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diff --git a/backend_service/src/__pycache__/websocket_manager.cpython-313.pyc b/backend_service/src/__pycache__/websocket_manager.cpython-313.pyc
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diff --git a/backend_service/src/prompts/classifier_prompt.txt b/backend_service/src/prompts/classifier_prompt.txt
index 1754b0b0..cc1cf448 100644
--- a/backend_service/src/prompts/classifier_prompt.txt
+++ b/backend_service/src/prompts/classifier_prompt.txt
@@ -18,7 +18,7 @@
     {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
     {"name":"land","params":{"mode":"'current'/'home'"}},
     {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
-    {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东北天坐标系）","speed":"float,可选"}},
+    {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}},
     {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动","speed":"float,可选"}},
     {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}},
     {"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
diff --git a/backend_service/src/prompts/simple_mode_prompt.txt b/backend_service/src/prompts/simple_mode_prompt.txt
index 4ffef9a2..27b7243d 100644
--- a/backend_service/src/prompts/simple_mode_prompt.txt
+++ b/backend_service/src/prompts/simple_mode_prompt.txt
@@ -18,7 +18,7 @@
     {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
     {"name":"land","params":{"mode":"'current'/'home'"}},
     {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
-    {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东北天坐标系）","speed":"float,可选"}},
+    {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}},
     {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right/up/down","distance":"[1,10000]，缺省持续移动","speed":"float,可选"}},
     {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}},
     {"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
diff --git a/backend_service/src/prompts/system_prompt.txt b/backend_service/src/prompts/system_prompt.txt
index 01b71831..fe9aebbd 100644
--- a/backend_service/src/prompts/system_prompt.txt
+++ b/backend_service/src/prompts/system_prompt.txt
@@ -9,7 +9,7 @@
     {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
     {"name":"land","params":{"mode":"'current'/'home'"}},
     {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0","desc":"仅当指令提及具体地点（如'去广场'、'去大门'）或需计算明确坐标时使用"}},
-    {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}},
+    {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}},
     {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省则持续移动","speed":"float,可选","desc":"当指令仅包含'往东/西...飞xx米'且无具体地点名词时，必须使用此节点"}},
     {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}},
     {"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
@@ -278,6 +278,496 @@
 }
 ```
 
+#### 场景 7：空中上升后沿建筑外围侦察（Sequence + Selector）
+**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在空中，无需自检与起飞。先向上移动3米（仅方向+距离，使用`move_direction`）。随后“边飞边判断”：用`Parallel`并行执行`fly_sequence`与持续检测分支。检测分支使用`object_detect` + `object_detected` + `take_photos`，再用`SuccessIsFailure`保证不会提前结束并行；并行策略为`success_on_one`，当巡查飞行完成即结束任务。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "RiseAndPatrolPerimeter",
+    "children": [
+      {
+        "type": "action",
+        "name": "move_direction",
+        "params": {
+          "direction": "up",
+          "distance": 3.0
+        }
+      },
+      {
+        "type": "Parallel",
+        "name": "PatrolAndDetect",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8},
+                {"x": -108.5, "y": 241.8},
+                {"x": -108.5, "y": 289.8},
+                {"x": -24.0, "y": 292.8},
+                {"x": -24.0, "y": 241.8}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectAndPhotoWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"person","description":"建筑外围人员"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"建筑外围人员"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"person","description":"建筑外围人员","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 场景 8：地面起飞到楼前12米高度并沿外围查找杂物（Sequence）
+**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在地面，需自检后起飞。指令是到具体地点且明确高度，使用`fly_sequence`沿外围巡查，所有航点设置为12米高度（`depth`=12）。为满足“边飞边判断”，使用`Parallel`并行飞行与检测，检测分支持续执行`object_detect` + `object_detected` + `take_photos`，用`SuccessIsFailure`避免提前结束。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "FlyPerimeterAndPhotoGarbage",
+    "children": [
+      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {
+        "type": "Parallel",
+        "name": "PatrolAndDetectGarbage",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 289.8, "depth": 12.0},
+                {"x": -24.0, "y": 292.8, "depth": 12.0},
+                {"x": -24.0, "y": 241.8, "depth": 12.0}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectGarbageWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 场景 9：地面到12米绕外围查看打开的窗户（Sequence）
+**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在地面，先自检起飞。随后使用`fly_sequence`沿外围绕飞，航点高度为12米（`depth`=12）。同时并行执行检测分支，发现打开窗户就拍照。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "FlyPerimeterAndPhotoWindows",
+    "children": [
+      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {
+        "type": "Parallel",
+        "name": "PatrolAndDetectWindows",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 289.8, "depth": 12.0},
+                {"x": -24.0, "y": 292.8, "depth": 12.0},
+                {"x": -24.0, "y": 241.8, "depth": 12.0}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectOpenWindowsWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 场景 10：地面到12米沿外围查找打开的窗户（Sequence）
+**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在地面，起飞后使用`fly_sequence`沿外围巡查（`depth`=12），并行持续检测打开的窗户并拍照。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "FlyPerimeterAndPhotoOpenWindows",
+    "children": [
+      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {
+        "type": "Parallel",
+        "name": "PatrolAndDetectOpenWindows",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 289.8, "depth": 12.0},
+                {"x": -24.0, "y": 292.8, "depth": 12.0},
+                {"x": -24.0, "y": 241.8, "depth": 12.0}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectAllOpenWindowsWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 场景 11：空中上升后绕外围侦察打开窗户（Sequence）
+**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在空中，先上升3米。随后并行执行绕飞巡查与检测，发现打开窗户立即拍照。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "RiseAndDetectOpenWindows",
+    "children": [
+      {"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
+      {
+        "type": "Parallel",
+        "name": "PatrolAndDetectOpenWindows",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8},
+                {"x": -108.5, "y": 241.8},
+                {"x": -108.5, "y": 289.8},
+                {"x": -24.0, "y": 292.8},
+                {"x": -24.0, "y": 241.8}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectOpenWindowsWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 场景 12：地面到12米绕外围巡视杂物堆积（Sequence）
+**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在地面，起飞后沿外围绕飞（`depth`=12），并行检测杂物堆积并拍照。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "FlyPerimeterAndPhotoGarbageObserve",
+    "children": [
+      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {
+        "type": "Parallel",
+        "name": "PatrolAndDetectGarbageObserve",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 289.8, "depth": 12.0},
+                {"x": -24.0, "y": 292.8, "depth": 12.0},
+                {"x": -24.0, "y": 241.8, "depth": 12.0}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectGarbageWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 场景 13：空中下降后绕外围侦察杂物堆积（Sequence）
+**指令**：“无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在空中，先下降3米。随后并行执行绕飞巡查与检测，发现杂物堆积立即拍照。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "DescendAndDetectGarbage",
+    "children": [
+      {"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}},
+      {
+        "type": "Parallel",
+        "name": "PatrolAndDetectGarbage",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8},
+                {"x": -108.5, "y": 241.8},
+                {"x": -108.5, "y": 289.8},
+                {"x": -24.0, "y": 292.8},
+                {"x": -24.0, "y": 241.8}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectGarbageWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 场景 14：地面到12米绕外围查看是否有人（Sequence）
+**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在地面，起飞后沿外围绕飞（`depth`=12），并行检测人员并拍照。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "FlyPerimeterAndPhotoPerson",
+    "children": [
+      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {
+        "type": "Parallel",
+        "name": "PatrolAndDetectPerson",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 241.8, "depth": 12.0},
+                {"x": -108.5, "y": 289.8, "depth": 12.0},
+                {"x": -24.0, "y": 292.8, "depth": 12.0},
+                {"x": -24.0, "y": 241.8, "depth": 12.0}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectPersonWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
+#### 场景 15：地面到12米沿外围逆时针查找人员（Sequence）
+**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。”
+**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
+**思路**：无人机在地面，起飞后按逆时针顺序巡查外围（示例航点顺序：A→D→C→B→A），并行检测人员与拍照。
+**结构**：Sequence
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "FlyPerimeterCounterClockwiseAndPhotoPerson",
+    "children": [
+      {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
+      {"type":"action","name":"takeoff","params":{"altitude":10.0}},
+      {
+        "type": "Parallel",
+        "name": "PatrolCCWAndDetectPerson",
+        "params": {
+          "policy": "success_on_one"
+        },
+        "children": [
+          {
+            "type": "action",
+            "name": "fly_sequence",
+            "params": {
+              "waypoints": [
+                {"x": -24.0, "y": 241.8, "depth": 12.0},
+                {"x": -24.0, "y": 292.8, "depth": 12.0},
+                {"x": -108.5, "y": 289.8, "depth": 12.0},
+                {"x": -108.5, "y": 241.8, "depth": 12.0},
+                {"x": -24.0, "y": 241.8, "depth": 12.0}
+              ],
+              "coordinate_frame": "local_enu"
+            }
+          },
+          {
+            "type": "decorator",
+            "name": "SuccessIsFailure",
+            "child": {
+              "type": "Sequence",
+              "name": "DetectPersonWhileFlying",
+              "children": [
+                {"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
+                {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
+                {"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
+              ]
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
+```
+
 ## 六、高频错误规避
 1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`
 2. **人工确认节点 (`manual_confirmation`) 使用原则**：
diff --git a/backend_service/src/py_tree_generator.py b/backend_service/src/py_tree_generator.py
index 6d11a937..5b2c147c 100644
--- a/backend_service/src/py_tree_generator.py
+++ b/backend_service/src/py_tree_generator.py
@@ -304,9 +304,9 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
                                         "properties": {
                                             "x": {"type": "number"},
                                             "y": {"type": "number"},
-                                            "z": {"type": "number"}
+                                            "depth": {"type": "number"}
                                         },
-                                        "required": ["x", "y", "z"]
+                                        "required": ["x", "y"]
                                     },
                                     "minItems": 1
                                 },
diff --git a/backend_service/src/tools/__pycache__/__init__.cpython-313.pyc b/backend_service/src/tools/__pycache__/__init__.cpython-313.pyc
index f75f01da..cf655a69 100644
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diff --git a/backend_service/src/tools/__pycache__/coordinate_tools.cpython-313.pyc b/backend_service/src/tools/__pycache__/coordinate_tools.cpython-313.pyc
index 2a2949ab..1fac4489 100644
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