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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2025, Vol. 59 Issue (11): 2237-2247    DOI: 10.3785/j.issn.1008-973X.2025.11.002
    
Robot task expression and planning method based on hierarchical task network
Xingpeng FU1(),Qun LUO2,Linbei JIANG1,Qing WANG1,*(),Peiqi ZHANG1,Yinglin KE1
1. Zhejiang Key Laboratory of Advanced Equipment Manufacturing and Measurement Technology, Zhejiang University, Hangzhou 310058, China
2. Xi'an Aircraft Industrial (Group) Limited Company, Xi'an 710089, China
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Abstract  

The task expression and planning methods of aircraft assembly robots were analyzed aiming at the problems of isolated operation, insufficient universality, and low degree of autonomy and intelligence of industrial robots in aircraft assembly. A task driven aircraft assembly robot processing system framework was proposed, and an integrated system for task management and planning of aircraft assembly robots was established. A hierarchical decomposition of common processing tasks in aircraft assembly sites was conducted, and a task expression method for aircraft assembly robots based on a hierarchical task network was established. A task planning process oriented towards process constraints was proposed based on the characteristics of processing tasks. A hierarchical replanning scheme for the processing system was designed based on the range of disturbance effects considering the possible external disturbances on site. The test results showed that the proposed method was used to effectively achieve task planning and replanning solution for assembly robots, improving the generality of aircraft assembly robots and the level of autonomy and intelligence in processing systems.

Key words： aircraft assembly      industrial robot      task management and planning      hierarchical task network (HTN)      replanning     
Received: 25 October 2024      Published: 30 October 2025
CLC:  V 262  
Fund:  国家基础科研计划资助项目(JCKY2021205B110)；国家自然科学基金资助项目(51975520).
Corresponding Authors: Qing WANG     E-mail: 22225068@zju.edu.cn;wqing@zju.edu.cn
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Xingpeng FU
Qun LUO
Linbei JIANG
Qing WANG
Peiqi ZHANG
Yinglin KE
Cite this article:

Xingpeng FU,Qun LUO,Linbei JIANG,Qing WANG,Peiqi ZHANG,Yinglin KE. Robot task expression and planning method based on hierarchical task network. Journal of ZheJiang University (Engineering Science), 2025, 59(11): 2237-2247.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2025.11.002     OR     https://www.zjujournals.com/eng/Y2025/V59/I11/2237


基于分层任务网络的机器人任务表达与规划方法

针对飞机装配中工业机器人孤立作业、通用性不足、自主化智能化程度低的问题，研究飞机装配机器人任务表达与规划方法，提出基于任务驱动的飞机装配机器人加工系统框架，建立飞机装配机器人任务管理与规划集成系统. 针对飞机装配现场常见的加工任务，设计任务的层次化表达，建立基于分层任务网络的飞机装配机器人任务表达方法. 根据加工任务特点，提出面向工艺约束的任务规划流程. 考虑到现场可能出现的外部扰动，根据扰动作用范围分层设计系统的重规划方案. 测试结果表明，利用提出的方法，有效地实现了装配机器人的任务规划与重规划求解，提高了飞机装配机器人的通用性和加工系统的自主化智能化水平.


关键词： 飞机装配,  工业机器人,  任务管理与规划,  分层任务网络(HTN),  重规划 
Fig.1 Architecture diagram of task driven aircraft assembly robot processing system
Fig.2 Internal architecture diagram of task management and planning integration system
Fig.3 Architecture diagram of task planning module
Fig.4 Aircraft assembly robot processing task expression architecture based on hierarchical task network
Fig.5 Schematic diagram of hierarchical expression method for drilling station processing task
方法head(c)pre(c)eff(c)Tn(c)
机器人
制孔任务		Drilling_TaskDrilling_Location=
Drilling_GoalLocation()
Drilling_TaskFlag=true		Drilling_ProcessFlag=false
Drilling_TaskFlag=false		!Drilling_FullStart→Drilling_Pre_Process→!Drilling_P_AxisStart(Drilling_RotSpeed0)→Drilling_Process (Drilling_RegionNum)→!Drilling_P_AxisEnd→!Drilling_Back→!Drilling_FullStop
制孔前
准备任务		Drilling_Pre_ProcessDrilling_TaskFlag=trueDrilling_ProcessFlag=trueDrilling_Pre_Station(Drilling_Cal0HoleNum)→Drilling_Pre_R_Hole(Drilling_Cal1HoleNum)
制目标区域孔Drilling_Process_Region
(RegionID_HoleNum)		Drilling_Region
(ID-1).State=true		Drilling_RegionID.
State=true		Drilling_Process_Hole(Hole1)→…→Drilling_Process_Hole(HoleNum)
制目标孔Drilling_Process_
Hole(HoleID)		Drilling_RegionNum_
Hole(ID-1).State=true		Drilling_RegionID_
Hole(ID).State= true		!Drilling_Move(Drilling_HoleID.GoalLocation)→!Drilling_P_AxisSet(Drilling_HoleID.GoalRotSpeed)→!Drilling_FootFasten→!Drilling_F_AxisFeed(Drilling_HoleID.GoalFeedSpeed,
Drilling_HoleID.GoalDepth)→!Drilling_F_AxisBack→!Drilling_FootLoose
基准孔
测量修正		Drilling_Pre_R_Hole
(Drilling_Cal1HoleNum)		Drilling_Cal1Flag=trueDrilling_Cal1Flag=false
Drilling_ProcessFlag=true		!Drilling_MoveCal1(Drilling_Cal1Hole1.GoalLocation)→!Drilling_P_Measure(Drilling_Cal1Hole1.GoalLocation)→···→!Drilling_MoveCal1(Drilling_Cal1HoleNum.GoalLocation)→!Drilling_P_Measure(Drilling_Cal1HoleNum.GoalLocation)→!Drilling_Hole_Modify
Tab.1 Collection of methods (decomposition) for drilling tasks (partial)
操作head(a)pre(a)eff(a)
压脚压紧!Drilling_FootFastenDrilling_FootFasten=false
Drilling_Location=Drilling_HoleID.GoalLocation
Drilling_RotSpeed=Drilling_HoleID.GoalRotSpeed		Drilling_FootFasten=true
设置主轴转速!Drilling_P_AxisSet
(Drilling_HoleID.GoalRotSpeed)		Drilling_P_AxisOn=trueDrilling_RotSpeed=
Drilling_HoleID.GoalRotSpeed
进给轴进给!Drilling_F_AxisFeed
(Drilling_HoleID.GoalFeedSpeed,
Drilling_HoleID.GoalDepth)		Drilling_P_AxisOn=true Drilling_F_AxisState=OUT
Drilling_FootFasten=true
Drilling_Location=Drilling_HoleID.GoalLocation
Drilling_RotSpeed=Drilling_HoleID.GoalRotSpeed		Drilling_F_AxisState=IN
压脚缩回!Drilling_FootLooseDrilling_FootFasten=true
Drilling_F_AxisState=OUT		Drilling_FootFasten=false
Drilling_HoleID.State=true
Drilling_HoleID+=1
机器人向目标孔
移动调姿		!Drilling_Move
(Drilling_HoleID.GoalLocation)		Drilling_ProcessFlag=true Drilling_F_AxisState=OUT
Drilling_FootFasten=false		Drilling_Location=
Drilling_HoleID.GoalLocation
建站与基准测量
坐标系转换		!Drilling_Coordinate_TransDrilling_Cal0HoleID=Drilling_Cal0HoleNum+1Drilling_Cal0Flag=false
Drilling_Cal1Flag=true
产品基准孔测量!Drilling_P_Measure
(Drilling_Cal1HoleID.GoalLocation)		Drilling_Location=
Drilling_Cal1HoleID.GoalLocation		Drilling_Cal1HoleID+=1
加工孔位修正!Drilling_Hole_ModifyDrilling_Cal1HoleID=
Drilling_Cal1HoleNum+1		Drilling_Cal1Flag=false
Drilling_ProcessFlag=true
Tab.2 Collection of operations for drilling tasks (partial)
机器人加工类型工艺限制类型工艺寿命单位
制孔制孔刀具磨损制孔数量
铣削铣削刀具磨损加工路径长度
抽芯铆接制孔刀具磨损、抽钉数量铆接孔数量
Tab.3 Process constraint for assembly robot task
Fig.6 Planning flowchart for processing constraint
(:operator //操作标识
(!Drilling_F_AxisFeed ?x ?p_axis ?f_axis ?foot) //操作名称“进给”及变量
((at ?x)(p_on ?paxis)(f_out ?f_axis)(foot_fasten ?foot))
//执行前提，到达位置x且主轴开启、进给轴退出、压脚压紧
((f_out ?f_axis)) //删除系统状态：进给轴退出
((f_in ?f_axis)) //添加系统状态：进给轴进给
(DrillingTool_1) //操作代价设置执行器代号，完成一个孔加工
)
Tab.4 
(:method //方法标识
(Drilling_Process_Hole ?hole_old ?hole_new
?tool_old ?tool_new ?foot ?f_axis ?p_axis) //方法名称“制孔”及变量

Case1 ((cost ?hole_num)(call > ?hole_num tool_life)) //条件1：刀具寿命不足
　(Drilling_Change_Tool ?tool_old ?tool_new) //调用换刀方法
Case2 ((hole_complete ?hole_old)) //条件2：正常加工情况
　((!Drilling_Move ?hole_old ?hole_new ?foot ?f_axis)
　(!Drilling_FootFasten ?hole_new ?foot)
　(!Drilling_F_AxisFeed ?hole_new ?p_axis ?f_axis ?foot)
　//进行制孔任务分解
　(!Drilling_FootLoose ?foot)
　(!Drilling_F_AxisBack ?f_axis ?hole_new))
)
Tab.5 
Fig.7 Hierarchical task replanning architecture
Fig.8 Flowchart of atomic task replanning
Fig.9 Main components of aircraft assembly robot processing system　　　　
Fig.10 Task creation page of system
原子任务NC代码说明
LinearMove(_TARGET_WX,_TARGET_WY,_TARGET_WZ,_TARGET_WNx,_TARGET_WNy,_TARGET_WNz,_TARGET_WX0)G1 G54 G64 G90 F=_GV_LinVel
X=_TARGET_WX Y=_TARGET_WY
Z=_TARGET_WZ A3=_TARGET_WNx
B3=_TARGET_WNy C3=_TARGET_WNz
X0=_TARGET_WX0		末端执行器移动到指定位置
P_AxisSet(SpindleDrill_RPM)S=SpindleDrill_RPM
M03 M15 M25		主轴启动
压脚伸出
吸尘器开启
FastForwardG64 Z12=?(SpindleFeed_OriValue+
_GV_PressureFoot_Length+SafeDisanceforDrilling)		快进到制孔起始位置
DrillingForward
(Spindle_FeedVel, DrillingDepth)		G1 G64 G90 F=Spindle_FeedVel
G64 Z12=?(SpindleFeed_OriValue+
_GV_PressureFoot_Length+DrillingDepth)		制孔进给
Tab.4 Table of correspondence between atomic task list and NC code (partial)
Fig.11 Main page of processing control software for drilling station of movable wing surface
Fig.12 Replanning prompt pop-up interface after processing task interruption
Fig.13 Test result of tool change replanning task
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