diff --git a/HPPA/CaptureCoordinator.cpp b/HPPA/CaptureCoordinator.cpp
index 9ba3778..f1d5510 100644
--- a/HPPA/CaptureCoordinator.cpp
+++ b/HPPA/CaptureCoordinator.cpp
@@ -467,7 +467,7 @@ OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 		this, &OneMotionCaptureCoordinator::handleMotorStoped);
 }
 
-void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
+void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)//这个函数为啥被调用了2次？
 {
 	QMutexLocker locker(&m_dataMutex);
 
@@ -498,13 +498,14 @@ void OneMotionCaptureCoordinator::stopStepMotion()
 		m_cameraCtrl->stop_record();
 	}
 
-	//emit stopMotorSignal(0);
-	move2LocBeforeStart();
+	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
 {
 	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::getLocBeforeStart()
@@ -568,25 +569,32 @@ bool OneMotionCaptureCoordinator::saveToCsv(const QString& filename)
 
 void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 {
-	if (!m_isRunning) return;
-
 	QMutexLocker locker(&m_dataMutex);
 
-	// 记录位置信息
-	m_pathLine.stopPosition = pos;
-	m_pathLine.timestamp2 = QDateTime::currentDateTime();
-
-	//光谱仪停止采集，马达回到初始位置
-	emit stopRecordHSISignal();
-	if (m_cameraCtrl != nullptr)
+	if (m_isHypercamStopRecord == true)
 	{
-		m_cameraCtrl->stop_record();
-	}
-	move2LocBeforeStart();
+		m_isHypercamStopRecord = false;
 
-	// emit sequenceComplete last: the slot connected to it may delete this object,
-	// so no member access is allowed after this point.
-	emit sequenceComplete(0);
+		// 记录位置信息
+		m_pathLine.stopPosition = pos;
+		m_pathLine.timestamp2 = QDateTime::currentDateTime();
+
+		//光谱仪停止采集，马达回到初始位置
+		emit stopRecordHSISignal();
+		if (m_cameraCtrl != nullptr)
+		{
+			m_cameraCtrl->stop_record();
+		}
+		move2LocBeforeStart();
+
+		emit sequenceComplete_cam_stop_before_motorback(0);
+	}
+	else
+	{
+		// emit sequenceComplete last: the slot connected to it may delete this object,
+		// so no member access is allowed after this point.
+		emit sequenceComplete(0);
+	}
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)
diff --git a/HPPA/CaptureCoordinator.h b/HPPA/CaptureCoordinator.h
index 6d056f3..faf3dae 100644
--- a/HPPA/CaptureCoordinator.h
+++ b/HPPA/CaptureCoordinator.h
@@ -144,6 +144,7 @@ public slots:
 	void handleCaptureCompleteWhenFrameNumberMeet();
 
 signals:
+	void sequenceComplete_cam_stop_before_motorback(int); 
 	void sequenceComplete(int);
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
@@ -165,6 +166,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isHypercamStopRecord = false;
 
 	std::vector<double> m_locBeforeStart;
 	void getLocBeforeStart();
diff --git a/HPPA/HPPA.cpp b/HPPA/HPPA.cpp
index b52b3fd..465fa6e 100644
--- a/HPPA/HPPA.cpp
+++ b/HPPA/HPPA.cpp
@@ -2396,7 +2396,7 @@ void HPPA::disconnectImagerAndCleanup()
 	{
 		m_RecordThread->quit();
 		m_RecordThread->wait(3000);
-		delete m_RecordThread;
+		m_RecordThread->deleteLater();
 		m_RecordThread = nullptr;
 	}
 
diff --git a/HPPA/ImagerOperationBase.cpp b/HPPA/ImagerOperationBase.cpp
index 4d48df9..0de74b1 100644
--- a/HPPA/ImagerOperationBase.cpp
+++ b/HPPA/ImagerOperationBase.cpp
@@ -221,6 +221,16 @@ void ImagerOperationBase::record_white()
 
 void ImagerOperationBase::start_record()
 {
+	QObject* obj = sender();
+	if (obj)
+	{
+		qDebug() << "ImagerOperationBase::start_record, sender name:" << obj->objectName();
+	}
+	else
+	{
+		qDebug() << "ImagerOperationBase::start_record, sender is null";
+	}
+	 
     using namespace std;
 
     //std::cout << "------------------------------------------------------" << std::endl;
diff --git a/HPPA/OneMotorControl.cpp b/HPPA/OneMotorControl.cpp
index 7657cf8..fd21d24 100644
--- a/HPPA/OneMotorControl.cpp
+++ b/HPPA/OneMotorControl.cpp
@@ -223,8 +223,14 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
+    if (m_coordinator)//当高光谱相机停止采集后，马达还未回到原点时，上次任务的m_coordinator还没有被销毁
+    {
+        onSequenceComplete(0);
+    }
+
     qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
     m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+    m_coordinator->setObjectName("testOneMotionCaptureCoordinator");
     connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
     connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
diff --git a/HPPA/OneMotorControl.h b/HPPA/OneMotorControl.h
index ff3a8ca..b0abc90 100644
--- a/HPPA/OneMotorControl.h
+++ b/HPPA/OneMotorControl.h
@@ -1,6 +1,7 @@
 #pragma once
 #include <QThread>
 #include <QMessageBox>
+#include <QPointer>
 
 #include "ui_oneMotorControl.h"
 
@@ -68,7 +69,7 @@ private:
     QThread m_motorThread;
     IrisMultiMotorController* m_multiAxisController = nullptr;
 
-    OneMotionCaptureCoordinator* m_coordinator = nullptr;
+    QPointer<OneMotionCaptureCoordinator> m_coordinator;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
diff --git a/HPPA/about.ui b/HPPA/about.ui
index 94009e6..e56d2ec 100644
--- a/HPPA/about.ui
+++ b/HPPA/about.ui
@@ -288,7 +288,7 @@ QPushButton:pressed
 }</string>
             </property>
             <property name="text">
-             <string>版本：3.1.1</string>
+             <string>版本：3.1.2</string>
             </property>
            </widget>
           </item>