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+# 第21届全国大学生智能汽车竞赛 — 地瓜机器人赛项正式方案
+
+> 来源：古月居公众号 | 发布时间：2026年3月23日
+
+---
+
+## 一、核心要点
+
+1. **延续性**：沿用第19届、第20届的竞赛地图、竞赛车模等物料。
+2. **允许改装**：基于 OriginCar 系列车模，参赛队可对传感器、运动控制板、车载机电模块等进行改装。
+3. **改装限制**：
+   - 车模底盘（车体结构、电机、转向舵机、车轮）**不可调整**
+   - 主控板**必须**使用地瓜机器人 RDK 系列开发板
+4. **全自主运行**：不依赖路由器及网络，车模完全自主完成所有任务。
+5. **多方案可选**：参赛队可采用不同自主设计方案（解决方案、软硬件等）完成任务。
+
+---
+
+## 二、赛事背景
+
+在人工智能、智能机器人等前沿技术加速迭代的当下，多技术融合创新已成为驱动社会生产力跃升与产业变革的核心引擎。大模型（LLM/VLM）的突破性发展彻底重构了人机交互范式，让智能机器人具备解读人类模糊意图、灵活响应复杂指令的能力。
+
+地瓜机器人（起步于2015年诞生的地平线）是业界领先的机器人软硬件通用底座提供商，创新性地将基于大模型的"云-边-端"一体化机器人开发底座引入竞赛平台。
+
+---
+
+## 三、竞赛场地
+
+### 3.1 地图布局
+
+| 区域 | 颜色 | 尺寸 (m) | 说明 |
+|:----:|:----:|:--------:|------|
+| **A区** — 场景大厅 | 浅蓝色 | 5 × 2 | 左下角为固定发车点/停车点 **(P)**；右上角为任务发布点（二维码标记牌）；区域内随机放置锥桶障碍物 |
+| **B区** — 通道区 | 浅黄色 | 5 × 0.5 | 中间有 0.5m × 1m 的通道连接 A/B/C 三区 |
+| **C区** — 诊疗区 | 浅绿色 | 5 × 2.5 | 中间黄色环形通道（宽 0.5m）；放置图生文标记牌与障碍物 |
+
+### 3.2 赛场环境
+
+- 地图由 **25m² 结皮 PVC** 绘制而成
+- **无磁场干扰**环境
+- 可能存在表面不平整、边框裂缝、光照变化等因素，参赛队需考虑应对措施
+
+### 3.3 障碍物
+
+- 每场比赛在地图范围内设置 **≥5 个障碍物**
+- 障碍物为锥桶（黑色三角形标记）
+
+---
+
+## 四、竞赛车模与硬件规范
+
+### 4.1 车模
+
+仅允许使用 **OriginCar 系列智能机器人套件**：
+
+| 特性 | OriginCar | OriginCar Pro |
+|------|:---------:|:-------------:|
+| 结构 | 四轮阿克曼 | 四轮阿克曼 |
+| 算力 | RDK 系列 | RDK 系列 |
+| 传感器 | 单目相机、深度相机等 | 同左 |
+| 扩展 | 激光雷达、语音板、OLED 屏幕 | 同左 |
+| 系统 | 三层板机械结构 | 同左 |
+
+### 4.2 主控板
+
+**必须使用 RDK 系列**（可任选其一，数量不限）：
+
+| 型号 | 算力 | 特点 |
+|------|:---:|------|
+| **RDK X3** | 5 TOPS | 兼容树莓派接口，2.4G/5G WiFi，支持 4K60 编解码 |
+| **RDK X5** | 10 TOPS | 旭日5芯片，千元内最佳，大模型+视觉算法加持 |
+| **RDK S100** | 80/120 TOPS | 异构设计，兼顾感知推理与实时运动控制 |
+
+### 4.3 传感器限制
+
+| 部件 | 限制要求 |
+|------|----------|
+| **IMU（陀螺仪）** | 仅板载或最小外围电路插件模块；❌ 禁用 USB 外接；❌ 禁用九轴以上芯片 |
+| **里程计** | 仅用车载设备；❌ 禁用光流里程计 |
+| **激光雷达** | 单线 TOF：**VP100L** / **轮趣 N10** |
+| **深度相机** | **光鉴 Aurora930** |
+| **语音模块** | 不限（参考：亚博智能语音交互模块、双麦克风声音传感器等） |
+| **显示模块** | 不限（建议 ≤7 寸） |
+| **电池** | 建议 ≤3500mAh 安全电池 |
+| **机电模块** | 不限，可自行设计加装，但必须为**车载模式** |
+
+---
+
+## 五、软件平台
+
+### 5.1 NodeHub（方案提交平台）
+
+- 统一竞赛方案提交平台
+- 支持方案**分阶段提交**（赛前备案 + 赛后终版）
+- 保留版本记录，支持公开/部分公开/仅赛事可见
+
+### 5.2 RDK Studio（开发工具）
+
+- 面向 RDK 平台的易用性开发工具
+- 目标：**5分钟完成算法方案演示**
+- 支持从演示方案平滑扩展为完整应用
+- 下载地址：https://developer.d-robotics.cc/rdkstudio
+
+### 5.3 方案提交阶段
+
+| 阶段 | 时间 | 性质 | 内容要求 |
+|------|------|:--:|------|
+| **初版方案（备案）** | 赛前 | 必需 | 队伍信息（统一ID规范）、RDK型号、技术路线概述；**不作为评分依据** |
+| **终版方案** | 赛后3个工作日内 | 推荐 | 规则适配调整、关键技术实现、工程经验总结、问题及解决思路 |
+
+---
+
+## 六、比赛任务
+
+### 6.1 前置任务（5分钟）
+
+赛前完成：竞赛方案、硬件搭建、控制程序、平台软件、通信测试等部署。
+
+### 6.2 主任务流程
+
+```mermaid
+graph LR
+    P[发车点 P] -->|子任务1| QR[任务发布点<br/>扫描二维码]
+    QR -->|子任务2| B[通道区 B]
+    B --> C[诊疗区 C<br/>环形通道巡航]
+    C --> B2[通道区 B]
+    B2 -->|子任务3| P2[返回停车点 P]
+```
+
+#### 子任务1 — 任务获取
+- 从 **P 点**自主行驶至**任务发布点**
+- 用相机扫描**二维码标记牌**获取任务信息
+- 公布任务信息（三选一）：
+  1. 语音文字播报 / 提示音播报
+  2. 车载屏幕显示
+  3. 语音播报 + 屏幕显示
+
+#### 子任务2 — 通道巡航与图生文
+- 沿黄色通道**顺时针或逆时针**行驶一周
+- 观察到**人形立牌**时，通过大模型**图生文**反馈识别结果
+- 大模型流程：`图像 → OriginCar(RDK) → 本地/云端大模型 → 文字显示/语音播报`
+- 只能在黄色通道上行驶
+
+#### 子任务3 — 返航停车
+- 从通道返回 **P 点**（车模 ≥ 2/3 在蓝白区域内）
+- 到达标准：车模 ≥ 1/2 在指定区域内停住
+
+### 6.3 罚时规则
+
+| 子任务 | 违规行为 | 罚时 |
+|:------:|------|:----:|
+| **子任务1** | 触碰障碍物 | +10s/次（上限 30s） |
+| | 未到达任务发布点 | +50s |
+| | **子任务1 总罚时上限** | **50s（记为 A1）** |
+| **子任务2** | 触碰障碍物 | +10s/次（上限 30s） |
+| | 未完成图生文 | +20s |
+| | 驶出黄色通道（≥1/2 在外） | +10s/次（上限视情况） |
+| | **子任务2 总罚时** | **记为 B1** |
+| **子任务3** | 触碰障碍物 | +10s/次（上限 30s） |
+| | 未回到 P 点 | +50s |
+| | **子任务3 总罚时上限** | **50s（记为 C1）** |
+| **通用** | 误发车第一次 | 警告（不计时） |
+| | 误发车第二次 | **+20s（记为 T1）** |
+| | 行为特别严重 | 警告或取消资格 |
+
+### 6.4 计分公式
+
+$$
+\text{竞赛用时} = \text{实际计时} + A_1 + B_1 + C_1 + T_1
+$$
+
+**排名**：按竞赛用时最短为优胜。
+
+---
+
+## 七、竞赛规则
+
+### 7.1 发车流程
+
+1. 每场仅 **1 支队伍、1 台车模** 竞赛
+2. 最多 **5 名队员** 上场，指定 1 人为发车员
+3. 上场后有 **5 分钟** 准备时间
+4. 裁判倒计时 "3、2、1，发车" 后启动
+5. 总限时 **180 秒**，超时即终止
+
+### 7.2 重新启动
+
+- 车模冲出场地或失控时可请求重启
+- **次数不限**，但计时不停止
+- 发车员将车模放回发车区重新启动
+
+### 7.3 比赛结束条件
+
+- 180 秒计时完毕
+- 参赛队主动提出结束（经裁判确认）
+- 裁判吹哨后，发车员立即停车，车模交回检录区
+
+---
+
+## 八、技术要点
+
+| 技术领域 | 说明 |
+|------|------|
+| **ROS 2 通信** | 基于 ROS 2（TROS.B/ROS 2）实现 RDK ↔ STM32 通信，传感器采集与运动控制 |
+| **视觉识别** | 二维码检测与解码、传统计算机视觉技术 |
+| **目标检测** | YOLO 等算法，RDK 可同时处理多目标检测与实时跟踪 |
+| **SLAM** | 同时定位与建图（Localization + Mapping），路径规划 |
+| **大模型应用** | 本地大模型部署或云端大模型对接，实现图生文功能 |
+
+---
+
+## 九、联系方式
+
+| 渠道 | 信息 |
+|------|------|
+| 竞赛 QQ 群 | **851643123** |
+| 竞赛飞书技术群 | 见原文附图 |
+| 公众号 | 卓晴老师、地瓜机器人、古月居 |
+
+---
+
+> 📌 **与本地工作空间的关系**：本工作空间 (`test_ws`) 基于 ROS 2 Humble + OriginCar 描述包 + Nav2 + SLAM Toolbox，正是该赛项的典型开发环境。可直接用于竞赛方案开发与验证。