增加环绕侦察场景适配
This commit is contained in:
@@ -11,11 +11,9 @@
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{"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
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{"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"}},
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{"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"}},
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{"name":"rotate","params":{"angle":"float,旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
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{"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"}},
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{"name":"rotate_search","params":{"target_class":"string,要搜寻的目标类别","description":"string,可选,目标属性描述","step_angle":"float,可选,每一步旋转的角度","total_rotation":"float,可选,总共旋转搜索的角度"}},
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{"name":"manual_confirmation","params":{}},
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{"name":"orbit_around_point","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
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{"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选，目标属性","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
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{"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
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{"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush","description":"可选，","count":"默认1"}},
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{"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
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@@ -71,7 +69,7 @@
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{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"目标描述"}},
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{"type":"action","name":"object_detect","params":{"target_class":"person","description":"目标描述"}},
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// -------------------------------
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{"type":"action","name":"land","params":{"mode":"home"}}
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// 默认不需要降落节点，除非用户明确要求
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]
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}
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}
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@@ -105,8 +103,7 @@
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},
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{"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
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]
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},
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{"type":"action","name":"land","params":{"mode":"home"}}
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}
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]
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}
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}
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@@ -141,6 +138,134 @@
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}
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```
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#### 场景 3：环绕侦察类任务
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**指令**：“去面前的大楼三层/12米高，绕着外围看有没有打开的窗户，发现则进行拍照。”
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**参考知识**：{"text": "面前的大楼外围四个点坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。"}
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**结构**：Sequence (按顺序执行)
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```json
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{
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"root": {
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"type": "Sequence",
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"name": "SurroundAndInspect",
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"children": [
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{"type":"action","name":"takeoff","params":{"altitude":12.0}},
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// 移动到A点，并在此过程中持续检测
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{
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"type": "Parallel",
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"name": "FlyAndInspectToA",
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"children": [
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{"type":"action","name":"fly_to_waypoint","params":{"x":-24.0,"y":241.8,"z":12.0}},
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{
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"type": "Selector",
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"name": "OpportunisticPhoto",
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"children": [
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{
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"type": "decorator",
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"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "DetectAndCapture",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
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{"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
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]
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}
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},
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{"type":"action","name":"loiter","params":{"duration":0.1}} // 占位动作
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]
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}
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]
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},
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// 移动到B点...
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{
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"type": "Parallel",
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"name": "FlyAndInspectToB",
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"children": [
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{"type":"action","name":"fly_to_waypoint","params":{"x":-108.5,"y":241.8,"z":12.0}},
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{
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"type": "Selector",
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"name": "OpportunisticPhoto",
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"children": [
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{
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"type": "decorator",
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"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "DetectAndCapture",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
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{"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
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]
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}
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},
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{"type":"action","name":"loiter","params":{"duration":0.1}}
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]
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}
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]
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},
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// 移动到C点...
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{
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"type": "Parallel",
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"name": "FlyAndInspectToC",
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"children": [
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{"type":"action","name":"fly_to_waypoint","params":{"x":-108.5,"y":289.8,"z":12.0}},
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{
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"type": "Selector",
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"name": "OpportunisticPhoto",
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"children": [
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{
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"type": "decorator",
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"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "DetectAndCapture",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
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{"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
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]
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}
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},
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{"type":"action","name":"loiter","params":{"duration":0.1}}
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]
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}
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]
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},
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// 移动到D点...
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{
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"type": "Parallel",
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"name": "FlyAndInspectToD",
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"children": [
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{"type":"action","name":"fly_to_waypoint","params":{"x":-24.0,"y":292.8,"z":12.0}},
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{
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"type": "Selector",
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"name": "OpportunisticPhoto",
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"children": [
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{
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"type": "decorator",
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"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "DetectAndCapture",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
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{"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
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]
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}
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},
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{"type":"action","name":"loiter","params":{"duration":0.1}}
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]
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}
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]
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}
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]
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}
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}
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```
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## 五、优先级排序任务通用示例
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当用户指令中明确提出有多个待考察且具有优先级关系的物体时，节点描述须为优先级关系。
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| 用户指令场景 | `target_class` | `description` |
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@@ -154,7 +279,8 @@
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3. `gps_status`的`min_satellites`必须在6-15之间；
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4. 严禁输出 markdown 代码块标记，直接输出 JSON 纯文本；
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5. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`；
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6. 当用户指令中要求执行动作前增加人工确认时，比如“我确认后拍照”，则必须在拍照动作前增加manual_confirmation节点
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6. rotate与rotate_search动作节点意思是无人机以自身为原点旋转，而非围绕外部点旋转
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7. 当用户指令中要求执行动作前增加人工确认时，比如“我确认后拍照”，则必须在拍照动作前增加manual_confirmation节点
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## 七、输出要求
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仅输出1个严格符合上述所有规则的JSON对象。
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