diff --git a/CMakeLists.txt b/CMakeLists.txt
index 01dcec4..448aeb5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,6 +56,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_motor.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_hall.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_pid.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_track_ir.c
 )
 
 # Add include paths
diff --git a/Core/Bsp/bsp_track_ir.c b/Core/Bsp/bsp_track_ir.c
new file mode 100644
index 0000000..1536ea3
--- /dev/null
+++ b/Core/Bsp/bsp_track_ir.c
@@ -0,0 +1,94 @@
+#include "bsp_track_ir.h"
+
+void track_ir_init(void)
+{
+    /*
+     * 引脚模式和上下拉由 CubeMX 配置。
+     * 这里先保留初始化接口，后续若需要滤波/标定可直接扩展。
+     */
+}
+
+// 读取原始电平状态（bit=1 表示 GPIO 为高电平）
+uint8_t track_ir_get_raw_mask(void)
+{
+    uint8_t mask = 0;
+
+    if (HAL_GPIO_ReadPin(H1_GPIO_Port, H1_Pin) == GPIO_PIN_SET) {
+        mask |= TRACK_IR_H1_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H2_GPIO_Port, H2_Pin) == GPIO_PIN_SET) {
+        mask |= TRACK_IR_H2_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H3_GPIO_Port, H3_Pin) == GPIO_PIN_SET) {
+        mask |= TRACK_IR_H3_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H4_GPIO_Port, H4_Pin) == GPIO_PIN_SET) {
+        mask |= TRACK_IR_H4_BIT;
+    }
+
+    return mask;
+}
+
+// 读取线状态掩码（bit=1 表示对应通道检测到黑线）
+uint8_t track_ir_get_line_mask(void)
+{
+    uint8_t mask = 0;
+
+    if (HAL_GPIO_ReadPin(H1_GPIO_Port, H1_Pin) == TRACK_IR_ACTIVE_LEVEL) {
+        mask |= TRACK_IR_H1_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H2_GPIO_Port, H2_Pin) == TRACK_IR_ACTIVE_LEVEL) {
+        mask |= TRACK_IR_H2_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H3_GPIO_Port, H3_Pin) == TRACK_IR_ACTIVE_LEVEL) {
+        mask |= TRACK_IR_H3_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H4_GPIO_Port, H4_Pin) == TRACK_IR_ACTIVE_LEVEL) {
+        mask |= TRACK_IR_H4_BIT;
+    }
+
+    return mask;
+}
+
+track_ir_state_t track_ir_basic_judge(void)
+{
+    uint8_t line_mask = track_ir_get_line_mask();
+    uint8_t left_mask = line_mask & (TRACK_IR_H4_BIT | TRACK_IR_H3_BIT);
+    uint8_t right_mask = line_mask & (TRACK_IR_H2_BIT | TRACK_IR_H1_BIT);
+
+    if (line_mask == 0U) {
+        return TRACK_IR_STATE_LOST;
+    }
+
+    if (line_mask == (TRACK_IR_H1_BIT | TRACK_IR_H2_BIT | TRACK_IR_H3_BIT | TRACK_IR_H4_BIT)) {
+        return TRACK_IR_STATE_CROSS;
+    }
+
+    if ((left_mask != 0U) && (right_mask == 0U)) {
+        return TRACK_IR_STATE_LEFT;
+    }
+
+    if ((right_mask != 0U) && (left_mask == 0U)) {
+        return TRACK_IR_STATE_RIGHT;
+    }
+
+    return TRACK_IR_STATE_CENTER;
+}
+
+const char *track_ir_state_to_string(track_ir_state_t state)
+{
+    switch (state) {
+    case TRACK_IR_STATE_LOST:
+        return "LOST";
+    case TRACK_IR_STATE_LEFT:
+        return "LEFT";
+    case TRACK_IR_STATE_CENTER:
+        return "CENTER";
+    case TRACK_IR_STATE_RIGHT:
+        return "RIGHT";
+    case TRACK_IR_STATE_CROSS:
+        return "CROSS";
+    default:
+        return "UNKNOWN";
+    }
+}
diff --git a/Core/Bsp/bsp_track_ir.h b/Core/Bsp/bsp_track_ir.h
new file mode 100644
index 0000000..93018fe
--- /dev/null
+++ b/Core/Bsp/bsp_track_ir.h
@@ -0,0 +1,49 @@
+#ifndef __BSP_TRACK_IR_H
+#define __BSP_TRACK_IR_H
+
+#include "main.h"
+
+/*
+ * 红外循迹 4 路状态位定义（bit=1 表示检测到黑线）
+ * bit0 -> H1, bit1 -> H2, bit2 -> H3, bit3 -> H4
+ */
+#define TRACK_IR_H1_BIT (1U << 0)
+#define TRACK_IR_H2_BIT (1U << 1)
+#define TRACK_IR_H3_BIT (1U << 2)
+#define TRACK_IR_H4_BIT (1U << 3)
+
+/*
+ * 红外模块有效电平：常见 TCRT5000 模块为低电平有效。
+ * 若你的模块是高电平有效，可在编译选项或此处改为 GPIO_PIN_SET。
+ */
+#ifndef TRACK_IR_ACTIVE_LEVEL
+#define TRACK_IR_ACTIVE_LEVEL GPIO_PIN_RESET
+#endif
+
+/**
+ * @brief 基础循迹判定结果
+ */
+typedef enum {
+    TRACK_IR_STATE_LOST = 0,   // 全灭，丢线
+    TRACK_IR_STATE_LEFT,       // 线偏左
+    TRACK_IR_STATE_CENTER,     // 居中
+    TRACK_IR_STATE_RIGHT,      // 线偏右
+    TRACK_IR_STATE_CROSS       // 十字/大面积黑线
+} track_ir_state_t;
+
+/* 初始化接口（当前仅预留，GPIO 配置由 CubeMX 负责） */
+void track_ir_init(void);
+
+/* 读取原始电平状态（bit=1 表示 GPIO 为高电平） */
+uint8_t track_ir_get_raw_mask(void);
+
+/* 读取线状态掩码（bit=1 表示对应通道检测到黑线） */
+uint8_t track_ir_get_line_mask(void);
+
+/* 最基础方向判定：丢线 / 左偏 / 居中 / 右偏 / 十字 */
+track_ir_state_t track_ir_basic_judge(void);
+
+/* 便于日志输出的状态字符串 */
+const char *track_ir_state_to_string(track_ir_state_t state);
+
+#endif /* __BSP_TRACK_IR_H */
diff --git a/物流小车/3D/循迹模块延神支架.SLDPRT b/物流小车/3D/循迹模块延神支架.SLDPRT
new file mode 100644
index 0000000..42f9d8f
Binary files /dev/null and b/物流小车/3D/循迹模块延神支架.SLDPRT differ
diff --git a/物流小车/3D/循迹模块延神支架.STEP b/物流小车/3D/循迹模块延神支架.STEP
new file mode 100644
index 0000000..9a46ab2
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diff --git a/物流小车/3D/整车装配.SLDASM b/物流小车/3D/整车装配.SLDASM
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diff --git a/物流小车/3D/车架子.SLDPRT b/物流小车/3D/车架子.SLDPRT
index 0969102..0570800 100644
Binary files a/物流小车/3D/车架子.SLDPRT and b/物流小车/3D/车架子.SLDPRT differ