MEDIAN_TOLERANCE_M = 0.035  # 深度中位数滤波容差，单位 m。
 
 # R_tc = np.array(
 #     [
@@ -106,61 +98,6 @@ ui_callback: Callable[[np.ndarray], None] = lambda frame: None
 robot_rpc_client = pyaubo_sdk.RpcClient()
 
 
-def get_runtime_resource_dir() -> Path:
-    """返回运行时资源目录，兼容 PyInstaller 解包目录。"""
-    if hasattr(sys, "_MEIPASS"):
-        return Path(sys._MEIPASS).resolve()
-    return Path(__file__).resolve().parent
-
-
-def get_runtime_app_dir() -> Path:
-    """返回应用目录，打包后优先使用可执行文件所在目录。"""
-    if getattr(sys, "frozen", False):
-        return Path(sys.executable).resolve().parent
-    return Path(__file__).resolve().parent
-
-
-def get_resource_candidates(filename: str) -> List[Path]:
-    """返回模型/图片等资源的候选路径。"""
-    resource_dir = get_runtime_resource_dir()
-    app_dir = get_runtime_app_dir()
-    return [
-        resource_dir / filename,
-        resource_dir / "models" / filename,
-        resource_dir / "tools" / filename,
-        app_dir / filename,
-        app_dir / "models" / filename,
-        app_dir / "tools" / filename,
-        Path.cwd() / filename,
-        Path.cwd() / "models" / filename,
-        Path.cwd() / "tools" / filename,
-    ]
-
-
-def resolve_resource_path(path_value: Optional[str], fallback_name: Optional[str] = None) -> Optional[Path]:
-    """解析运行时资源路径，兼容源码运行与打包运行。"""
-    if path_value:
-        candidate = Path(path_value).expanduser()
-        if candidate.is_absolute():
-            candidate = candidate.resolve()
-            if candidate.exists():
-                return candidate
-        else:
-            for relative_candidate in (
-                get_runtime_app_dir() / candidate,
-                get_runtime_resource_dir() / candidate,
-                Path.cwd() / candidate,
-            ):
-                resolved = relative_candidate.resolve()
-                if resolved.exists():
-                    return resolved
-    if fallback_name:
-        for candidate in get_resource_candidates(fallback_name):
-            if candidate.exists():
-                return candidate.resolve()
-    return None
-
-
 def configure(config: Dict[str, Any]) -> None:
     """接收 control.py 同步过来的可调参数。"""
     _runtime_config.update(config)
@@ -804,7 +741,21 @@ class RobotArmController:
 
         self.close_scissors_for_pick()
 
-        retreat_joints = self.move_pose(approach_pose, pickup_joints, description="采摘后返回预抓取点")
+        retreat_reference_joints = pickup_joints
+        if _cfg("CUT_PULL_ASSIST_ENABLED"):
+            pull_pose = pickup_pose.copy()
+            pull_pose[1] += _cfg("CUT_PULL_ASSIST_Y_OFFSET")
+            print(
+                "机械臂：执行剪切后辅助拉拽 "
+                f"Y 偏移 {_cfg('CUT_PULL_ASSIST_Y_OFFSET'):.3f} m"
+            )
+            pull_joints = self.move_pose(pull_pose, pickup_joints, description="剪切后辅助拉拽")
+            if pull_joints is None:
+                self.return_home()
+                return False
+            retreat_reference_joints = pull_joints
+
+        retreat_joints = self.move_pose(approach_pose, retreat_reference_joints, description="采摘后返回预抓取点")
         if retreat_joints is None:
             self.return_home()
             return False
@@ -854,9 +805,7 @@ def init_camera() -> Tuple[Any, Any, Any]:
 
 def init_tomato_detector(model_path: Optional[str] = None) -> Any:
     """初始化 YOLO 模型。"""
-    configured_path = model_path or _cfg("YOLO_MODEL_PATH") or "models/best.pt"
-    resolved_path = resolve_resource_path(configured_path, fallback_name="best.pt")
-    use_path = str(resolved_path) if resolved_path is not None else configured_path
+    use_path = model_path or _cfg("YOLO_MODEL_PATH") or "best.pt"
     print(f"加载 YOLO 模型 | 路径: {use_path}")
 
     if not os.path.exists(use_path):
@@ -986,7 +935,13 @@ def calculate_keypoint_line_angle_rad(
     if abs(dx) < 1e-6 and abs(dy) < 1e-6:
         return 0.0
 
+    # 果梗是一条无方向直线；endpoint 在剪切点的任一侧都应表示同一倾角。
+    # 归一化后，横向或斜向果梗不会因关键点标注顺序而得到 180°旋转。
     angle_rad = math.atan2(dx, dy)
+    if angle_rad > math.pi / 2:
+        angle_rad -= math.pi
+    elif angle_rad <= -math.pi / 2:
+        angle_rad += math.pi
     max_angle_rad = math.radians(float(_cfg("MAX_PICK_ANGLE_DEG")))
     return max(-max_angle_rad, min(max_angle_rad, angle_rad))
 
@@ -1131,10 +1086,6 @@ class VisionController:
             print(f"Pick candidate skipped: keypoints too close ({distance:.1f}px)")
             return False
 
-        if end_point[1] + PICK_ENDPOINT_Y_TOLERANCE_PX < cutpoint[1]:
-            print(f"Pick candidate skipped: endpoint appears above cutpoint @ cut={cutpoint}, end={end_point}")
-            return False
-
         return True
 
     def extract_candidate_keypoints(
@@ -1271,7 +1222,7 @@ class VisionController:
         for sample_y in range(y_start, y_end + 1):
             for sample_x in range(x_start, x_end + 1):
                 depth = float(depth_frame.get_distance(sample_x, sample_y))
-                if PICK_DEPTH_MIN_M <= depth <= PICK_DEPTH_MAX_M:
+                if _cfg("PICK_DEPTH_MIN_M") <= depth <= _cfg("PICK_DEPTH_MAX_M"):
                     samples.append(depth)
         return samples
 
@@ -1283,25 +1234,27 @@ class VisionController:
         frame_shape: Tuple[int, int, int],
     ) -> Optional[float]:
         center_depth = float(depth_frame.get_distance(pixel_x, pixel_y))
-        for radius in (PICK_DEPTH_WINDOW_RADIUS, PICK_DEPTH_FALLBACK_WINDOW_RADIUS):
+        for radius in (_cfg("PICK_DEPTH_WINDOW_RADIUS"), _cfg("PICK_DEPTH_FALLBACK_WINDOW_RADIUS")):
             samples = self.collect_depth_samples(depth_frame, pixel_x, pixel_y, frame_shape, radius)
-            if len(samples) < PICK_DEPTH_MIN_VALID_PIXELS:
+            if len(samples) < _cfg("PICK_DEPTH_MIN_VALID_PIXELS"):
                 continue
 
             sample_array = np.array(samples, dtype=float)
             median_depth = float(np.median(sample_array))
-            stable_samples = sample_array[np.abs(sample_array - median_depth) <= PICK_DEPTH_MEDIAN_TOLERANCE_M]
-            if len(stable_samples) >= PICK_DEPTH_MIN_VALID_PIXELS:
+            stable_samples = sample_array[
+                np.abs(sample_array - median_depth) <= _cfg("PICK_DEPTH_MEDIAN_TOLERANCE_M")
+            ]
+            if len(stable_samples) >= _cfg("PICK_DEPTH_MIN_VALID_PIXELS"):
                 depth = float(np.median(stable_samples))
             else:
                 depth = median_depth
 
-            if not (PICK_DEPTH_MIN_M <= center_depth <= PICK_DEPTH_MAX_M):
+            if not (_cfg("PICK_DEPTH_MIN_M") <= center_depth <= _cfg("PICK_DEPTH_MAX_M")):
                 print(
                     "采摘点中心深度无效，使用邻域稳健深度 "
                     f"{depth:.3f}m @ ({pixel_x}, {pixel_y}), radius={radius}"
                 )
-            elif abs(center_depth - depth) > PICK_DEPTH_MEDIAN_TOLERANCE_M:
+            elif abs(center_depth - depth) > _cfg("PICK_DEPTH_MEDIAN_TOLERANCE_M"):
                 print(
                     "采摘点中心深度跳变，使用邻域稳健深度 "
                     f"{depth:.3f}m 替代 {center_depth:.3f}m @ ({pixel_x}, {pixel_y})"
@@ -1314,6 +1267,37 @@ class VisionController:
         )
         return None
 
+    def get_cutpoint_depth(
+        self,
+        depth_frame: Any,
+        cutpoint: Tuple[int, int],
+        end_point: Optional[Tuple[int, int]],
+        frame_shape: Tuple[int, int, int],
+    ) -> Optional[float]:
+        """获取剪切点深度；细果梗无深度时沿原有关键点连线做有限回退。"""
+        depth = self.get_robust_depth(depth_frame, cutpoint[0], cutpoint[1], frame_shape)
+        if depth is not None:
+            return depth
+        if not _cfg("PICK_DEPTH_LINE_FALLBACK_ENABLED") or end_point is None:
+            return None
+
+        direction = np.array(end_point, dtype=float) - np.array(cutpoint, dtype=float)
+        norm = float(np.linalg.norm(direction))
+        if norm < 1e-6:
+            return None
+        direction /= norm
+        for step in range(1, int(_cfg("PICK_DEPTH_LINE_FALLBACK_STEPS")) + 1):
+            offset = direction * float(_cfg("PICK_DEPTH_LINE_FALLBACK_STEP_PX")) * step
+            sample_x, sample_y = self.clamp_pixel(cutpoint[0] + offset[0], cutpoint[1] + offset[1], frame_shape)
+            depth = self.get_robust_depth(depth_frame, sample_x, sample_y, frame_shape)
+            if depth is not None:
+                print(
+                    "剪切点无有效深度，使用果梗方向邻近深度 "
+                    f"{depth:.3f}m @ ({sample_x}, {sample_y}) 估计剪切点"
+                )
+                return depth
+        return None
+
     def build_detected_tomato(
         self,
         candidate: TomatoCandidate,
@@ -1329,7 +1313,7 @@ class VisionController:
             return None
         pixel_x, pixel_y = candidate.cutpoint
 
-        depth = self.get_robust_depth(depth_frame, pixel_x, pixel_y, frame.shape)
+        depth = self.get_cutpoint_depth(depth_frame, candidate.cutpoint, candidate.end_point, frame.shape)
         if depth is None:
             print(f"无效深度值 @ ({pixel_x}, {pixel_y})")
             return None

main.py

@@ -8,7 +8,6 @@ import os
 import sys
 import json
 import io
-import math
 import ctypes
 from ctypes import wintypes
 from pathlib import Path
@@ -34,8 +33,7 @@ import contextlib
 # Windows 控制台缓冲区结构体。
 # 当程序在 Windows 上运行时，会用它读取后台线程输出的控制台内容，
 # 再把这些内容转发到 Tkinter 的日志面板中。
-if sys.platform == "win32":
-    class CONSOLE_SCREEN_BUFFER_INFO(ctypes.Structure):
+class CONSOLE_SCREEN_BUFFER_INFO(ctypes.Structure):
     _fields_ = [
         ("dwSize", wintypes._COORD),
         ("dwCursorPosition", wintypes._COORD),
@@ -44,30 +42,11 @@ if sys.platform == "win32":
         ("dwMaximumWindowSize", wintypes._COORD)
     ]
 
-    STD_OUTPUT_HANDLE = -11
-    kernel32 = ctypes.WinDLL('kernel32', use_last_error=True)
-else:
-    CONSOLE_SCREEN_BUFFER_INFO = None
-    STD_OUTPUT_HANDLE = None
-    kernel32 = None
-
+STD_OUTPUT_HANDLE = -11
+kernel32 = ctypes.WinDLL('kernel32', use_last_error=True)
 MAX_LOG_LINES = 1000
 MAX_TERMINAL_LINES = 1500
 
-
-def get_runtime_resource_dir():
-    """返回运行时资源目录，兼容 PyInstaller 临时解包目录。"""
-    if hasattr(sys, "_MEIPASS"):
-        return Path(sys._MEIPASS).resolve()
-    return Path(__file__).resolve().parent
-
-
-def get_runtime_app_dir():
-    """返回应用写入目录，打包后优先使用 exe 所在目录。"""
-    if getattr(sys, "frozen", False):
-        return Path(sys.executable).resolve().parent
-    return Path(__file__).resolve().parent
-
 class TomatoHarvestingUI:
     """番茄采摘系统的主界面类。"""
 
@@ -84,39 +63,31 @@ class TomatoHarvestingUI:
         self.root.minsize(max(980, int(screen_w * 0.5)), max(640, int(screen_h * 0.55)))
         self.base_window_width = window_w
         self.base_window_height = window_h
-        self.base_dir = get_runtime_resource_dir()
-        self.app_dir = get_runtime_app_dir()
-        self.settings_file = self.app_dir / "ui_settings.json"
+        self.base_dir = Path(__file__).resolve().parent
+        self.settings_file = self.base_dir / "ui_settings.json"
         self._font_resize_job = None
         self._is_applying_font_scale = False
         self.colors = {
-            "bg": "#FFF4EC",
-            "bg_deep": "#F7E0D0",
-            "panel": "#FFFDFB",
-            "panel_soft": "#FFF2E8",
-            "panel_alt": "#FBE4D7",
-            "border": "#E8C9B8",
-            "text": "#452315",
-            "muted": "#8A5E50",
-            "accent": "#D84A32",
-            "accent_deep": "#A92F22",
-            "accent_soft": "#FFD9CF",
-            "accent_gold": "#F4B860",
-            "leaf": "#3F8C53",
-            "leaf_soft": "#D8F0D8",
-            "danger": "#A63E2A",
-            "danger_soft": "#FFE0D6",
-            "info": "#8F3B2E",
-            "info_soft": "#FFE7D9",
-            "terminal_bg": "#2A1410",
-            "terminal_fg": "#FFE8C9",
-            "terminal_muted": "#FFB66E",
-            "terminal_err": "#FF9B8F",
-            "metric_1": "#FFE4D8",
-            "metric_2": "#FFF1CF",
-            "metric_3": "#E7F6DF",
-            "metric_4": "#FDE6EF",
-            "shadow": "#EFD6C7",
+            "bg": "#F3F7FB",
+            "panel": "#FFFFFF",
+            "panel_soft": "#F8FBFD",
+            "border": "#D8E3EC",
+            "text": "#16324A",
+            "muted": "#6B7C93",
+            "accent": "#0F766E",
+            "accent_soft": "#D7F3EE",
+            "danger": "#B45309",
+            "danger_soft": "#FDE7D7",
+            "info": "#0F4C81",
+            "info_soft": "#DCEBFA",
+            "terminal_bg": "#0F172A",
+            "terminal_fg": "#DCFCE7",
+            "terminal_muted": "#93C5FD",
+            "terminal_err": "#FCA5A5",
+            "metric_1": "#E6FFFB",
+            "metric_2": "#EEF2FF",
+            "metric_3": "#FFF7ED",
+            "metric_4": "#F0FDF4",
         }
         
         # 设置中文字体
@@ -145,13 +116,6 @@ class TomatoHarvestingUI:
         self.camera_image = None
         self.camera_bg_image = None  # 保存背景图引用（关键：防止回收）
         self.raw_bg_image = None     # 新增：保存原始1.png，用于后续尺寸调整
-        self.startup_window = None
-        self.startup_overlay = None
-        self.startup_animation_started = False
-        self.startup_transparent_ready = False
-        self.startup_bg_color = self.colors["bg"]
-
-        self.root.withdraw()
         
         # 创建界面
         self.create_widgets()
@@ -164,7 +128,6 @@ class TomatoHarvestingUI:
         
         # 启动日志处理线程
         self.root.after(200, self.process_log_queue)
-        self.root.after(20, self.play_startup_animation)
         
         # 信号处理
         signal.signal(signal.SIGINT, self.signal_handler)
@@ -175,7 +138,7 @@ class TomatoHarvestingUI:
         # 设置主窗口背景
         self.set_background_image()
         
-        main_frame = ttk.Frame(self.root, padding=(18, 16, 18, 18), style="App.TFrame")
+        main_frame = ttk.Frame(self.root, padding=(16, 12, 16, 16), style="App.TFrame")
         main_frame.pack(fill=tk.BOTH, expand=True)
 
         header_card = tk.Frame(
@@ -185,26 +148,16 @@ class TomatoHarvestingUI:
             highlightthickness=1,
             highlightbackground=self.colors["border"]
         )
-        header_card.pack(fill=tk.X, pady=(0, 12))
+        header_card.pack(fill=tk.X, pady=(0, 10))
         header_top = tk.Frame(header_card, bg=self.colors["panel"])
-        header_top.pack(fill=tk.X, padx=20, pady=(16, 10))
-        hero_badge = tk.Label(
-            header_top,
-            text="TomatoPick Studio",
-            font=self.fonts["chip"],
-            bg=self.colors["leaf_soft"],
-            fg=self.colors["leaf"],
-            padx=12,
-            pady=6
-        )
-        hero_badge.pack(side=tk.LEFT, padx=(0, 10))
+        header_top.pack(fill=tk.X, padx=18, pady=10)
         self.status_badge = tk.Label(
             header_top,
             text="系统就绪",
             font=self.fonts["button"],
             bg=self.colors["accent_soft"],
-            fg=self.colors["accent_deep"],
-            padx=16,
+            fg=self.colors["accent"],
+            padx=14,
             pady=6
         )
         self.status_badge.pack(side=tk.RIGHT)
@@ -212,7 +165,7 @@ class TomatoHarvestingUI:
         title_wrap.pack(side=tk.LEFT, fill=tk.X, expand=True)
         self.title_label = tk.Label(
             title_wrap,
-            text="番茄采摘控制台",
+            text="番茄采摘系统",
             font=self.fonts["title"],
             bg=self.colors["panel"],
             fg=self.colors["text"]
@@ -220,27 +173,12 @@ class TomatoHarvestingUI:
         self.title_label.pack(side=tk.LEFT)
         self.subtitle_label = tk.Label(
             title_wrap,
-            text="参数配置 · 视觉联调 · 设备控制 · 终端回显",
+            text="参数配置 · 日志 · 相机 · 终端",
             font=self.fonts["subtitle"],
             bg=self.colors["panel"],
             fg=self.colors["muted"]
         )
         self.subtitle_label.pack(side=tk.LEFT, padx=(14, 0), pady=(4, 0))
-        header_bottom = tk.Frame(header_card, bg=self.colors["panel"])
-        header_bottom.pack(fill=tk.X, padx=20, pady=(0, 16))
-        self.create_info_chip(header_bottom, "视觉模式", "YOLO + RealSense", self.colors["metric_1"], self.colors["accent_deep"]).pack(side=tk.LEFT, padx=(0, 8))
-        self.create_info_chip(header_bottom, "运行姿态", "机械臂 / AGV 联动", self.colors["metric_2"], "#9A5417").pack(side=tk.LEFT, padx=8)
-        self.create_info_chip(header_bottom, "当前风格", "卡通番茄主题", self.colors["metric_3"], self.colors["leaf"]).pack(side=tk.LEFT, padx=8)
-        self.header_decoration = tk.Canvas(
-            header_bottom,
-            height=54,
-            width=220,
-            bd=0,
-            highlightthickness=0,
-            bg=self.colors["panel"]
-        )
-        self.header_decoration.pack(side=tk.RIGHT)
-        self.draw_header_decoration()
 
         body_frame = ttk.Frame(main_frame, style="App.TFrame")
         body_frame.pack(fill=tk.BOTH, expand=True)
@@ -417,7 +355,7 @@ class TomatoHarvestingUI:
         # 日志文本框
         self.log_text = scrolledtext.ScrolledText(log_frame, wrap=tk.WORD, height=4, bd=0, relief="flat", highlightthickness=0)
         self.log_text.pack(fill=tk.BOTH, expand=True, pady=(0, 2))
-        self.log_text.config(state=tk.DISABLED, bg="#FFF7F2", fg=self.colors["text"], insertbackground=self.colors["text"])
+        self.log_text.config(state=tk.DISABLED, bg="#F0F0F0", fg="#333333", insertbackground="black")
         
         # 相机画面区域（下方）
         camera_card = ttk.LabelFrame(center_frame, text="相机画面", padding="8", style="Card.TLabelframe")
@@ -446,9 +384,9 @@ class TomatoHarvestingUI:
             bd=0,
             relief="flat",
             highlightthickness=0,
-            bg=self.colors["terminal_bg"],
-            fg=self.colors["terminal_fg"],
-            insertbackground=self.colors["terminal_fg"]
+            bg="#111111",
+            fg="#D8F3DC",
+            insertbackground="#D8F3DC"
         )
         self.terminal_text.pack(fill=tk.BOTH, expand=True, pady=5)
         self.terminal_text.config(state=tk.DISABLED)
@@ -462,28 +400,23 @@ class TomatoHarvestingUI:
 
     def init_fonts(self):
         """创建一组可随窗口缩放的字体对象。"""
-        primary_family = self.pick_font_family(["Microsoft YaHei UI", "Microsoft YaHei", "Noto Sans CJK SC", "WenQuanYi Zen Hei", "Sans"])
-        title_family = self.pick_font_family(["Microsoft YaHei UI", "Microsoft YaHei", "Noto Sans CJK SC", "WenQuanYi Zen Hei", "Sans"])
-        mono_family = self.pick_font_family(["JetBrains Mono", "Consolas", "DejaVu Sans Mono", primary_family])
         self.font_specs = {
-            "default": {"family": primary_family, "size": 10},
-            "title": {"family": title_family, "size": 20, "weight": "bold"},
-            "subtitle": {"family": primary_family, "size": 10},
-            "section": {"family": primary_family, "size": 10, "weight": "bold"},
-            "button": {"family": primary_family, "size": 10, "weight": "bold"},
-            "button_normal": {"family": primary_family, "size": 10},
-            "mono": {"family": mono_family, "size": 9},
-            "chip": {"family": primary_family, "size": 9, "weight": "bold"},
+            "default": {"family": "微软雅黑", "size": 9},
+            "title": {"family": "微软雅黑", "size": 18, "weight": "bold"},
+            "subtitle": {"family": "微软雅黑", "size": 10},
+            "section": {"family": "微软雅黑", "size": 9, "weight": "bold"},
+            "button": {"family": "微软雅黑", "size": 9, "weight": "bold"},
+            "button_normal": {"family": "微软雅黑", "size": 9},
+            "mono": {"family": "微软雅黑", "size": 9},
         }
         self.font_min_sizes = {
-            "default": 8,
-            "title": 15,
+            "default": 7,
+            "title": 14,
             "subtitle": 8,
             "section": 8,
             "button": 8,
             "button_normal": 8,
             "mono": 8,
-            "chip": 8,
         }
         self.fonts = {}
         for name, spec in self.font_specs.items():
@@ -496,14 +429,6 @@ class TomatoHarvestingUI:
         self.root.option_add("*Font", self.fonts["default"])
         self.root.bind("<Configure>", self.on_root_resize)
 
-    def pick_font_family(self, candidates):
-        """在当前系统中优先选择更适合中文界面的字体。"""
-        available = set(tkfont.families(self.root))
-        for family in candidates:
-            if family in available:
-                return family
-        return "TkDefaultFont"
-
     def setup_styles(self):
         """集中配置 ttk 控件样式，避免样式定义散落在各个方法中。"""
         style = ttk.Style()
@@ -517,47 +442,33 @@ class TomatoHarvestingUI:
         style.configure("App.TFrame", background=self.colors["bg"])
         style.configure("Transparent.TFrame", background=self.colors["bg"])
         style.configure("TPanedwindow", background=self.colors["bg"])
-        style.configure("TPanedwindow.Sash", background=self.colors["bg_deep"], sashthickness=10)
         style.configure("TLabel", background=self.colors["panel"], foreground=self.colors["text"], font=self.fonts["default"])
         style.configure(
             "TEntry",
             fieldbackground=self.colors["panel"],
             background=self.colors["panel"],
             foreground=self.colors["text"],
-            padding=7,
+            padding=5,
             font=self.fonts["default"],
             relief="flat",
-            borderwidth=1,
-            insertcolor=self.colors["accent_deep"]
+            borderwidth=1
         )
-        style.map("TEntry", bordercolor=[("focus", self.colors["accent"]), ("!focus", self.colors["border"])])
         style.configure(
             "TCombobox",
             fieldbackground=self.colors["panel"],
             background=self.colors["panel"],
             foreground=self.colors["text"],
             arrowsize=14,
-            padding=4,
+            padding=3,
             font=self.fonts["default"]
         )
         style.configure(
             "TButton",
             font=self.fonts["button_normal"],
-            padding=(12, 8),
+            padding=(10, 6),
             relief="flat",
             borderwidth=0
         )
-        style.configure(
-            "TCheckbutton",
-            background=self.colors["panel"],
-            foreground=self.colors["text"],
-            font=self.fonts["default"]
-        )
-        style.map(
-            "TCheckbutton",
-            background=[("active", self.colors["panel_soft"])],
-            foreground=[("active", self.colors["accent_deep"])]
-        )
         style.configure(
             "SidebarShell.TLabelframe",
             background=self.colors["panel_soft"],
@@ -576,12 +487,12 @@ class TomatoHarvestingUI:
             background=self.colors["panel"],
             borderwidth=1,
             relief="solid",
-            padding=8
+            padding=6
         )
         style.configure(
             "SidebarCard.TLabelframe.Label",
             background=self.colors["panel"],
-            foreground=self.colors["accent_deep"],
+            foreground=self.colors["text"],
             font=self.fonts["section"]
         )
         style.configure(
@@ -589,33 +500,33 @@ class TomatoHarvestingUI:
             background=self.colors["panel"],
             borderwidth=1,
             relief="solid",
-            padding=8
+            padding=6
         )
         style.configure(
             "Card.TLabelframe.Label",
             background=self.colors["panel"],
-            foreground=self.colors["accent_deep"],
+            foreground=self.colors["text"],
             font=self.fonts["section"]
         )
         style.configure(
             "TerminalCard.TLabelframe",
-            background=self.colors["panel_alt"],
+            background=self.colors["panel"],
             borderwidth=1,
             relief="solid",
-            padding=8
+            padding=6
         )
         style.configure(
             "TerminalCard.TLabelframe.Label",
-            background=self.colors["panel_alt"],
-            foreground=self.colors["accent_deep"],
+            background=self.colors["panel"],
+            foreground=self.colors["text"],
             font=self.fonts["section"]
         )
-        style.configure("Primary.TButton", background=self.colors["accent"], foreground="#FFF8F4", font=self.fonts["button"])
-        style.map("Primary.TButton", background=[("active", self.colors["accent_deep"]), ("disabled", "#F1B5AA")], foreground=[("disabled", "#FFF6F2")])
-        style.configure("Danger.TButton", background="#B84531", foreground="#FFF8F4", font=self.fonts["button"])
-        style.map("Danger.TButton", background=[("active", "#8D3022"), ("disabled", "#EDB9AE")], foreground=[("disabled", "#FEF2F2")])
+        style.configure("Primary.TButton", background=self.colors["accent"], foreground="#FFFFFF", font=self.fonts["button"])
+        style.map("Primary.TButton", background=[("active", "#0B5E58"), ("disabled", "#A8D7D2")], foreground=[("disabled", "#F7FAFC")])
+        style.configure("Danger.TButton", background="#C2410C", foreground="#FFFFFF", font=self.fonts["button"])
+        style.map("Danger.TButton", background=[("active", "#9A3412"), ("disabled", "#F3B99A")], foreground=[("disabled", "#FEF2F2")])
         style.configure("Secondary.TButton", background=self.colors["info_soft"], foreground=self.colors["info"], font=self.fonts["button_normal"])
-        style.map("Secondary.TButton", background=[("active", self.colors["accent_gold"]), ("disabled", "#F5E6DA")], foreground=[("active", self.colors["text"]), ("disabled", self.colors["muted"])])
+        style.map("Secondary.TButton", background=[("active", "#C8DFF7"), ("disabled", "#E7EEF5")])
 
     def on_root_resize(self, event):
         """窗口尺寸变化时，延迟刷新字体缩放。"""
@@ -645,41 +556,6 @@ class TomatoHarvestingUI:
         finally:
             self._is_applying_font_scale = False
 
-    def create_info_chip(self, parent, title, value, bg_color, fg_color):
-        """创建头部信息胶囊，用于提升首页层次感。"""
-        chip = tk.Frame(parent, bg=bg_color, bd=0, highlightthickness=0)
-        tk.Label(
-            chip,
-            text=title,
-            font=self.fonts["chip"],
-            bg=bg_color,
-            fg=fg_color,
-        ).pack(anchor=tk.W, padx=12, pady=(8, 0))
-        tk.Label(
-            chip,
-            text=value,
-            font=self.fonts["default"],
-            bg=bg_color,
-            fg=self.colors["text"],
-        ).pack(anchor=tk.W, padx=12, pady=(0, 8))
-        return chip
-
-    def draw_header_decoration(self):
-        """绘制头部右侧的番茄主题装饰。"""
-        if not hasattr(self, "header_decoration"):
-            return
-        canvas = self.header_decoration
-        canvas.delete("all")
-        canvas.create_oval(10, 16, 38, 44, fill="#FFD9CF", outline="")
-        canvas.create_oval(48, 6, 102, 52, fill=self.colors["accent"], outline="")
-        canvas.create_polygon(67, 12, 74, 0, 81, 12, 90, 4, 86, 18, 70, 18, fill=self.colors["leaf"], outline="")
-        canvas.create_oval(63, 22, 68, 28, fill=self.colors["text"], outline="")
-        canvas.create_oval(80, 22, 85, 28, fill=self.colors["text"], outline="")
-        canvas.create_arc(67, 24, 82, 36, start=200, extent=140, style=tk.ARC, outline="#FFF8F4", width=2)
-        canvas.create_oval(112, 20, 142, 50, fill="#FFE6B4", outline="")
-        canvas.create_oval(150, 10, 208, 46, fill="#E3F5DA", outline="")
-        canvas.create_text(180, 28, text="Fresh", fill=self.colors["leaf"], font=self.fonts["chip"])
-
     def set_status_badge(self, text, tone="idle"):
         """更新顶部状态徽标。"""
         tone_map = {
@@ -719,168 +595,12 @@ class TomatoHarvestingUI:
         except Exception:
             pass
 
-    def play_startup_animation(self):
-        """播放一个轻量级的卡通番茄启动动画。"""
-        if self.startup_animation_started or self.startup_overlay is not None:
-            return
-        self.startup_animation_started = True
-        screen_w = self.root.winfo_screenwidth()
-        screen_h = self.root.winfo_screenheight()
-        width = min(560, max(420, int(screen_w * 0.34)))
-        height = min(440, max(320, int(screen_h * 0.34)))
-        pos_x = max(0, (screen_w - width) // 2)
-        pos_y = max(0, (screen_h - height) // 2)
-        transparent_key = "#010203"
-
-        splash = tk.Toplevel(self.root)
-        splash.overrideredirect(True)
-        splash.geometry(f"{width}x{height}+{pos_x}+{pos_y}")
-        splash.configure(bg=transparent_key)
-        try:
-            splash.wm_attributes("-topmost", True)
-        except tk.TclError:
-            pass
-        try:
-            splash.wm_attributes("-transparentcolor", transparent_key)
-            self.startup_transparent_ready = True
-            self.startup_bg_color = transparent_key
-        except tk.TclError:
-            self.startup_transparent_ready = False
-            self.startup_bg_color = self.colors["bg"]
-            splash.configure(bg=self.startup_bg_color)
-            try:
-                splash.wm_attributes("-alpha", 0.96)
-            except tk.TclError:
-                pass
-
-        overlay = tk.Canvas(
-            splash,
-            width=width,
-            height=height,
-            bg=self.startup_bg_color,
-            bd=0,
-            highlightthickness=0,
-        )
-        overlay.place(x=0, y=0, relwidth=1, relheight=1)
-        self.startup_window = splash
-        self.startup_overlay = overlay
-        self._animate_tomato_frame(frame_index=0, total_frames=44)
-
-    def _animate_tomato_frame(self, frame_index, total_frames):
-        """逐帧绘制番茄跳出动画。"""
-        canvas = self.startup_overlay
-        if canvas is None:
-            return
-        width = max(canvas.winfo_width(), 960)
-        height = max(canvas.winfo_height(), 640)
-        progress = frame_index / max(total_frames - 1, 1)
-        center_x = width * 0.5
-        base_y = height * 0.58
-        rise = math.sin(progress * math.pi) * 110
-        bounce = abs(math.sin(progress * math.pi * 2.2))
-        body_scale_x = 1.0 + (0.12 if progress < 0.18 else 0.0) - bounce * 0.05
-        body_scale_y = 1.0 - (0.16 if progress < 0.18 else 0.0) + bounce * 0.08
-        eye_offset = math.sin(progress * math.pi * 4) * 1.2
-
-        canvas.delete("all")
-        if not self.startup_transparent_ready:
-            canvas.create_oval(-40, height * 0.48, width + 40, height + 120, fill="#FFF1E6", outline="")
-            canvas.create_oval(center_x - 150, 20, center_x + 150, 220, fill="#FFE7DA", outline="")
-        canvas.create_text(
-            center_x,
-            height * 0.20,
-            text="TomatoPick",
-            fill=self.colors["accent_deep"],
-            font=self.fonts["title"],
-        )
-        canvas.create_text(
-            center_x,
-            height * 0.29,
-            text="准备进入番茄采摘控制台",
-            fill=self.colors["muted"],
-            font=self.fonts["subtitle"],
-        )
-
-        y = base_y - rise
-        shadow_w = 120 - rise * 0.22
-        canvas.create_oval(
-            center_x - shadow_w,
-            base_y + 88,
-            center_x + shadow_w,
-            base_y + 112,
-            fill="#E6B9A7",
-            outline="",
-        )
-        self.draw_cartoon_tomato(canvas, center_x, y, 118 * body_scale_x, 112 * body_scale_y, eye_offset)
-
-        if progress > 0.55:
-            info_alpha_color = self.colors["leaf"] if progress > 0.72 else self.colors["muted"]
-            canvas.create_text(
-                center_x,
-                y + 126,
-                text="视觉 ready  ·  日志 ready  ·  参数 ready",
-                fill=info_alpha_color,
-                font=self.fonts["default"],
-            )
-
-        if frame_index + 1 < total_frames:
-            self.root.after(28, lambda: self._animate_tomato_frame(frame_index + 1, total_frames))
-        else:
-            self.root.after(220, self.finish_startup_animation)
-
-    def draw_cartoon_tomato(self, canvas, center_x, center_y, body_w, body_h, eye_offset):
-        """在 Canvas 上绘制卡通番茄。"""
-        left = center_x - body_w / 2
-        top = center_y - body_h / 2
-        right = center_x + body_w / 2
-        bottom = center_y + body_h / 2
-        canvas.create_oval(left + 8, top + 10, right + 8, bottom + 14, fill="#D9A18F", outline="")
-        canvas.create_oval(left, top, right, bottom, fill=self.colors["accent"], outline="")
-        canvas.create_oval(left + 16, top + 14, center_x - 6, center_y + 12, fill="#FF8B72", outline="")
-        canvas.create_oval(left + 20, top + 18, left + 42, top + 42, fill="#FFEDE7", outline="")
-        canvas.create_polygon(
-            center_x - 10, top - 6,
-            center_x, top - 24,
-            center_x + 10, top - 6,
-            center_x + 22, top - 20,
-            center_x + 16, top + 2,
-            center_x - 16, top + 2,
-            center_x - 22, top - 20,
-            fill=self.colors["leaf"],
-            outline="",
-        )
-        canvas.create_line(center_x, top - 4, center_x + 6, top - 26, fill="#7B512F", width=3, smooth=True)
-        canvas.create_oval(center_x - 24, center_y - 8 + eye_offset, center_x - 14, center_y + 4 + eye_offset, fill=self.colors["text"], outline="")
-        canvas.create_oval(center_x + 14, center_y - 8 - eye_offset, center_x + 24, center_y + 4 - eye_offset, fill=self.colors["text"], outline="")
-        canvas.create_oval(center_x - 21, center_y - 5 + eye_offset, center_x - 18, center_y - 2 + eye_offset, fill="#FFF8F4", outline="")
-        canvas.create_oval(center_x + 17, center_y - 5 - eye_offset, center_x + 20, center_y - 2 - eye_offset, fill="#FFF8F4", outline="")
-        canvas.create_arc(center_x - 18, center_y + 4, center_x + 18, center_y + 28, start=200, extent=140, style=tk.ARC, outline="#FFF8F4", width=3)
-        canvas.create_oval(center_x - 42, center_y + 14, center_x - 26, center_y + 24, fill="#F48B8E", outline="")
-        canvas.create_oval(center_x + 26, center_y + 14, center_x + 42, center_y + 24, fill="#F48B8E", outline="")
-
-    def finish_startup_animation(self):
-        """移除启动动画遮罩。"""
-        if self.startup_overlay is not None:
-            self.startup_overlay.destroy()
-            self.startup_overlay = None
-        if self.startup_window is not None:
-            self.startup_window.destroy()
-            self.startup_window = None
-        self.root.deiconify()
-        self.root.lift()
-        self.root.focus_force()
-
     def get_resource_candidates(self, filename):
         """返回项目内可能存放资源文件的候选路径。"""
         return [
             self.base_dir / filename,
-            self.base_dir / "models" / filename,
             self.base_dir / "tools" / filename,
-            self.app_dir / filename,
-            self.app_dir / "models" / filename,
-            self.app_dir / "tools" / filename,
             Path.cwd() / filename,
-            Path.cwd() / "models" / filename,
             Path.cwd() / "tools" / filename,
         ]
 
@@ -888,20 +608,11 @@ class TomatoHarvestingUI:
         """解析绝对路径或相对项目根目录的路径。"""
         if path_value:
             candidate = Path(path_value).expanduser()
-            if candidate.is_absolute():
+            if not candidate.is_absolute():
+                candidate = self.base_dir / candidate
             candidate = candidate.resolve()
             if candidate.exists():
                 return candidate
-            else:
-                relative_candidates = [
-                    self.app_dir / candidate,
-                    self.base_dir / candidate,
-                    Path.cwd() / candidate,
-                ]
-                for relative_candidate in relative_candidates:
-                    resolved = relative_candidate.resolve()
-                    if resolved.exists():
-                        return resolved
         if fallback_name:
             for candidate in self.get_resource_candidates(fallback_name):
                 if candidate.exists():
@@ -1019,8 +730,7 @@ class TomatoHarvestingUI:
         self.agv_speed_stop.insert(0, "0.0")
         self.total_duration.insert(0, "300")
         self.agv_stop_timeout.insert(0, "10")
-        default_model_path = self.resolve_path("models/best.pt", fallback_name="best.pt")
-        self.yolo_model_path.insert(0, str(default_model_path) if default_model_path else "models/best.pt")
+        self.yolo_model_path.insert(0, "best.pt")
         default_bg_path = self.resolve_path("", fallback_name="1.png")
         if default_bg_path:
             self.camera_bg_path.insert(0, str(default_bg_path))
@@ -1047,9 +757,7 @@ class TomatoHarvestingUI:
             self.agv_stop_timeout.delete(0, tk.END)
             self.agv_stop_timeout.insert(0, str(settings.get("AGV_STOP_TIMEOUT", "10")))
             self.yolo_model_path.delete(0, tk.END)
-            saved_model_path = settings.get("YOLO_MODEL_PATH", "models/best.pt")
-            resolved_model_path = self.resolve_path(saved_model_path, fallback_name="best.pt")
-            self.yolo_model_path.insert(0, str(resolved_model_path) if resolved_model_path else str(saved_model_path))
+            self.yolo_model_path.insert(0, str(settings.get("YOLO_MODEL_PATH", "best.pt")))
             self.camera_bg_path.delete(0, tk.END)
             saved_bg_path = settings.get("CAMERA_BG_PATH", "")
             resolved_bg_path = self.resolve_path(saved_bg_path, fallback_name="1.png")