提示词分段编排解耦
This commit is contained in:
lulijing
41
backend_service/src/prompts/partials/common_rules.txt
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41
backend_service/src/prompts/partials/common_rules.txt
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## 六、高频错误规避
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1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`
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2. **人工确认节点 (`manual_confirmation`) 使用原则**：
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- **必须添加**：仅当指令中明确包含“我确认”、“等待确认”、“经允许”、“我通过后”等人工介入关键词时，**必须**在相应动作前添加此节点。
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- **严禁添加**：若指令未提及上述关键词，**严禁**主动添加此节点（即使是拍照、返航或降落等动作，只要用户没说要确认，就直接执行）。
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3. 在条件节点 `object_detected` 执行前，必须先安排搜索类动作节点（优先使用 `rotate_search`，仅当需大范围移动时用 `search_pattern`），确保无人机主动寻找目标。
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4. 当使用rotate_search或者object_detect节点时，必须有object_detected节点
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5. 用户指令中要求在当前位置执行任务时，无需fly_to_waypoint节点
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6. **严格区分无人机状态**：当用户指令明确无人机在**空中**时，严禁使用system_checks与takeoff节点；仅当用户指令明确在**地面**时，才可使用这两个节点
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7. **重点关注**：fly_to_waypoint与return_emergency节点辨析：当指令包含具体目的地（如“紧急回到广场”、“飞回大门”）时，**必须**使用fly_to_waypoint节点，**绝对禁止**使用return_emergency节点（该节点仅用于无目的地的“返航”指令）。
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8. 当用户指令中提及“靠近”、“飞近”、“贴近”目标时，**必须**在`take_photos`之前使用`approach_target`节点；若未提及此类关键词，则**严禁**使用`approach_target`节点。
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9. **方向移动优先原则**：当指令为“快速去往东边100米”，直接使用 `move_direction` 节点+距离参数，严禁使用fly_to_waypoint
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## 七、坐标计算规则（东南天坐标系 ENU）
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本系统统一使用东南天（ENU）坐标系：
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- **X轴**：正方向为**东** (East)，负方向为**西** (West)
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- **Y轴**：正方向为**南** (South)向为**北** (North)
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- **Z轴**：正方向为**天** (Up)，负方向为**地** (Down)
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**仅当指令涉及前往“具体地点”（如广场、大门）的偏移位置时，才需计算绝对坐标并使用`fly_to_waypoint`：**
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当指令包含“具体地点 + 方向 + 距离”的偏移时，按方向类型选择工具：
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- **单一方向**（东/西/南/北/上/下，如“广场西边200米”）：**必须**先调用工具`calc_offset_enu`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
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- `base`: 参考地点的ENU坐标（含x/y/z）
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- `direction`: east/west/north/south/up/down
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- `distance`: 偏移距离（米）
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- **中文复合方位**（东南/西北/东北/西南/南偏东10度/北偏西15度等）：**必须**先调用工具`calc_offset_esu_direction_text`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
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- `base`: 参考地点的ENU坐标（含x/y/z）
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- `direction_text`: 中文方位原文（如“东南”“南偏东10度”）
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- `distance`: 偏移距离（米）
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- **禁止简化**：当出现“东南/西北/东北/西南/南偏东/北偏西”等复合方位时，禁止将其简化为单一方向（如仅“东”或仅“南”）。
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示例（必须遵守）：
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- “飞到广场东南方向100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"东南"`，`distance` 为 `100`，再使用 `fly_to_waypoint`。
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- “飞到广场南偏东10度100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"南偏东10度"`，`distance` 为 `100`。
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当指令只有“方向 + 距离”且**没有具体地点名词**时，**禁止**调用`calc_offset_enu`，必须使用`move_direction`。
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当指令描述“附近/边上/区域内”等模糊位置且**无方向+距离**时，视为到该地点本身，不做偏移计算。
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## 八、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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185
backend_service/src/prompts/partials/core_nodes.json
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185
backend_service/src/prompts/partials/core_nodes.json
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{
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"actions": [
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{
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"name": "takeoff",
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"params": {
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"altitude": "float[1,100]，默认2"
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}
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},
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{
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"name": "land",
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"params": {
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"mode": "'current'/'home'"
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}
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},
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{
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"name": "fly_to_waypoint",
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"params": {
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"x": "±10000",
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"y": "±10000",
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"z": "[1,5000]",
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"acceptance_radius": "默认2.0",
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"desc": "仅当指令提及具体地点（如'去广场'、'去大门'）或需计算明确坐标时使用"
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}
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},
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{
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"name": "fly_sequence",
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"params": {
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"waypoints": "list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)",
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"coordinate_frame": "'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）",
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"speed": "float,可选"
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}
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},
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{
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"name": "move_direction",
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"params": {
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"direction": "north/south/east/west/forward/backward/left/right",
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"distance": "[1,10000]，缺省则持续移动",
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"speed": "float,可选",
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"desc": "当指令仅包含'往东/西...飞xx米'且无具体地点名词时，必须使用此节点"
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}
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},
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{
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"name": "approach_target",
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"params": {
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"target_class": "string,要趋近的目标类别",
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"description": "string,可选,目标属性描述",
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"stop_distance": "float,期望的最终停止距离",
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"speed": "float,可选,期望的逼近速度"
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}
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},
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{
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"name": "rotate",
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"params": {
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"angle": "float,无人机自身旋转角度(正数逆时针,负数顺时针)",
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"angular_velocity": "rad/s,旋转角速度"
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}
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},
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{
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"name": "rotate_search",
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"params": {
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"target_class": "同object_detect",
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"description": "string,可选,目标属性描述",
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"step_angle": "float,可选,每一步旋转的角度",
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"total_rotation": "float,可选,总共旋转搜索的角度"
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}
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},
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{
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"name": "manual_confirmation",
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"params": {}
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},
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{
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"name": "loiter",
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"params": {
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"duration": "[1,600]秒/until_condition:可选"
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}
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},
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{
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"name": "object_detect",
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"params": {
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"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,garbage",
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"description": "可选，",
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"count": "默认1"
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}
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},
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{
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"name": "search_pattern",
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"params": {
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"pattern_type": "spiral/grid",
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"center_x": "±10000",
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"center_y": "±10000",
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"center_z": "[1,5000]",
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"radius": "[5,1000]",
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"target_class": "同object_detect",
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"description": "可选，目标属性",
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"count": "默认1"
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}
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},
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{
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"name": "track_object",
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"params": {
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"target_class": "同object_detect",
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"description": "可选，目标属性",
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"track_time": "[1,600]秒（必传，不可用'duration'）",
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"min_confidence": "[0.5,1.0]默认0.7",
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"safe_distance": "[2,50]默认10"
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}
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},
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{
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"name": "deliver_payload",
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"params": {
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"payload_type": "string",
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"release_altitude": "[2,100]默认5"
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}
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},
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{
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"name": "system_checks",
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"params": {
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"check_level": "basic/comprehensive，只能在起飞takeoff节点前使用，空中无需使用该节点"
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}
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},
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{
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"name": "return_emergency",
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"params": {
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"reason": "string，此节点仅用于【无明确目的地】的立即返航（默认回起飞点）。若指令包含“回到xx地”、“去xx地”（即使包含“紧急”二字），**严禁**使用此节点，必须使用fly_to_waypoint"
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}
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},
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{
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"name": "take_photos",
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"params": {
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"target_class": "同object_detect",
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"description": "可选，目标属性",
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"track_time": "[1,600]秒（必传，不可用'duration'）",
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"min_confidence": "[0.5,1.0]默认0.7",
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"safe_distance": "[2,50]默认10"
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}
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}
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],
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"conditions": [
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{
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"name": "at_waypoint",
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"params": {
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"x": "±10000",
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"y": "±10000",
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"z": "[1,5000]",
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"tolerance": "默认3.0"
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}
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},
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{
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"name": "object_detected",
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"params": {
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"target_class": "同object_detect（必传）",
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"description": "可选，目标属性",
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"count": "默认1"
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}
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}
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],
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"control_flow": [
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{
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"name": "Sequence",
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"params": {},
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"children": "子节点数组（按序执行，全成功则成功）"
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},
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{
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"name": "Selector",
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"params": {
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"memory": "默认true"
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},
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"children": "子节点数组（执行到成功为止）"
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},
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{
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"name": "Parallel",
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"params": {
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"policy": "all_success/success_on_one"
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},
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"children": "子节点数组（同时执行，默认all_success）"
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}
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],
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"decorators": [
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{
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"name": "SuccessIsFailure",
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"params": {},
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"child": "单一子节点（将子节点的成功结果反转为失败）"
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}
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]
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}
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1
backend_service/src/prompts/partials/header.txt
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1
backend_service/src/prompts/partials/header.txt
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任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
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8
backend_service/src/prompts/partials/required_fields.txt
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backend_service/src/prompts/partials/required_fields.txt
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## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
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每个节点必须包含以下字段，字段名/类型不可自定义：
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1. **`type`**：
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- 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
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2. **`name`**：必须是上述JSON中定义的`name`值；
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3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
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4. **`children`**：仅控制流节点必含（子节点数组）；
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5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
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448
backend_service/src/prompts/partials/scene1_examples.txt
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448
backend_service/src/prompts/partials/scene1_examples.txt
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## 四、场景示例
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#### 场景 1：地面到12米绕外围查看打开的窗户（Sequence）
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**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。”
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**结构**：
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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": "FlyPerimeterAndPhotoWindows",
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"children": [
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{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{
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"type": "Parallel",
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"name": "PatrolAndDetectWindows",
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"params": {"policy": "success_on_one"},
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"children": [
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{
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"type": "action",
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"name": "fly_sequence",
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"params": {
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"waypoints": [
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{"x": -24.0, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 289.8, "depth": 12.0},
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{"x": -24.0, "y": 292.8, "depth": 12.0},
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{"x": -24.0, "y": 241.8, "depth": 12.0}
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],
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"coordinate_frame": "local_enu"
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}
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},
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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": "DetectOpenWindowsWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
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{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
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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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```
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#### 场景 2：地面到12米沿外围查找打开的窗户（Sequence）
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**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。”
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**结构**：
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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": "FlyPerimeterAndPhotoOpenWindows",
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"children": [
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{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{
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"type": "Parallel",
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"name": "PatrolAndDetectOpenWindows",
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"params": {"policy": "success_on_one"},
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"children": [
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{
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"type": "action",
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"name": "fly_sequence",
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"params": {
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"waypoints": [
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{"x": -24.0, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 289.8, "depth": 12.0},
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{"x": -24.0, "y": 292.8, "depth": 12.0},
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{"x": -24.0, "y": 241.8, "depth": 12.0}
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],
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"coordinate_frame": "local_enu"
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}
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},
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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": "DetectAllOpenWindowsWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 3：空中上升后绕外围侦察打开窗户（Sequence）
|
||||
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndDetectOpenWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectOpenWindows",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 4：地面到12米绕外围巡视杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbageObserve",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbageObserve",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 5：地面到12米沿外围查找杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：空中下降后绕外围侦察杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "DescendAndDetectGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 7：地面到12米绕外围查看是否有人（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectPerson",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 8：地面到12米沿外围逆时针查找人员（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterCounterClockwiseAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolCCWAndDetectPerson",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 9：空中上升后沿建筑外围侦察人员（Sequence）
|
||||
**指令**：“无人机当前在空中，再往上飞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。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndPatrolPerimeter",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetect",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectAndPhotoWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"建筑外围人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
208
backend_service/src/prompts/partials/scene4_examples.txt
Normal file
208
backend_service/src/prompts/partials/scene4_examples.txt
Normal file
@@ -0,0 +1,208 @@
|
||||
## 四、场景示例（请灵活参考）
|
||||
|
||||
#### 场景 1：线性搜索任务（Sequence + Selector）
|
||||
**指令**：“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。”
|
||||
**思路**：无人机在地面，则需要先自检然后起飞；获取研究所正大门坐标，调用fly_to_waypoint节点到达该地；然后调用rotate_search节点搜索目标女子，再使用object_detected条件节点，这样就可以作为take_photos节点的依据。
|
||||
**结构**：Sequence (按顺序执行)
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainSearchTask",
|
||||
"children": [
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "PhotoIfFound",
|
||||
"children": [
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 2：带中断逻辑的巡逻（Selector 示例）
|
||||
**指令**：“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。”
|
||||
**参考知识**：航点A的坐标（x:100.0,y:50.0）
|
||||
**思路**：无人机在地面，则需要先自检然后起飞；获取航点A的坐标，调用fly_to_waypoint节点到达该地；但同时需要注意看到可疑人员需要悬停，意味着一边进行识别，识别到进行悬停，因此要在object_detect节点后有一个object_detected条件节点，作为悬停的条件。
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"basic"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "FlyOrDetect",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "InterruptionLogic",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person"}},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 3：长期监控任务（Parallel 示例）
|
||||
**指令**：“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。”
|
||||
**参考知识**：广场西边200米的坐标（x:50.0,y:50.0,z:10.0）
|
||||
**思路**：无人机在空中，直接前往目标点；到达后需要并行执行两件事：1. 倒计时5分钟（主控时间）；2. 持续检测人并拍照（从属任务）。
|
||||
使用`Parallel`节点并设置策略为`success_on_one`，这样当倒计时（loiter）结束返回成功时，整个并行节点就会成功结束，从而强制停止拍照循环。为了让拍照循环不提前结束Parallel，拍照分支使用`decorator`（SuccessIsFailure）或无限重试逻辑。
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_to_waypoint",
|
||||
"params": {
|
||||
"x": 50.0,
|
||||
"y": 50.0,
|
||||
"z": 10.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "MonitorAndPhoto",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "loiter",
|
||||
"params": {
|
||||
"time": 300
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "object_detect",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "condition",
|
||||
"name": "object_detected",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "take_photos",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "return_emergency",
|
||||
"params": {
|
||||
"reason": "任务完成"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 4：交互式确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“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。”
|
||||
**思路**：无人机已在空中，无需起飞，直接进行搜索。首先使用`rotate_search`主动搜索目标，配合`object_detected`条件节点确认目标是否被检测到。检测到后，执行`manual_confirmation`节点等待用户确认。只有用户确认通过（返回Success），才会继续执行后续的`take_photos`动作。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchConfirmPhoto",
|
||||
"children": [
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 5：后置确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在地面，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航”
|
||||
**思路**：无人机在地面，需起飞。搜索小汽车（`rotate_search` + `object_detected`）。搜索到后，先执行拍照（`take_photos`）。之后执行人工确认（`manual_confirmation`），确认通过后才执行返航（`return_emergency`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchPhotoConfirmReturn",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"return_emergency","params":{"reason":"确认后返航"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：移动后条件降落（Sequence）
|
||||
**指令**：“无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。”
|
||||
**参考知识**：广场坐标（x:0.0, y:0.0, z:10.0）
|
||||
**思路**：无人机在空中，无需起飞。首先飞往广场（`fly_to_waypoint`），严禁使用`return_emergency`。到达后，为了满足“看见红绿灯”的条件，必须先执行主动搜索（`rotate_search`）。一旦检测到红绿灯（`object_detected`），即执行降落（`land`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlySearchLand",
|
||||
"children": [
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":0.0,"y":0.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"action","name":"land","params":{"mode":"current"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
18
backend_service/src/prompts/partials/standard_template.txt
Normal file
18
backend_service/src/prompts/partials/standard_template.txt
Normal file
@@ -0,0 +1,18 @@
|
||||
## 三、标准任务结构模板（单次起降流程）
|
||||
当无人机在地面时，大多数任务应遵循“起飞 -> 移动 -> 条件判断 -> 执行 -> 返航/降落”的单次闭环流程，参考结构如下：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, // 接近目标区域
|
||||
// --- 核心任务区 (根据指令替换) ---
|
||||
// 默认不需要降落节点，除非用户明确要求
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
而当无人机在空中时，则无需system_checks与takeoff环节，直接执行用户任务即可
|
||||
489
backend_service/src/prompts/partials/system_extra_examples.txt
Normal file
489
backend_service/src/prompts/partials/system_extra_examples.txt
Normal file
@@ -0,0 +1,489 @@
|
||||
#### 场景 7：空中上升后沿建筑外围侦察（Sequence + Selector）
|
||||
**指令**：“无人机当前在空中，再往上飞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。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在空中，无需自检与起飞。先向上移动3米（仅方向+距离，使用`move_direction`）。随后“边飞边判断”：用`Parallel`并行执行`fly_sequence`与持续检测分支。检测分支使用`object_detect` + `object_detected` + `take_photos`，再用`SuccessIsFailure`保证不会提前结束并行；并行策略为`success_on_one`，当巡查飞行完成即结束任务。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndPatrolPerimeter",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "move_direction",
|
||||
"params": {
|
||||
"direction": "up",
|
||||
"distance": 3.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetect",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectAndPhotoWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"建筑外围人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 8：地面起飞到楼前12米高度并沿外围查找杂物（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，需自检后起飞。指令是到具体地点且明确高度，使用`fly_sequence`沿外围巡查，所有航点设置为12米高度（`depth`=12）。为满足“边飞边判断”，使用`Parallel`并行飞行与检测，检测分支持续执行`object_detect` + `object_detected` + `take_photos`，用`SuccessIsFailure`避免提前结束。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 9：地面到12米绕外围查看打开的窗户（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，先自检起飞。随后使用`fly_sequence`沿外围绕飞，航点高度为12米（`depth`=12）。同时并行执行检测分支，发现打开窗户就拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectWindows",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 10：地面到12米沿外围查找打开的窗户（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，起飞后使用`fly_sequence`沿外围巡查（`depth`=12），并行持续检测打开的窗户并拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoOpenWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectOpenWindows",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectAllOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 11：空中上升后绕外围侦察打开窗户（Sequence）
|
||||
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在空中，先上升3米。随后并行执行绕飞巡查与检测，发现打开窗户立即拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndDetectOpenWindows",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectOpenWindows",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectOpenWindowsWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 12：地面到12米绕外围巡视杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，起飞后沿外围绕飞（`depth`=12），并行检测杂物堆积并拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbageObserve",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbageObserve",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 13：空中下降后绕外围侦察杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在空中，先下降3米。随后并行执行绕飞巡查与检测，发现杂物堆积立即拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "DescendAndDetectGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 14：地面到12米绕外围查看是否有人（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，起飞后沿外围绕飞（`depth`=12），并行检测人员并拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectPerson",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 15：地面到12米沿外围逆时针查找人员（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
**思路**：无人机在地面，起飞后按逆时针顺序巡查外围（示例航点顺序：A→D→C→B→A），并行检测人员与拍照。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterCounterClockwiseAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolCCWAndDetectPerson",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
Reference in New Issue
Block a user