CNT -RO
                                                 Lm2596 DC-DC               BO
                                                                     From
                                                 converter is used to regulate

                                                                          Th  T
                                                 and stabilize the voltage before

                                                                            a
                                                 supplying power to the robot
                                                                                                                 ila
    Gyro ZX-IMU
                                                                               Pixy 2.1 CMUcam5
                                                                               camera used for ball
                                                                                                                    nd
    The ZX-IMU gyroscope is                                                    detection and color
    used for precise angle                                                     classification
    measurement and
    accurate robot turning

                                                                                    ZX-Sonar1M
                                                                                    for obstacle and wall detection
SENSOR SEN002
line-tracking sensor is used to
detect black and white lines,
enabling the robot to follow
                                                                               POP-32i
the designated path
                                                                               to process and execute
                                                                               programmed commands

                                                       Motor PG-300
                                                       to drive the robot
                    MG90S servo                        according to received
                    Used to control the                commands
                    gripper and release balls
                    from the storage box

                                                                          Soft Ware
                                                The robot is programmed in C/C++ on the POP32
                                                platform. It uses a State Machine for task control,
                                                PID for line following, real-time sensor processing
                                                for navigation, obstacle avoidance, intersection
                                                detection, gap recovery, and MG90S servo control
                                                for rescue ball delivery.