流程节点完善

tools/rag/knowledge_base/map/map.ndjson

@@ -1,3 +1,3 @@
 {"property": "location", "information": {"name": "飞行场地", "coordinates": {"x": 0, "y": 0, "z": 0}}}
-{"property": "rules", "information": {"name": "紧急返航", "description": "当指令中要求紧急返航到某地时，必须使用fly_to_waypoint节点，严禁使用return_emergency节点。"}}
 {"property": "location", "information": {"name": "大楼外围四个点东南天坐标系坐标", "coordinates": {"A": {"x": -24.00, "y": 241.80, "z": 0}, "B": {"x": -108.50, "y": 241.80, "z": 0}, "C": {"x": -108.50, "y": 289.80, "z": 0}, "D": {"x": -24.00, "y": 292.80, "z": 0}}}}
+{"property": "location", "information": {"name": "广场", "coordinates": {"x": 100, "y": 260, "z": 0}}}

tools/rag/knowledge_base/pattern/scene_patterns.ndjson

@@ -1,6 +1,6 @@
-{"scene_id":"scene1_perimeter_window_ground","intent_type":"patrol_or_monitor","trigger_terms":["面前大楼","12米","外围","窗户"],"text":"地面起飞后到面前大楼约12米高度，沿外围巡查打开窗户；如发现窗户则拍照回传。","pattern_json":{"root":{"type":"Sequence","name":"Sequence","children":[{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},{"type":"action","name":"takeoff","params":{"altitude":12}},{"type":"action","name":"rotate_search","params":{"target_class":"window"}},{"type":"condition","name":"object_detected","params":{"target_class":"window"}},{"type":"action","name":"take_photos","params":{"target_class":"window","track_time":10}}]}}}
-{"scene_id":"scene1_perimeter_person_air","intent_type":"patrol_or_monitor","trigger_terms":["这栋楼","空中","外围","人"],"text":"无人机已在空中，先调整高度后沿建筑外围巡查人员，发现目标后拍照。","pattern_json":{"root":{"type":"Sequence","name":"Sequence","children":[{"type":"action","name":"move_direction","params":{"direction":"up","distance":3}},{"type":"action","name":"rotate_search","params":{"target_class":"person"}},{"type":"condition","name":"object_detected","params":{"target_class":"person"}},{"type":"action","name":"take_photos","params":{"target_class":"person","track_time":10}}]}}}
-{"scene_id":"scene1_perimeter_trash_ground","intent_type":"patrol_or_monitor","trigger_terms":["面前大楼","杂物","外围"],"text":"地面起飞至指定高度后沿楼体外围侦察杂物堆积并拍照。","pattern_json":{"root":{"type":"Sequence","name":"Sequence","children":[{"type":"action","name":"takeoff","params":{"altitude":12}},{"type":"action","name":"rotate_search","params":{"target_class":"garbage"}},{"type":"condition","name":"object_detected","params":{"target_class":"garbage"}},{"type":"action","name":"take_photos","params":{"target_class":"garbage","track_time":8}}]}}}
-{"scene_id":"scene4_named_place_search_photo","intent_type":"search_and_photo","trigger_terms":["广场","查找","拍照"],"text":"前往命名地点后搜索目标并拍照。","pattern_json":{"root":{"type":"Sequence","name":"Sequence","children":[{"type":"action","name":"fly_to_waypoint","params":{"x":0,"y":0,"z":10,"acceptance_radius":2}},{"type":"action","name":"rotate_search","params":{"target_class":"person"}},{"type":"condition","name":"object_detected","params":{"target_class":"person"}},{"type":"action","name":"take_photos","params":{"target_class":"person","track_time":8}}]}}}
-{"scene_id":"scene4_named_place_monitor_return","intent_type":"return_or_land","trigger_terms":["广场南边","监控","返航"],"text":"先到达命名地点偏移区域执行监控，到时后返航。","pattern_json":{"root":{"type":"Sequence","name":"Sequence","children":[{"type":"action","name":"fly_to_waypoint","params":{"x":40,"y":80,"z":15,"acceptance_radius":2}},{"type":"action","name":"loiter","params":{"duration":300}},{"type":"action","name":"return_emergency","params":{"reason":"mission_complete"}}]}}}
-{"scene_id":"scene4_named_place_confirm_then_action","intent_type":"search_and_photo","trigger_terms":["确认后","拍照","返航"],"text":"在命名区域发现目标后等待人工确认，再执行拍照或返航。","pattern_json":{"root":{"type":"Sequence","name":"Sequence","children":[{"type":"action","name":"fly_to_waypoint","params":{"x":10,"y":10,"z":10,"acceptance_radius":2}},{"type":"action","name":"rotate_search","params":{"target_class":"car"}},{"type":"condition","name":"object_detected","params":{"target_class":"car"}},{"type":"action","name":"manual_confirmation","params":{}},{"type":"action","name":"take_photos","params":{"target_class":"car","track_time":8}}]}}}
+{"scene_id":"scene1_perimeter_window_ground","intent_type":"patrol_or_monitor","trigger_terms":["面前大楼","12米","外围","窗户"],"text":"地面起飞后到面前大楼约12米高度，沿外围巡查打开窗户；如发现窗户则拍照回传。","reasoning_path":"无人机在地面，需先自检并起飞到指定高度；到达高度后，由于是沿外围巡查并识别，应使用 Parallel 节点并设置 policy 为 success_on_one，让基于航点队列的飞行（fly_sequence）与查找物体分支并行执行；查找分支应循环或按序执行目标检测（object_detect）与条件判定（object_detected），发现后执行拍照（take_photos）。","parameter_requests":[{"node":"takeoff","intent":"起飞到12米","extracted_entities":{"altitude":"12米"}},{"node":"fly_sequence","intent":"沿面前大楼外围飞行","extracted_entities":{"landmark":"面前大楼外围"}},{"node":"object_detect","intent":"检测打开的窗户","extracted_entities":{"target":"打开的窗户"}},{"node":"object_detected","intent":"判定是否发现打开的窗户","extracted_entities":{"target":"打开的窗户"}},{"node":"take_photos","intent":"对打开的窗户拍照","extracted_entities":{"target":"打开的窗户"}}],"macro_tree":{"root":{"type":"Sequence","name":"Sequence","children":[{"type":"action","name":"system_checks"},{"type":"action","name":"takeoff"},{"type":"Parallel","name":"PatrolAndDetectWindows","children":[{"type":"action","name":"fly_sequence"},{"type":"decorator","name":"SuccessIsFailure","child":{"type":"Sequence","name":"DetectOpenWindowsWhileFlying","children":[{"type":"action","name":"object_detect"},{"type":"condition","name":"object_detected"},{"type":"action","name":"take_photos"}]}}]}]}}}
+{"scene_id":"scene1_perimeter_person_air","intent_type":"patrol_or_monitor","trigger_terms":["这栋楼","空中","外围","人"],"text":"无人机已在空中，先往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。","reasoning_path":"无人机已在空中，禁止自检与起飞；需先执行方向移动（move_direction）上升；然后使用 Parallel 节点（success_on_one）让外围绕飞（fly_sequence）与识别人员分支并行执行；识别分支需先检测物体（object_detect），满足检测条件（object_detected）后触发拍照（take_photos）。","parameter_requests":[{"node":"move_direction","intent":"往上飞3米","extracted_entities":{"direction":"上","distance":"3米"}},{"node":"fly_sequence","intent":"绕这栋楼外围飞行","extracted_entities":{"landmark":"这栋楼外围"}},{"node":"object_detect","intent":"检测人","extracted_entities":{"target":"人"}},{"node":"object_detected","intent":"判定是否发现人","extracted_entities":{"target":"人"}},{"node":"take_photos","intent":"对人拍照","extracted_entities":{"target":"人"}}],"macro_tree":{"root":{"type":"Sequence","name":"RiseAndDetectOpenWindows","children":[{"type":"action","name":"move_direction"},{"type":"Parallel","name":"PatrolAndDetectOpenWindows","children":[{"type":"action","name":"fly_sequence"},{"type":"decorator","name":"SuccessIsFailure","child":{"type":"Sequence","name":"DetectOpenWindowsWhileFlying","children":[{"type":"action","name":"object_detect"},{"type":"condition","name":"object_detected"},{"type":"action","name":"take_photos"}]}}]}]}}}
+{"scene_id":"scene4_named_place_search_photo","intent_type":"search_and_photo","trigger_terms":["正大门","搜索","拍照"],"text":"无人机当前在地面，去研究所正大门，搜索扎辫子女子，找到后拍照。","reasoning_path":"无人机在地面，需先自检并起飞；到达指定目标点需使用坐标飞行（fly_to_waypoint）；到达后因为不知道目标具体方位，需旋转搜索（rotate_search）；搜索过程可能有结果也可能无结果，采用 Selector 节点进行判断：优先分支检测目标（object_detected）并拍照（take_photos），若未检测到，退至备选的悬停（loiter）动作。","parameter_requests":[{"node":"fly_to_waypoint","intent":"前往研究所正大门","extracted_entities":{"landmark":"研究所正大门"}},{"node":"rotate_search","intent":"搜索扎辫子女子","extracted_entities":{"target":"扎辫子女子"}},{"node":"object_detected","intent":"判定是否发现扎辫子女子","extracted_entities":{"target":"扎辫子女子"}},{"node":"take_photos","intent":"对扎辫子女子拍照","extracted_entities":{"target":"扎辫子女子"}}],"macro_tree":{"root":{"type":"Sequence","name":"MainSearchTask","children":[{"type":"action","name":"system_checks"},{"type":"action","name":"takeoff"},{"type":"action","name":"fly_to_waypoint"},{"type":"action","name":"rotate_search"},{"type":"Selector","name":"CheckAndPhoto","children":[{"type":"Sequence","name":"PhotoIfFound","children":[{"type":"condition","name":"object_detected"},{"type":"action","name":"take_photos"}]},{"type":"action","name":"loiter"}]}]}}}
+{"scene_id":"scene4_named_place_monitor_return","intent_type":"return_or_land","trigger_terms":["广场西边","监控","返航"],"text":"无人机当前在空中，往广场西边飞200米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。","reasoning_path":"无人机在空中，直接前往目标点（fly_to_waypoint）；到达后需长期监控，使用 Parallel 节点并设 policy 为 success_on_one。主控分支为时长控制的悬停（loiter），监控分支循环检测人（object_detect），检测到（object_detected）即拍照（take_photos）；由于并行节点只要有一个完成（loiter时间到）便成功，整个监控段结束后最后执行紧急返航（return_emergency）。","parameter_requests":[{"node":"fly_to_waypoint","intent":"去广场西边200米","extracted_entities":{"landmark":"广场","direction":"西边","distance":"200米"}},{"node":"loiter","intent":"持续监控5分钟","extracted_entities":{"time":"5分钟"}},{"node":"object_detect","intent":"检测人","extracted_entities":{"target":"人"}},{"node":"object_detected","intent":"判定是否发现人","extracted_entities":{"target":"人"}},{"node":"take_photos","intent":"对人拍照","extracted_entities":{"target":"人"}}],"macro_tree":{"root":{"type":"Sequence","name":"MainTask","children":[{"type":"action","name":"fly_to_waypoint"},{"type":"Parallel","name":"MonitorAndPhoto","children":[{"type":"action","name":"loiter"},{"type":"decorator","name":"SuccessIsFailure","child":{"type":"Sequence","name":"CheckAndPhoto","children":[{"type":"action","name":"object_detect"},{"type":"condition","name":"object_detected"},{"type":"action","name":"take_photos"}]}}]},{"type":"action","name":"return_emergency"}]}}}
+{"scene_id":"scene4_named_place_confirm_then_action","intent_type":"search_and_photo","trigger_terms":["确认后","拍照","返航"],"text":"无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。","reasoning_path":"无人机在空中，直接开始任务。首先执行原地旋转搜索（rotate_search）；紧接着使用条件节点确认是否检测到目标（object_detected）；确认检测到后，需插入人工确认交互节点（manual_confirmation）；若人工放行，最后执行拍照（take_photos）。","parameter_requests":[{"node":"rotate_search","intent":"搜索小汽车","extracted_entities":{"target":"小汽车"}},{"node":"object_detected","intent":"判定是否发现小汽车","extracted_entities":{"target":"小汽车"}},{"node":"take_photos","intent":"对小汽车拍照","extracted_entities":{"target":"小汽车"}}],"macro_tree":{"root":{"type":"Sequence","name":"SearchConfirmPhoto","children":[{"type":"action","name":"rotate_search"},{"type":"condition","name":"object_detected"},{"type":"action","name":"manual_confirmation"},{"type":"action","name":"take_photos"}]}}}
+{"scene_id":"scene4_interruption_logic","intent_type":"generic_mission","trigger_terms":["如果途中","发现可疑人员","悬停"],"text":"无人机当前在地面，飞往航点A。如果途中发现可疑人员，则悬停。","reasoning_path":"无人机在地面需起飞。因为要在飞行途中中断，采用 Selector 控制。优先分支为检测异常：包含主动检测（object_detect）、条件判定（object_detected）与发现后的悬停应对（loiter）。若优先分支未能连续达成（即途中未发现目标），Selector 退回备选分支：正常向航点飞行（fly_to_waypoint）。","parameter_requests":[{"node":"object_detect","intent":"检测可疑人员","extracted_entities":{"target":"可疑人员"}},{"node":"object_detected","intent":"判定是否发现可疑人员","extracted_entities":{"target":"可疑人员"}},{"node":"fly_to_waypoint","intent":"飞往航点A","extracted_entities":{"landmark":"航点A"}}],"macro_tree":{"root":{"type":"Sequence","name":"Sequence","children":[{"type":"action","name":"system_checks"},{"type":"action","name":"takeoff"},{"type":"Selector","name":"FlyOrDetect","children":[{"type":"Sequence","name":"InterruptionLogic","children":[{"type":"action","name":"object_detect"},{"type":"condition","name":"object_detected"},{"type":"action","name":"loiter"}]},{"type":"action","name":"fly_to_waypoint"}]}]}}}