Abstract: In this paper, a constraint satisfaction-based task planning method based on the hierarchical constraint graph was proposed 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 were introduced, and the planning problem was transformed into a constraint satisfaction problem. The method inferred the value range information of variables through the task-time network and employed 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 were designed. Experimental results demonstrate the effectiveness of the proposed method.