Structure Design and Control of Mass of Fog Monitoring Robot Installed on the Highway Guardrail Based on ESP32

In recent years, the expressway traffic accidents caused by mass of fog have occurred from time to time, which have severely affected lives, property and traffic. This article proposes a mass of fog monitoring robot that can run on the highway guardrail, including its mechanical structure design and control system design, to realize the monitoring, traffic warning and traffic control of the fog on the expressway, thereby reducing the occurrence of such traffic accidents. The robot can be directly suspended on the guardrail. The limit wheel, driving wheel and driven wheel are close to the upper trough of the guardrail, the directional guide wheel is close to the lower crest of the guardrail, and a retractable HD camera is installed on the top. Using ESP32 microcontroller as the controller, the control system includes graphic processing module, Beidou communication module, motor drive module, power supply module and obstacle avoidance module. The test prototype based on LEGO components has good operating conditions, the robot runs at a speed of 5km / h, and the power storage mileage can reach 30 km.