diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalControlInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalControlInstruction.java
new file mode 100644
index 0000000..ecee00d
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalControlInstruction.java
@@ -0,0 +1,94 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+import java.util.Map;
+
+@Slf4j
+public class TuohengGimbalControlInstruction extends AbstractInstruction {
+
+    private final String commandValue;
+    private final String description;
+    private final String evalue;
+    private final String lightMode;
+
+    public TuohengGimbalControlInstruction(String commandValue, String description) {
+        this(commandValue, description, null, null);
+    }
+
+    public TuohengGimbalControlInstruction(String commandValue, String description, String evalue) {
+        this(commandValue, description, evalue, null);
+    }
+
+    public TuohengGimbalControlInstruction(String commandValue, String description, String evalue, String lightMode) {
+        this.commandValue = commandValue;
+        this.description = description;
+        this.evalue = evalue;
+        this.lightMode = lightMode;
+    }
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_CONTROL_" + commandValue;
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒云台控制指令: sn={}, command={}, desc={}", sn, commandValue, description);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", commandValue);
+        payload.put("messageID", System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", description);
+
+        // 添加可选参数
+        if (evalue != null) {
+            payload.put("evalue", evalue);
+        }
+
+        if (lightMode != null) {
+            payload.put("lightMode", lightMode);
+        }
+
+        // 从上下文获取额外参数
+        if (context.getCommandParam("evalue") != null) {
+            payload.put("evalue", context.getCommandParam("evalue"));
+        }
+        if (context.getCommandParam("value") != null) {
+            payload.put("value", context.getCommandParam("value"));
+        }
+        if (context.getCommandParam("messageID") != null) {
+            payload.put("messageID", context.getCommandParam("messageID"));
+        }
+        //专门用于云台变焦命令的，用于指定相机的灯光模式。
+        if (context.getCommandParam("lightMode") != null) {
+            payload.put("lightMode", context.getCommandParam("lightMode"));
+        }
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("云台控制指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalMoveLeftInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalMoveLeftInstruction.java
new file mode 100644
index 0000000..bfce067
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalMoveLeftInstruction.java
@@ -0,0 +1,78 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengGimbalMoveLeftInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_MOVE_LEFT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        long messageID = context.getCommandParam("messageID", Long.class) != null ? (Long) context.getCommandParam("messageID") : System.currentTimeMillis();
+        log.info("发送拓恒云台左移指令序列: sn={}, messageID={}", sn, messageID);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+
+        // 1. 发送云台转速设置命令
+        JSONObject speedPayload = new JSONObject();
+        speedPayload.put("code", "yuntai");
+        speedPayload.put("messageID", messageID);
+        speedPayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        speedPayload.put("value", "31");
+        speedPayload.put("timestamp", System.currentTimeMillis());
+        speedPayload.put("desc", "云台转速");
+        context.getMqttClient().sendMessage(topic, speedPayload.toJSONString());
+        log.info("云台转速设置指令发送成功: topic={}, payload={}", topic, speedPayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(100);
+
+        // 2. 发送云台左移命令
+        JSONObject movePayload = new JSONObject();
+        movePayload.put("code", "yuntai");
+        movePayload.put("messageID", messageID);
+        movePayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        movePayload.put("value", "03");
+        movePayload.put("timestamp", System.currentTimeMillis());
+        movePayload.put("desc", "云台左移");
+        context.getMqttClient().sendMessage(topic, movePayload.toJSONString());
+        log.info("云台左移指令发送成功: topic={}, payload={}", topic, movePayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(500);
+
+        // 3. 发送云台停止命令
+        JSONObject stopPayload = new JSONObject();
+        stopPayload.put("code", "yuntai");
+        stopPayload.put("messageID", messageID);
+        stopPayload.put("value", "09");
+        stopPayload.put("timestamp", System.currentTimeMillis());
+        stopPayload.put("desc", "云台停止");
+        context.getMqttClient().sendMessage(topic, stopPayload.toJSONString());
+        log.info("云台停止指令发送成功: topic={}, payload={}", topic, stopPayload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalMoveRightInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalMoveRightInstruction.java
new file mode 100644
index 0000000..ab04eef
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalMoveRightInstruction.java
@@ -0,0 +1,78 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengGimbalMoveRightInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_MOVE_RIGHT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        long messageID = context.getCommandParam("messageID", Long.class) != null ? (Long) context.getCommandParam("messageID") : System.currentTimeMillis();
+        log.info("发送拓恒云台右移指令序列: sn={}, messageID={}", sn, messageID);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+
+        // 1. 发送云台转速设置命令
+        JSONObject speedPayload = new JSONObject();
+        speedPayload.put("code", "yuntai");
+        speedPayload.put("messageID", messageID);
+        speedPayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        speedPayload.put("value", "31");
+        speedPayload.put("timestamp", System.currentTimeMillis());
+        speedPayload.put("desc", "云台转速");
+        context.getMqttClient().sendMessage(topic, speedPayload.toJSONString());
+        log.info("云台转速设置指令发送成功: topic={}, payload={}", topic, speedPayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(100);
+
+        // 2. 发送云台右移命令
+        JSONObject movePayload = new JSONObject();
+        movePayload.put("code", "yuntai");
+        movePayload.put("messageID", messageID);
+        movePayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        movePayload.put("value", "04");
+        movePayload.put("timestamp", System.currentTimeMillis());
+        movePayload.put("desc", "云台右移");
+        context.getMqttClient().sendMessage(topic, movePayload.toJSONString());
+        log.info("云台右移指令发送成功: topic={}, payload={}", topic, movePayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(500);
+
+        // 3. 发送云台停止命令
+        JSONObject stopPayload = new JSONObject();
+        stopPayload.put("code", "yuntai");
+        stopPayload.put("messageID", messageID);
+        stopPayload.put("value", "09");
+        stopPayload.put("timestamp", System.currentTimeMillis());
+        stopPayload.put("desc", "云台停止");
+        context.getMqttClient().sendMessage(topic, stopPayload.toJSONString());
+        log.info("云台停止指令发送成功: topic={}, payload={}", topic, stopPayload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalPitchDownInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalPitchDownInstruction.java
new file mode 100644
index 0000000..fa9152e
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalPitchDownInstruction.java
@@ -0,0 +1,64 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengGimbalPitchDownInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_PITCH_DOWN";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        long messageID = context.getCommandParam("messageID", Long.class) != null ? (Long) context.getCommandParam("messageID") : System.currentTimeMillis();
+        log.info("发送拓恒云台俯仰（下）指令序列: sn={}, messageID={}", sn, messageID);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+
+        // 1. 发送云台俯仰（下）命令
+        JSONObject pitchPayload = new JSONObject();
+        pitchPayload.put("code", "yuntai");
+        pitchPayload.put("messageID", messageID);
+        pitchPayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        pitchPayload.put("value", "02");
+        pitchPayload.put("timestamp", System.currentTimeMillis());
+        pitchPayload.put("desc", "云台俯仰（下）");
+        context.getMqttClient().sendMessage(topic, pitchPayload.toJSONString());
+        log.info("云台俯仰（下）指令发送成功: topic={}, payload={}", topic, pitchPayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(500);
+
+        // 2. 发送云台停止命令
+        JSONObject stopPayload = new JSONObject();
+        stopPayload.put("code", "yuntai");
+        stopPayload.put("messageID", messageID);
+        stopPayload.put("value", "09");
+        stopPayload.put("timestamp", System.currentTimeMillis());
+        stopPayload.put("desc", "云台停止");
+        context.getMqttClient().sendMessage(topic, stopPayload.toJSONString());
+        log.info("云台停止指令发送成功: topic={}, payload={}", topic, stopPayload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalPitchUpInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalPitchUpInstruction.java
new file mode 100644
index 0000000..b056f87
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalPitchUpInstruction.java
@@ -0,0 +1,64 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengGimbalPitchUpInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_PITCH_UP";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        long messageID = context.getCommandParam("messageID", Long.class) != null ? (Long) context.getCommandParam("messageID") : System.currentTimeMillis();
+        log.info("发送拓恒云台俯仰（上）指令序列: sn={}, messageID={}", sn, messageID);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+
+        // 1. 发送云台俯仰（上）命令
+        JSONObject pitchPayload = new JSONObject();
+        pitchPayload.put("code", "yuntai");
+        pitchPayload.put("messageID", messageID);
+        pitchPayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        pitchPayload.put("value", "01");
+        pitchPayload.put("timestamp", System.currentTimeMillis());
+        pitchPayload.put("desc", "云台俯仰（上）");
+        context.getMqttClient().sendMessage(topic, pitchPayload.toJSONString());
+        log.info("云台俯仰（上）指令发送成功: topic={}, payload={}", topic, pitchPayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(500);
+
+        // 2. 发送云台停止命令
+        JSONObject stopPayload = new JSONObject();
+        stopPayload.put("code", "yuntai");
+        stopPayload.put("messageID", messageID);
+        stopPayload.put("value", "09");
+        stopPayload.put("timestamp", System.currentTimeMillis());
+        stopPayload.put("desc", "云台停止");
+        context.getMqttClient().sendMessage(topic, stopPayload.toJSONString());
+        log.info("云台停止指令发送成功: topic={}, payload={}", topic, stopPayload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalResetInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalResetInstruction.java
new file mode 100644
index 0000000..3637215
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalResetInstruction.java
@@ -0,0 +1,48 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengGimbalResetInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_RESET";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒云台复位指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", "10");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "云台复位");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("云台复位指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalZoomInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalZoomInstruction.java
new file mode 100644
index 0000000..76a3bdc
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalZoomInstruction.java
@@ -0,0 +1,50 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengGimbalZoomInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_ZOOM";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒云台变焦指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("lightMode", "visibleLight");
+        payload.put("code", "yuntai");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : "3");
+        payload.put("value", context.getCommandParam("value") != null ? context.getCommandParam("value") : "30");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "云台变焦");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("云台变焦指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchIRInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchIRInstruction.java
new file mode 100644
index 0000000..e6802ac
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchIRInstruction.java
@@ -0,0 +1,48 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengSwitchIRInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_SWITCH_IR";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒切换红外指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", "22");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "红外");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("切换红外指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchVisibleLightInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchVisibleLightInstruction.java
new file mode 100644
index 0000000..c878ed5
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchVisibleLightInstruction.java
@@ -0,0 +1,48 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengSwitchVisibleLightInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_SWITCH_VISIBLE_LIGHT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒切换可见光指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", "21");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "可见光");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("切换可见光指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchWideAngleInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchWideAngleInstruction.java
new file mode 100644
index 0000000..cb7d4c0
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengSwitchWideAngleInstruction.java
@@ -0,0 +1,48 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengSwitchWideAngleInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_SWITCH_WIDE_ANGLE";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒切换广角指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", "23");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "广角");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("切换广角指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}
\ No newline at end of file