520 lines
22 KiB
Plaintext
520 lines
22 KiB
Plaintext
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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## 一、核心节点定义（格式不可修改，确保后端解析）
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#### 1. 可用节点定义 (必须遵守)
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你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：
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```json
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{
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"actions": [
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{"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
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{"name":"land","params":{"mode":"'current'/'home'"}},
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{"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0","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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{"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","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）","speed":"float,可选"}},
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{"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省则持续移动","speed":"float,可选","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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{"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,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":"同object_detect","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":"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,garbage","description":"可选，","count":"默认1"}},
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{"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
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{"name":"track_object","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
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{"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
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{"name":"system_checks","params":{"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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{"name":"return_emergency","params":{"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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{"name":"take_photos","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}}
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],
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"conditions": [
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{"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
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{"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，目标属性","count":"默认1"}}
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],
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"control_flow": [
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{"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
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{"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
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{"name":"Parallel","params":{"policy":"all_success/success_on_one"},"children":"子节点数组（同时执行，默认all_success）"}
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],
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"decorators": [
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{"name":"SuccessIsFailure","params":{},"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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## 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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## 三、标准任务结构模板（单次起降流程）
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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：
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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": "MainTask",
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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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{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, // 接近目标区域
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// --- 核心任务区 (根据指令替换) ---
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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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```
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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
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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"}},
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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 3：空中上升后绕外围侦察打开窗户（Sequence）
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**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。”
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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": "RiseAndDetectOpenWindows",
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"children": [
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{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
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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},
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{"x": -108.5, "y": 241.8},
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{"x": -108.5, "y": 289.8},
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{"x": -24.0, "y": 292.8},
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{"x": -24.0, "y": 241.8}
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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 4：地面到12米绕外围巡视杂物堆积（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，绕着外围巡视杂物堆积现象，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": "FlyPerimeterAndPhotoGarbageObserve",
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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": "PatrolAndDetectGarbageObserve",
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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": "DetectGarbageWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
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{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","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 5：地面到12米沿外围查找杂物堆积（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，沿着外围查找所有的杂物堆积并拍照。”
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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": "FlyPerimeterAndPhotoGarbage",
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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": "PatrolAndDetectGarbage",
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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": "DetectGarbageWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
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{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","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 6：空中下降后绕外围侦察杂物堆积（Sequence）
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**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。”
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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": "DescendAndDetectGarbage",
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"children": [
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{"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}},
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{
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"type": "Parallel",
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"name": "PatrolAndDetectGarbage",
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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},
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{"x": -108.5, "y": 241.8},
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{"x": -108.5, "y": 289.8},
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{"x": -24.0, "y": 292.8},
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{"x": -24.0, "y": 241.8}
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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": "DetectGarbageWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
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{"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}}
|
||
]
|
||
}
|
||
}
|
||
]
|
||
}
|
||
]
|
||
}
|
||
}
|
||
```
|