diff --git a/agv_app/static/js/running.js b/agv_app/static/js/running.js
index 713b62d..b666260 100644
--- a/agv_app/static/js/running.js
+++ b/agv_app/static/js/running.js
@@ -244,6 +244,18 @@ createApp({
         body: JSON.stringify({ qr: 'SKIP' })
       })
     },
+    async rescanQr() {
+      this.showQrModal = false
+      this.qrValue = ''
+      this.qrSubmitting = true
+      await fetch(API + '/api/mission/manual-qr', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ qr: 'RESCAN' })
+      })
+      // 4秒后允许弹窗重新出现（后端重试扫码约3秒）
+      setTimeout(() => { this.qrSubmitting = false }, 4000)
+    },
     onAgvPreviewError(e) {
       e.target.style.display = 'none'
     },
diff --git a/agv_app/templates/running.html b/agv_app/templates/running.html
index 29a200c..1252be8 100644
--- a/agv_app/templates/running.html
+++ b/agv_app/templates/running.html
@@ -204,6 +204,7 @@
           <p>所有姿态均未识别到二维码，请手动输入：</p>
           <input type="text" v-model="qrValue" placeholder="输入二维码内容" autofocus @keyup.enter="submitQr">
           <div class="modal-actions">
+            <button class="btn btn-success" @click="rescanQr" style="margin-right:auto">🔄 重新扫描</button>
             <button class="btn btn-primary" @click="submitQr">确认</button>
             <button class="btn" @click="cancelQr">跳过</button>
           </div>
@@ -239,6 +240,6 @@
   </div>
 
   <script src="/static/js/vue3.global.prod.js"></script>
-  <script src="/static/js/running.js?v=20260529a"></script>
+  <script src="/static/js/running.js?v=20260605b"></script>
 </body>
 </html>
\ No newline at end of file
diff --git a/agv_app/utils/mission_executor.py b/agv_app/utils/mission_executor.py
index 805002b..1fd8858 100644
--- a/agv_app/utils/mission_executor.py
+++ b/agv_app/utils/mission_executor.py
@@ -738,22 +738,35 @@ class MissionExecutorV3:
         return None
 
     def _request_manual_qr(self) -> Optional[str]:
-        """暂停任务，等待手动输入（不超时，必须输入才能继续；stop 时解除）"""
-        self.status = MissionStatus.WAITING_QR
-        self.report["status"] = "waiting_qr"
-        self.report["step"] = "等待手动输入二维码"
-        self._log("  ⌨️  弹窗等待手动输入二维码（不可跳过）...")
+        """暂停任务，等待手动输入（支持重新扫描）"""
+        while True:
+            self.status = MissionStatus.WAITING_QR
+            self.report["status"] = "waiting_qr"
+            self.report["step"] = "等待手动输入二维码"
+            self._log("  ⌨️  弹窗等待手动输入二维码...")
 
-        self._qr_event.clear()
-        self._qr_event.wait()  # 无限等待，直到 set_manual_qr 或 stop() 触发
-        self.status = MissionStatus.RUNNING
-        self.report["status"] = "running"
-        if self._qr_value:
-            self._log(f"  ✏️ 手动输入: {self._qr_value}")
-            return self._qr_value
-        else:
-            self._log(f"  ⚠️ 任务已停止")
-            return None
+            self._qr_event.clear()
+            self._qr_event.wait()  # 无限等待，直到 set_manual_qr 或 stop() 触发
+
+            if self._qr_value == 'RESCAN':
+                self.status = MissionStatus.RUNNING
+                self.report["status"] = "running"
+                self._log("  🔄 用户点击重新扫描，重试...")
+                qr = self._decode_qr_from_arm()
+                if qr:
+                    self._log(f"  ✅ 重新扫描成功: {qr}")
+                    return qr
+                self._log("  ❌ 重新扫描仍未识别到二维码")
+                continue  # 继续弹窗
+
+            self.status = MissionStatus.RUNNING
+            self.report["status"] = "running"
+            if self._qr_value:
+                self._log(f"  ✏️ 手动输入: {self._qr_value}")
+                return self._qr_value
+            else:
+                self._log(f"  ⚠️ 任务已停止")
+                return None
 
     def set_manual_qr(self, value: str):
         self._qr_value = value.strip()