diff --git a/Code/MowingRobot/README.md b/Code/MowingRobot/README.md
index 56395e6..1a36657 100644
--- a/Code/MowingRobot/README.md
+++ b/Code/MowingRobot/README.md
@@ -9,4 +9,23 @@
 
 PIBot官方资料：https://gitee.com/pibot/pibot_bringup/blob/master/doc/README.md#1-%E8%AF%B4%E6%98%8E
 
-> 注意：`build`文件夹是编译生成，不需要纳入git管理
\ No newline at end of file
+> 注意：`build`文件夹是编译生成，不需要纳入git管理
+
+### 一、启动全覆盖 & 避障
+
+#### 1.1 启动双目测距节点
+
+```shell
+# -------------------------- 目标检测和测距节点 --------------------------------
+# 进入工作目录
+cd ~/obj_dec
+# 编译
+catkin_make
+# 引入环境变量
+source ./devel/setup.bash
+# 启动ros核心节点
+roscore
+# 运行
+rosrun rknn_yolov5_demo main
+```
+
diff --git a/Code/MowingRobot/obj_dec/README.md b/Code/MowingRobot/obj_dec/README.md
new file mode 100644
index 0000000..188772b
--- /dev/null
+++ b/Code/MowingRobot/obj_dec/README.md
@@ -0,0 +1,15 @@
+使用方法：
+
+```shell
+# 进入工作目录
+cd ~/obj_dec
+# 编译
+catkin_make
+# 引入环境变量
+source ./devel/setup.bash
+# 启动ros核心节点
+roscore
+# 运行
+rosrun rknn_yolov5_demo main
+```
+
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/GrallocOps.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/GrallocOps.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/GrallocOps.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/GrallocOps.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RgaApi.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaApi.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RgaApi.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaApi.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RgaMutex.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaMutex.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RgaMutex.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaMutex.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RgaSingleton.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaSingleton.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RgaSingleton.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaSingleton.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RgaUtils.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaUtils.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RgaUtils.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaUtils.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RockchipRga.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RockchipRga.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/RockchipRga.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RockchipRga.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/drmrga.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/drmrga.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/drmrga.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/drmrga.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d.hpp b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d.hpp
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d.hpp
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d.hpp
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_buffer.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_buffer.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_buffer.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_buffer.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_common.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_common.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_common.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_common.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_expand.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_expand.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_expand.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_expand.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_mpi.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_mpi.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_mpi.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_mpi.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_single.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_single.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_single.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_single.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_task.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_task.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_task.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_task.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_type.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_type.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_type.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_type.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_version.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_version.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/im2d_version.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_version.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/rga.h b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/rga.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/include/rga.h
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/rga.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.a b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.a
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.a
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.a
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.so b/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.so
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.so
rename to Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.so
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/librga.so b/Code/MowingRobot/obj_dec/src/librga.so
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/librga.so
rename to Code/MowingRobot/obj_dec/src/librga.so
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/librknnrt.so b/Code/MowingRobot/obj_dec/src/librknnrt.so
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/librknnrt.so
rename to Code/MowingRobot/obj_dec/src/librknnrt.so
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/CMakeLists.txt b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/CMakeLists.txt
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/CMakeLists.txt
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/CMakeLists.txt
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/Timer.h b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/Timer.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/Timer.h
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/Timer.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/detection.h b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/detection.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/detection.h
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/detection.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/postprocess.h b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/postprocess.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/postprocess.h
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/postprocess.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/preprocess.h b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/preprocess.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/preprocess.h
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/preprocess.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/pub_info.h b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/pub_info.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/pub_info.h
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/pub_info.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/ranging.h b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/ranging.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/include/rknn_yolov5_demo/ranging.h
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/ranging.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/model/RK3588/yolov5s-640-640.rknn b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/RK3588/yolov5s-640-640.rknn
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/model/RK3588/yolov5s-640-640.rknn
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/RK3588/yolov5s-640-640.rknn
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/model/bus.jpg b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/bus.jpg
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/model/bus.jpg
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/bus.jpg
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/model/coco_80_labels_list.txt b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/coco_80_labels_list.txt
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/model/coco_80_labels_list.txt
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/coco_80_labels_list.txt
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/msg/dis_info.msg b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info.msg
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/msg/dis_info.msg
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info.msg
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/msg/dis_info_array.msg b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info_array.msg
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/msg/dis_info_array.msg
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info_array.msg
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/package.xml b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/package.xml
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/package.xml
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/package.xml
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/detection.cc b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/detection.cc
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/detection.cc
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/detection.cc
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/main.cc b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/main.cc
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/main.cc
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/main.cc
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/postprocess.cc b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/postprocess.cc
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/postprocess.cc
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/postprocess.cc
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/preprocess.cc b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/preprocess.cc
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/preprocess.cc
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/preprocess.cc
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/pub_info.cc b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/pub_info.cc
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/pub_info.cc
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/pub_info.cc
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/ranging.cc b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/ranging.cc
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/ranging.cc
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/ranging.cc
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/sub_dis.cc b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/sub_dis.cc
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/rknn_yolov5_demo/src/sub_dis.cc
rename to Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/sub_dis.cc
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/librknn_api/aarch64/librknnrt.so b/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/aarch64/librknnrt.so
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/librknn_api/aarch64/librknnrt.so
rename to Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/aarch64/librknnrt.so
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/librknn_api/include/rknn_api.h b/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/include/rknn_api.h
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/librknn_api/include/rknn_api.h
rename to Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/include/rknn_api.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/librknn_api/include/rknn_matmul_api.h b/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/include/rknn_matmul_api.h
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rename from Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/librknn_api/include/rknn_matmul_api.h
rename to Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/include/rknn_matmul_api.h
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/restart_rknn.sh b/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/restart_rknn.sh
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rename from Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/restart_rknn.sh
rename to Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/restart_rknn.sh
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/rknn_server b/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/rknn_server
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/rknn_server
rename to Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/rknn_server
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/start_rknn.sh b/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/start_rknn.sh
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/start_rknn.sh
rename to Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/start_rknn.sh
diff --git a/Code/MowingRobot/stereo_yolo/obj_det/src/runtime/init.rknn_server.rc b/Code/MowingRobot/obj_dec/src/runtime/init.rknn_server.rc
similarity index 100%
rename from Code/MowingRobot/stereo_yolo/obj_det/src/runtime/init.rknn_server.rc
rename to Code/MowingRobot/obj_dec/src/runtime/init.rknn_server.rc
diff --git a/Docs/Linux开发板遇到问题和解决方案/Image/Ubuntu桌面循环登陆问题-Img1.png b/Docs/Linux开发板遇到问题和解决方案/Image/Ubuntu桌面循环登陆问题-Img1.png
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diff --git a/Docs/Linux开发板遇到问题和解决方案/Ubuntu桌面循环登陆问题.md b/Docs/Linux开发板遇到问题和解决方案/Ubuntu桌面循环登陆问题.md
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+# Ubuntu桌面循环登陆问题
+
+> 硬件：Firefly ROC-RK3588S-PC   系统：Ubuntu20.04
+>
+> 2024/02/05 詹力 罗瑞笛
+
+描述：在安装了x11-apps和vnc后，发现vnc不好用所以删除了vnc。结果就导致了Ubuntu登陆界面循环登陆，在密码输入正确后闪烁一下然后接着又要输入密码。
+
+方案1：网络上好多提到这个方案，但是似乎没有太大作用。
+
+```shell
+# ctrl + alt + f1 \ f2 根据实际情况看看f1和f2哪个能进入tty命令行
+ctrl + alt + f2
+# 进入主界面
+cd ~
+ls -lA 
+# 如果看到 -rw----------------------- 1 root root 53 Nov 29:10:19 .Xauthority
+# 整理的username是用于登陆的用户名
+chown username:username .Xauthority
+```
+
+方案2：罗瑞迪亲测解决
+
+```shell
+sudo apt-get install lightdm
+# 然后在弹出的Configuring lightdm界面中选择lightdm
+```
+
+![](Image/Ubuntu桌面循环登陆问题-Img1.png)
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