Abstract: This paper proposes a constraint satisfaction-based task planning method on the hierarchical constraint graph for the attachment task planning of a multi-node probe. First, the representation of time-resource constraints, task-time networks, and hierarchical constraint graph models are introduced, which transforming the planning problem into a constraint satisfaction problem. The method infers the value range information of variables through the task-time network and employs an arc consistency algorithm with bidirectional constraint support for constraint propagation. In addition, the variable heuristic rules guided by constraint hierarchy information and value heuristic rules that prioritize resource satisfaction are designed. Experimental results demonstrate the effectiveness of the proposed method.