diff --git a/Vision/camera_coordinate_dete.py b/Vision/camera_coordinate_dete.py
index 51091fa..b613267 100644
--- a/Vision/camera_coordinate_dete.py
+++ b/Vision/camera_coordinate_dete.py
@@ -13,6 +13,7 @@ import cv2
 import open3d as o3d
 from Vision.tool.CameraRVC import camera
 from Vision.yolo.yolov8_pt_seg import yolov8_segment
+from Vision.tool.utils import find_position
 
 
 class Detection:
@@ -152,27 +153,30 @@ class Detection:
                             Depth_Z.append(point_z*1000)
                             nx_ny_nz.append([a, b, c])
                             RegionalArea.append(cv2.contourArea(max_contour))
-                            uv.append([x_rotation_center,y_rotation_center])
+                            uv.append([x_rotation_center, y_rotation_center])
                             seg_point.append(pm_seg)
                         cv2.polylines(img, [box], True, (0, 255, 0), 2)
 
-                    min_value = min(Depth_Z)            # 求深度最小值
-                    min_idx = Depth_Z.index(min_value)  # 求最小值对应索引
-                    cv2.circle(img, (uv[min_idx][0], uv[min_idx][1]), 30, (255, 0, 0), 20)  # 标出中心点
+                    _idx = find_position(Depth_Z, RegionalArea, 100,True)
 
-                    if Point_isVision==True:
-                        pcd = o3d.geometry.PointCloud()
-                        pcd.points = o3d.utility.Vector3dVector(seg_point[min_idx])
-                        plane_model, inliers = pcd.segment_plane(distance_threshold=0.01,
-                                                                 ransac_n=5,
-                                                                 num_iterations=5000)
-                        inlier_cloud = pcd.select_by_index(inliers)                # 点云可视化
-                        inlier_cloud.paint_uniform_color([1.0, 0, 0])
-                        outlier_cloud = pcd.select_by_index(inliers, invert=True)
-                        outlier_cloud.paint_uniform_color([0, 1, 0])
-                        o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud, pcd2])
+                    if _idx == None:
+                        return 1, img, None, None
+                    else:
+                        cv2.circle(img, (uv[_idx][0], uv[_idx][1]), 30, (255, 0, 0), 20)  # 标出中心点
 
-                    return 1, img, xyz[min_idx], nx_ny_nz[min_idx]
+                        if Point_isVision==True:
+                            pcd = o3d.geometry.PointCloud()
+                            pcd.points = o3d.utility.Vector3dVector(seg_point[_idx])
+                            plane_model, inliers = pcd.segment_plane(distance_threshold=0.01,
+                                                                     ransac_n=5,
+                                                                     num_iterations=5000)
+                            inlier_cloud = pcd.select_by_index(inliers)                # 点云可视化
+                            inlier_cloud.paint_uniform_color([1.0, 0, 0])
+                            outlier_cloud = pcd.select_by_index(inliers, invert=True)
+                            outlier_cloud.paint_uniform_color([0, 1, 0])
+                            o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud, pcd2])
+
+                        return 1, img, xyz[_idx], nx_ny_nz[_idx]
                 else:
                     return 1, img, None, None