Intelligent McNamm Wheel Patrol Trolley Based on ESP32 Single-Chip Microcomputer in Agricultural Cruise

In view of the problems of coverage blind spots an d insufficient real-time performance in traditional agricultur al monitoring, this paper designs an intelligent line-tracking vehicle system based on ESP32-CAM. The system adopts a d ual-processor architecture, with ESP32-CAM responsible for visual processing and communication relay, and STM32F40 1 controlling the motion system. Omnidirectional movement is achieved through McNamm wheels, complex path tracking is carried out with five infrared sensors, and real-time farml and images are captured by OV2640 cameras. Tests show th at the system has an average deviation of less than 1.5cm in line tracking, a video transmission delay of less than 200ms, a nd a control response time of 15ms within 10m range, meetin g the requirements for precision agriculture monitoring.