The 15th National College Student intelligent car competition

IFLYTEK smart restaurant National Finals competition rules

 

 

§01 ginseng Competition requirements and instructions

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One 、 Entry Requirements

1、 IFLYTEK creative group competition, as a creative competition of smart car competition, is for full-time graduate students all over the country 、 Undergraduate and junior college students .

2、 Each school allows at most one team to participate in the finals , The list of teams who are promoted to the finals shall be subject to the announcement of the event organizing committee .

3、 Teams participating in the finals need to re submit their application forms , The instructor of each team 1-2 name , The players 3-5 name , The instructor is not allowed to modify , The list of players can be modified , However, you need to choose from the contestants of other teams of our school who have the competition records of this group .

4、 Affected by the epidemic , The competition form is online competition , You can submit your entries by mail or sealed image .

5、 Contestants must ensure that the personal information provided is true 、 accuracy 、 It works , Otherwise, the contestants will be disqualified .

6、 Other matters not covered , Subject to the notice of the Organizing Committee , The organizing committee has the right of final interpretation

Two 、 Rules related to the finals

1、 With regard to information submission

This competition , Each team shall submit the image file （ To be submitted together md5 Verify File ）、 Source code package 、 Technical report 、 And equipment operation manual , Need to be in 8 month 16 Noon 12：00 File cloud uploaded to their respective teams before , Or send a download link to the registration email in the form of e-mail [email protected] .

notes ：
1） The equipment operation manual shall indicate the version of the image file 、 Source code package version , Operation manual updated after the deadline , At least... In advance 1 Hours in the team leader group to inform .

2） After the deadline , In addition to file corruption , In principle, it is not allowed to update the image file .

3） If the submitted image cannot be successfully burned and deployed , Allow the team to submit the code again , And postpone the competition one day . If the burning deployment cannot be completed , Provide a device for burning developer images , Based on the code package provided by the participating team 、 Operation manual for deployment .

2、 About event execution and Admission

Each team will communicate with the Engineer in the form of online meeting , Each team needs to... In advance 10 Minutes into the online meeting , Wait for the engineer to enter for communication .

During the competition, the engineer can modify the parameters according to the contestants 、 Code package tuning, etc , However, the key steps need to be reflected in the operation manual , Or have explicit comment information in the code .

notes ：
1） If the video conference is not clear enough , And the parameters cannot be modified due to no key steps in the manual , The organizer shall not bear corresponding responsibilities .

2） If you need to copy the new code package to the car , limit 200mb following , And before the team starts 1 Hours to inform .

3、 Award settings

Refer to the award setting requirements of the Organizing Committee of the national college student intelligent vehicle competition , According to the number of teams , Set a scale according to the scale 、 Two 、 The third prize . The specific award list shall be subject to the announcement of the organizing committee .

notes ：
1） The team that cannot continue to participate in the finals due to the epidemic or other special circumstances shall be directly determined as the third prize of the national competition .

2） If the team participating in the finals but not finished , No third prize of national competition

4、 Appeal and arbitration

In case of any injustice or violation of regulations by relevant personnel during the competition , The instructor of each team can 2 Appeal to the supervision and arbitration group within hours , The form of appeal is to fill in the appeal document , Sent to the [email protected] And copy to [email protected] . The supervision and arbitration team will feed back the arbitration results after the daily event , The arbitration result shall be final .

5、 Contact information

（1） Supervise the arbitration panel

• Contact person ： Sun Minglei
• Phone number ：15136487090
• mailbox ：[email protected]

（2） Mail the model car

• Contact person ： Qian Yuxin
• Phone number ：18205652192
• Address ： Wangjiang West Road, high tech Zone, high tech Industrial Development Zone, Hefei City, Anhui Province 666 IFLYTEK No

notes ：
1） If the model car is sent by mail , Must be in 8 month 16 The model car was sent out a few days ago （ Subject to logistics information ）.

2） When mailing, you must use the logistics box to wrap the trolley color box , And in the logistics box 、 The car body is clearly marked with stickers to indicate the name of the school + Team name .

 

§02 Than The rules of the game

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One 、 Introduction to events

This event takes intelligent robot as a comprehensive practice carrier of artificial intelligence technology , Software combined with hardware , Combining theory with practice , From the basis of operating system to application practice, and then to algorithm practice and Research , Explain profound theories in simple language , Integrate the learning of artificial intelligence concept into the project process of building an intelligent robot , Make the learning gradient smoother , Make the practical projects closer to the industry and closer to life .

This event simulates a restaurant scene , The intelligent robot starts from the start-up area , Finish picking up the dishes 、 Realize the whole process simulation of dish delivery .

Two 、 The competition demands

1、 Competition software environment

This competition is based on embedded computing platform , Contestants need to pre install Ubuntu18.04 System , Pre installed software includes but is not limited to TensorFlow、TensorRT、ROS.

2、 Race car model

This competition allows the use of , IFLYTEK U-CAR Well known version / IFLYTEK U-CAR Xiao mini edition . It is forbidden to add models in both versions 、 Remove 、 Modify controller 、 actuator 、 sensor 、 Batteries, etc .

• Product appearance ：
  ▲ chart 2.2.2 Appearance of racing car model products

▲ chart 2.2.2.1 The actual appearance of the race car model

• Product specifications ：

The components of competition vehicles include ： Car body platform （ car body 、 Upper computer Jetson Nano processor 、 Microphone array 、IMU Inertial navigation module 、 Monocular camera 、 Laser radar 、 Lower machine STM32F4 controller 、 The motor 、 Mcnamm wheel ）1 set 、 Power Supply 1 individual .

Sensor name	Sensor specifications
AI sensor 1： ring 6MIC array	6 A microphone 、360° Sound source location 、5 Meter radio range 、USB signal communication 、 Support custom wake-up words （ Unlimited times ）、 On board sound source location and echo cancellation algorithm 、 Support full duplex voice interaction .
AI sensor 2： AHRS Attitude detection module	precision roll：0.02°,pitch：0.02°,YAW：0.05° Detection range ：Roll：±180°,Pitch：±90°,YAW：±180° communication interface ： On board UART
AI sensor 3： RGB The camera	working principle ： Monocular ultra wide angle Color image resolution ：1920[email protected]、1280[email protected]、640*[email protected] Field angle ： level FOV124.8°、 vertical FOV67°、 Diagonally FOV160° The focal length ：2.8mm F/NO(Infinite)：2.6±5% Object distance ：45cm-100m
AI sensor 4： Laser radar	working principle ： Trigonometric ranging Ranging frequency ：4000-9000Hz Scanning distance ：0.1m-16m（ Scanning frequency 4000Hz） 0.28m-16m（ Scanning frequency 9000Hz） Relative error ：2% Scanning angle ：0-360° Angular resolution ：0.28°

3、 The venue

The overall size of the site is about 4m4m（ Long wide ） About by single chip 30cm50cm（ high Long ） Of PP The plastic baffle is composed of .

It is divided into robot startup area 、 Task receiving area 、 Movable obstacle area 、 Task delivery area .

• Robot startup area （A District ）： Start the machine after it is placed here
• Task receiving area （B District ）： stay B The QR code representing the task is randomly posted on the baffle on the right side of the area .
• Movable obstacle area （C District ）： Personas will be randomly set in this area （ The height is higher than the model lidar ）
• Task delivery area （D District ）： Based on B The tasks collected in the area are parked in the area representing different tasks D1\D2\D3 Area .

▲ chart 2.3.1 Schematic diagram of the playing field

notes ： The linking mode between plates is one diameter at the top and one diameter at the bottom 70mm Cylindrical connector for , Be careful to avoid .

▲ chart 2.3.2 Schematic diagram of plate link

notes ：B The area QR code is placed at the position shown in the figure .

▲ chart 2.3.3 B QR code of area
▲ chart 2.3.4 Photos of the playing field
▲ chart 2.3.5 Photos of the game environment

notes ： The venue , The ground is laid in the same blue as the racing group PVC Pad , The thickness of the 0.25mm.

4、 obstacle

There will be... In the game 2 Obstacles , Every challenge , Keep away from obstacles when the model is running , Otherwise, there will be corresponding punishment , The location of obstacles will be randomly placed in the area shown below , However, the minimum passable distance shall not be less than 50cm.

About obstacles ：

• Size ：30cm*50cm, Use the same material as the site border ;
• Placement method ：50cm Place... Side to side
• Placement rules ： The area where obstacles appear is shown in the figure below , The combination of obstacles will be extracted by the team leader . Co extraction 3 Combinations of , Each team is selected from three combinations , And there will be no minimum road distance less than 50cm The situation of .

▲ chart 2.3.6 Schematic diagram of the location of obstacles
▲ chart 2.3.7 Schematic diagram of obstacles

5、 Character model

The standard for making character models in the competition is ： In width 30cm Long 50cm The thickness of the 5mm Of KT Printed on board , Full body photos with solid background .
The sample character model of this competition can be downloaded in the document cloud of the whole competition , The atlas used at the competition site will be consistent with the atlas data provided .

About character models ：

• Size ：30cm*50cm,KT texture of material ;
• Placement method ：30cm Place... Side to side
• Placement rules ： In the three challenges, it will randomly appear in the areas shown in the figure , And there will be no minimum road distance less than 50cm The situation of .
• Number ： The number of persona baffles is 3 individual , The number of character images is 0-2 individual , Draw before the game .

notes ： The appearance area of the character model is shown in the figure below , The combination of the appearance position of the character model will be extracted at the team leader's meeting . Co extraction 3 Combinations of , Each team is selected from three combinations .

▲ chart 2.4.1 Schematic diagram of the area where the character model appears

▲ chart 2.4.2 Mission model visit diagram

6、 QR code

In this competition , In the mission area （B District ）、 Task delivery area （D District ）, There will be a QR code , stay B District 、D There is no mapping relationship between the two QR codes in the area .

stay B Area QR code M1/M2/M3 Corresponding to vegetables / Fruits / There are three kinds of meat dishes .

stay D Area QR code M1/M2/M3 Points correspond to D1/D2/D3 Three parking areas .

The overall dimension of QR code baffle is 30cm*50cm, The standard pictures of baffle and QR code can be downloaded in the document cloud throughout the competition .

3、 ... and 、 The mission of the competition

Pre task ： When each team plays , Select task topics under the supervision of the Organizing Committee （ Type of food and delivery place ）、 Number of character models, platform deployment and equipment debugging , Time limit 10 minute .
notes ：10 Minutes preparation time , Including the exit time of the previous team , And the team's preparation for the game .

Match task ： Around the theme of the game —— Restaurant delivery , Perform multi segment subtasks . Time limit 20 minute , Each team has up to three challenges .

A． The subtasks 1： The car is started by voice ;

B． The subtasks 2： The smart car leaves the departure area , Move to the task receiving area B District ,B The area simulates the side dish area of the restaurant ,B QR code on area baffle , Contains dish information , The category is placed according to the drawing result ;

C． The subtasks 3： The car identifies the QR code posted in the task receiving area , Get the information of the delivered dishes ; And output it in the form of voice broadcast .

D． The subtasks 4： The trolley leaves the task receiving area , Move to movable obstacle area ;

E． The subtasks 5： The trolley passes through the movable obstacle area （C District ）, Moor in the area required by the mission ;

F． The subtasks 6： Intelligent vehicle voice broadcast “ Your dish has been delivered to , Please take your meal ” After the end of the total task .

Other rules ：

A． About voice control ： During the task, voice can help the car get out of trouble or control the car movement , However, the competition task cannot be transmitted to the car through the control command , It is forbidden to use... In the parking area , No more than... Per game 3 Time ;

B． About berthing ：2 Wheels in the parking area shall be deemed as unfinished parking, and the results of this competition shall not be included in the ranking ,3 When a wheel is deemed to have not completely completed berthing in the berthing area 10s,4 If all wheels are in the parking area, the parking is deemed to be completed .

C． About obstacles and character models ： The number of obstacles is 2 individual , The number of persona baffles is 3 individual , Extract the number of characters when executing the predecessor task , The number of characters in each game is 0-2 individual .

The analysis of the character model in this competition contains two main features , One is wearing glasses , One is long hair （ Over the shoulder ）.

Voice broadcast after intelligent parking ： The number of people wearing glasses and the number of people with long hair , Identifying an accurate team will get a time reward . Two characteristics need to be correctly identified to obtain time reward .

D． Work submission ： The team must submit the competition code package 、 Image file 、 Technical report template to the organizing committee . The submission link shall be sent by email to the mailbox used by the participating team before the competition .

E． Other supplementary notes
（1） After parking, you need to 10s Start voice broadcasting in , Voice broadcasting needs to be clear 、 coherent . The broadcast time is not included in the total length of the game

（2） Voice control when the trolley starts , Wake up words and voice commands need to be consistent with each challenge , If the voice of the three challenges is inconsistent, it is deemed that the voice start of the three challenges has failed

（3） Mission 3 Need a car in B Area complete , The format of voice broadcast is “U-CAR The dishes transported this time are vegetables / meat / Fruits ”, When broadcasting, the car needs B In the area

notes ：u-car Can be replaced by another name

（4） The end broadcast format is ：
( Challenge additional questions )： I met... On the way to this meal delivery task X personal , Long hair Y people , wear glasses Z people . Your dish has been delivered to , Please take your meal .
The number of them does not count , When the two features are completely correct, you can get a reward “ Time to complete all tasks ”*60%.
( Don't challenge additional questions )： Your dish has been delivered to , Please take your meal .

notes ：X/Y/Z It means quantity .

“ Your dish has been delivered to , Please take your meal ” After broadcasting the task completion flag, the task ends . If you fail to broadcast, it will be deemed that the game has not been completed .

Four 、 Additional explanation

1、 About the departure process ：

a) The player's command engineer connects to the screen for or remote preparation ;

b) Inform the engineer when the contestant is ready , And inform the referee whether to challenge voice start ;

c) The referee unsealed the envelope extracted during the preparation time under the camera ;

d) The referee signaled to the engineer that the train could start ;

e) If you challenge voice activation , You need to in 30 Wake up the car within seconds for task challenge , The race time starts with the car moving .30 If it fails to wake up successfully within seconds, it is regarded as voice start failure , Can be played by players in 30 Start manually within seconds , The race time starts with the car moving .

f) If you don't challenge voice start , You have in 60 Complete the departure within seconds , The race time starts with the car moving .

2、 About the departure position

A car is needed for departure 4 Both wheels are A In the area , But the direction is not limited .

3、 About the mission area

Mission 2 The completed judgment mark is that the trolley is at least 2 Two wheels drive completely into .

4、 About broadcasting ：

The dishes broadcast shall clearly state the dishes delivered this time , Such as ：“U-CAR The dishes transported this time are vegetables .” The broadcast must leave B Complete... Before the area .

5、 About berthing ：

The completion of berthing is based on the entry of at least three wheels into the berthing area , Less than 3 A wheel is considered a subtask 5 Failure .

6、 About timing ：
This competition uses a stopwatch , Start with the trolley moving , End with the trolley stopping . Voice wake-up car 、 Voice broadcasting and other links will not be recorded in the competition duration .

notes ： In a small car 2 Start the calculation after two wheels enter the parking area

• If the car reaches the parking area 3 Continuous oscillation operation occurs within seconds , Take the last parking position as the scoring basis .
• If the car reaches the parking area 3 Seconds later, there is a continuous oscillation operation , Take the first parking position as the scoring basis .
• If in 10s If the broadcast is not completed within , It will be judged as failure of subtask 6 and additional task challenge

5、 ... and 、 Game scoring rules

Reasons for penalty points	Penalty points
Voice start	When voice start fails 10 second
Collision fence	Match time plus 5 second Time
Collision with obstacles plate	Match time plus 5 second Time
Not properly moored	This grade will not be recorded if it is not completed , The addition of... Is not fully completed 10 second .
Identify people	The feature recognition is successful, and the feature is correctly spoken in the form of voice broadcast in the parking area . Reward ：（ Time to complete all tasks ）*60%. notes ： Both features need to be correct .
Game time （ branch ）	Time to complete all tasks （ second ） Identify people （60%）+ Speech start recognition penalty （10 second ）+ Number of collisions with fence 5（ second ）+ Collision with static obstacles *5（ second ）+ When berthing （10 second ）
Complete the game but not all the subtasks	Give priority to ranking according to the number of subtasks completed , Teams with the same number of subtasks are ranked according to time .
Unfinished teams	Rank according to the number of subtasks completed
Teams that have not completed the competition and have completed the same number of subtasks	Rank in reverse order according to the number of collisions during task execution

6、 ... and 、 Game violation description

In case of any violation or abnormality during the competition, it shall be handled in the following ways ：

（1） After the referee orders , The robot is 60 Not started in seconds , The score of the game is recorded as 0 branch .

（2） The robot rushed out of the field 、 The robot loses control and the game is over , The current score is the final score .

（3） In the process of completing the competition task , Stop running for more than 60 second , The game is over immediately , The current result is recorded as the final result of the competition .

（4） The robot touches a fence or obstacle for more than 30 second , The game is over , Take the current result as the final result of the competition .
Other matters not covered , The organizing committee has the right of final interpretation .