CN113031594B - Maintenance operation-based adjoint type active safety warning robot, system and method - Google Patents
Maintenance operation-based adjoint type active safety warning robot, system and method Download PDFInfo
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Abstract
The present disclosure provides a maintenance operation-based companion type active safety warning robot, system and method, wherein the robot comprises: the robot comprises a robot body, a control terminal and a visible light camera are mounted on the robot body, and the visible light camera is in communication connection with the control terminal; the visible light camera is used for collecting front road condition information and sending the front road condition information to the control terminal in real time, the control terminal identifies traffic marking lines and constructs a virtual road according to the received road condition information, a safety identification area is constructed according to the virtual road, and when a vehicle breaks into the safety identification area, an alarm signal is sent out; the early warning protection device can achieve early warning protection of personnel in the road maintenance process, can be applied to environments with poor visibility, and has good practicability and applicability particularly for highway mobile maintenance operation and temporary fixed-point maintenance operation.
Description
Technical Field
The disclosure relates to the technical field of safety warning robots, in particular to a maintenance operation-based adjoint active safety warning robot, system and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
On the highway, vehicles are usually in a fast running state under the condition of traffic communication, and high safety risks exist during road maintenance construction operation. In the driving process, the highway belongs to a quick driving space, and the vehicle is driven to an operation area to easily cause great threat to life safety of maintenance operators or maintenance personnel or maintenance equipment and the like. In addition, in the running process of the expressway, the vision of a driver can be affected by high-speed running, a visual field blind area is generated, in addition, the driver can feel driving fatigue due to long-term driving, the safe distance and the speed of other vehicles cannot be accurately mastered, and the possibility of accidents is greatly increased.
The inventor finds that the safety management of construction operators cannot be well met by the conventional equipment due to the randomness of the moving maintenance operation and the temporary fixed-point maintenance operation of the expressway, and the production efficiency of active safety equipment is low due to the limitation of the equipment, and the large-scale production of the equipment cannot be realized.
Disclosure of Invention
In order to solve the defects of the prior art, the disclosure provides a maintenance operation-based companion type active safety warning robot, system and method, which can realize early warning protection for personnel in the road maintenance process, can be applied to environments with poor visibility, and particularly have good practicability and applicability for highway mobile maintenance operation and temporary fixed-point maintenance operation.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
a maintenance operation-based attendant active safety warning robot, comprising: the robot comprises a robot body, a control terminal and a visible light camera, wherein the robot body is provided with the control terminal and the visible light camera which is in communication connection with the control terminal;
the visible light camera is used for collecting front road condition information and sending the front road condition information to the control terminal in real time, the control terminal identifies traffic marking lines and constructs a virtual road according to the received road condition information, a safety identification area is constructed according to the virtual road, and when a vehicle breaks into the safety identification area, an alarm signal is sent.
As an optional implementation mode, the robot body is further provided with a sound-light alarm module, the sound-light alarm module is in communication connection with the control terminal, and when a vehicle breaks into a safety identification area, the sound-light alarm module works.
As an optional implementation manner, the control terminal is in communication connection with the wearing bracelet, and when a vehicle intrudes into the safety identification area, the control terminal sends a control instruction to the bracelet, so that the bracelet vibrates and/or gives an audible and visual alarm.
As optional implementation mode, control terminal with wear and use bracelet communication connection, receive in real time and wear the position of using the bracelet, control the removal of robot so that the robot with wear to hold preset interval with the bracelet, realize the robot to wearing the real-time tracking of using the bracelet.
As an optional implementation manner, the direction of the visible light camera on the robot body is opposite to the direction of the vehicle, and the safety identification area is constructed according to the preset identification distance of the visible light camera.
As an optional implementation manner, the control terminal comprises an upper control system for realizing task management, motion track generation and positioning, and a lower control system for completing robot servo control and sensor information acquisition;
the upper control system comprises an independent operation mode and a remote control or remote real-time control mode;
under an independent operation mode, generating speed and direction information of a robot body according to early warning radar information and visible light camera information, and transmitting the speed and direction information to a motion controller, wherein the motion controller realizes robot control by explaining the information transmitted by an upper control system and executing a corresponding program;
and under a remote controller or remote real-time control mode, receiving a command sent by the user side or the remote control side through the wireless communication unit to realize real-time control on the robot.
As an optional implementation mode, the control terminal is respectively a data layer, a functional layer, a logic layer and a presentation layer, and the control terminal is used for realizing interaction between a person and the robot, controlling the robot to complete walking, following and warning work according to a preset walking task through data conversion, verifying and storing data collected by the robot, analyzing the data collected by the robot, and automatically generating device warning information according to a set warning threshold value.
The second aspect of the disclosure provides a maintenance operation-based adjoint active safety warning system.
An adjoint initiative safety warning system based on maintenance operation comprises a robot and an intelligent road cone device, wherein the robot is arranged on the first aspect of the disclosure;
the intelligence way awl device includes: the road cone comprises a road cone body, a processor and a balance detection element, wherein the processor and the balance detection element are arranged in the road cone body;
the processor is used for being in communication connection with the control terminal and judging whether the vehicles come and go break into the operation buffer area or not by sending the detection result of the balance detection element to the robot.
As an optional implementation manner, the intelligent road cone devices are sequentially arranged at the edge of the operation buffer area, when two or more continuous adjacent road cones topple over, a vehicle is considered to intrude into the operation area, and the robot sends vehicle intrusion information to a worker wearing object in real time to perform vibration and/or sound and light alarm.
As some optional embodiments, when the mini-car cuts into the road maintenance area at a from the road centerline, the road maintenance crew just avoids the intruding vehicle, at which time: sin α ═ 2Vt3/LRoad surfaceWhere V is the vehicle speed, t3Minimum time for the early warning system to warn a person to successfully avoid the vehicle, LRoad surfaceIs the lane width.
As a further limitation, if two consecutively numbered intelligent road cones can be knocked over, the placing interval of the intelligent road cones at the moment is as follows: l is a radical of an alcohol4＝L1L/tan alpha cos alpha, wherein L1The width of the vehicle head.
The third aspect of the disclosure provides a maintenance operation-based concomitant active safety warning method, which includes the following steps:
when a maintenance operation area is arranged in an adjacent area of a traffic lane, at least two intelligent road cones of claims 7-9 are sequentially arranged on the boundary of the traffic lane, and the distance between every two adjacent intelligent road cones is less than 10 meters;
when two or more continuous adjacent road cones topple over, a vehicle is considered to break into the operation area, and the safety warning robot in any one of claims 1-6 is used for sending vehicle break-in information to the worker bracelet in real time to carry out vibration and/or sound-light warning.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the robot, the system and the method can be applied to environments with poor visibility, and particularly have good practicability and applicability to moving maintenance operation and temporary fixed-point maintenance operation of highways.
2. The robot, the system and the method can automatically track the track of the constructor, can be remotely controlled, have a tracking function, liberate the hands of the constructor at any time and any place, and can be disassembled and replaced by a battery, thereby being convenient for charging.
3. The robot, the system and the method can well warn maintenance operators, reduce accidents and guarantee life safety and property safety of the operators.
Advantages of additional aspects of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to be construed as limiting the disclosure.
Fig. 1 is a robot simulation physical diagram provided in embodiment 1 of the present disclosure.
Fig. 2 is a hardware composition diagram provided in embodiment 1 of the present disclosure.
Fig. 3 is a design diagram of a control system provided in embodiment 1 of the present disclosure.
Fig. 4 is a software system design diagram provided in embodiment 1 of the present disclosure.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1:
as shown in fig. 1 to 4, an embodiment 1 of the present disclosure provides a robot with an active accompanying highway maintenance safety early warning system, which includes a visible light camera, a collision early warning radar, an audible and visual alarm, and can reach a warning position in a fully autonomous or remote control manner under all weather conditions to perform safety early warning.
As shown in fig. 1, the simulation diagram of the robot includes two front driving wheels and two rear driven wheels at the lower part, so that the robot can move along with the front driving wheels and the rear driven wheels, a lithium battery at the middle part supplies power, the battery is replaceable, and a visible light camera, a signal receiver and a transmitter are arranged at the upper part and are provided with warning signs.
The warning robot described in this embodiment adopts wheeled drive, two drive wheels are in the front, from the structure at back of driving wheel, and internally mounted has hardware, signal transmission, receiving and other parts, and for the convenience of disassembly and assembly maintenance, the molding of robot is divided into three parts: the front part is a decorative panel (comprising a warning lamp) which can be detached from the front part; the middle part is a main shell which is used for installing and protecting internal components; the rear shell is arranged behind the front shell and can be taken down from the rear part, so that the installation and maintenance of the internal components are convenient.
The robot can be along with removing the maintenance, interim fixed point maintenance workman (work car) upstream 80 meters distance, communicate with the constructor through bracelet and remote controller, can collect the place ahead road conditions information through leading visible light camera, can form virtual road and monitor its 100 meters within range vehicle condition of intruding in the system inside through discernment traffic marking, report to the police when the vehicle gets into the danger area, rely on the mode of reputation suggestion and vibrations bracelet to inform the constructor to notice and dodge through the wireless communication mode.
The RISC architecture embedded computer is the control core of the intelligent inspection robot, and controls the robot to realize various actions by receiving the instruction of a remote controller or the setting instruction of a background and communicating with each control module through a serial communication interface. The hardware management module in the automobile body mainly comprises a driving module, a power supply module, a holder, a video, a collision early warning radar and the like.
The software system architecture of the robot is divided into four layers, namely a data layer, a functional layer, a logic layer and a presentation layer. The robot background system is a window for realizing interaction between personnel and the robot, and can control the robot to finish walking, following and warning work according to a preset walking task through data conversion, and data collected by the robot is verified and stored. The system can analyze the data collected by the robot and automatically generate equipment alarm information according to a set alarm threshold value.
The adjoint maintenance operation active safety warning robot technology effectively integrates the design of a radio frequency tracking and positioning technology, a laser ranging technology, an obstacle avoidance and navigation technology, an artificial intelligence technology of a strategy layer and the like, and realizes automatic following and autonomous obstacle avoidance of related products.
The robot can be self-propelled and can be remotely controlled, internal devices are shown in figures 2, 3 and 4, and navigation devices comprise a navigation device motor, a driver and other motion systems as shown in figure 2.
The sensor system comprises a visible light camera, a collision early warning radar and the like. The robot can check the situation of coming vehicles behind through the visible light camera at the warning point, and when the vehicles enter a dangerous area, the camera of the robot identifies, judges the vehicle situation and gives an alarm.
The power management system is responsible for charge and discharge control of the battery, acquisition of voltage, current and electric quantity and protection of the battery, provides power for each functional module, is the heart part of the whole system, and the battery supplies power for the lithium battery and can support one-time temporary operation.
The control and communication system takes an industrial personal computer as a core, communicates with each module through a serial port, controls each module, collects data of each module, establishes communication with a base station through a wireless network bridge, receives control of the base station, transmits early warning information by utilizing a wireless network, provides robot body data for the base station, and can know states of electric quantity and the like of the robot in real time by a worker.
As shown in fig. 3, the control system is divided into an upper layer and a lower layer according to functional division. The robot control system consists of an upper-layer control system for realizing task management, motion track generation and positioning and a lower-layer control system for finishing robot servo control and sensor information acquisition.
The upper control system is the core control layer of the whole control system, and has two control implementation modes: one is a stand-alone mode of operation and the other is a remote or remote real-time control mode.
The independent operation mode has own operation parameters, namely, the upper control system generates speed and direction information of the robot body according to early warning radar information and visible light camera information and transmits the speed and direction information to the motion controller. A series of programs are defined in the bottom program of the motion control, and the motion controller interprets the information transmitted by the upper control system and executes the corresponding programs, so that the aim of controlling the robot is fulfilled. The remote controller or the remote real-time control mode receives a command sent by the user end or the remote control end through the wireless communication unit to realize the real-time control of the robot.
As shown in fig. 4, the software design includes a basic general service module, a virtual instruction control service module, a data service module, a protocol construction and analysis module, an in-station general interface service module, a configuration module, an item module, a log module, a lower computer interaction module, a video module, an interface system module, a communication module, a real-time data module, a map service module, a debugging module, a statistical analysis module, and the like.
The remote monitoring layer does not provide equipment information and editing functions, and all information is synchronously acquired from the base station layer. The following functions are mainly realized: the corresponding functions are displayed by taking the equipment as a key point, data information in each station is comprehensively analyzed, and the multi-dimensional substation video real-time display governed by the remote maintenance class can be performed by performing station-level transverse comparison analysis, real-time reminding of equipment defects, constructing a virtual instruction to communicate with a front-end processor in the station.
The warning robot background system function design comprises modules such as interface display, robot control, task management, data display, result confirmation, result analysis, user setting, robot system debugging and maintenance and the like.
The task management module mainly achieves the task display functions of autonomous walking, remote control walking, defect tracking and the like; the data display module mainly realizes the video monitoring function; the robot control module mainly realizes the functions of controlling the robot and the copying equipment; the result confirmation module mainly comprises functions of equipment alarm inquiry confirmation, main wiring display, interval display, walking result browsing and walking report generation; the result analysis module mainly realizes the functions of comparative analysis, report generation and the like; the user setting module mainly realizes the functions of alarm threshold setting, alarm message subscription setting, authority management, alarm point location setting, alarm area setting and the like; the robot system debugging and maintaining module mainly realizes the functions of software setting, robot setting and the like.
The user can realize the real-time running state monitoring of the robot in a background system. The user can know the current state information of the robot, the equipment detection result and the task running condition on one hand, and can select what operation is to be performed according to the current state information, the equipment detection result and the task running condition on the other hand. The real-time running state mainly comprises the following steps: the robot body state, the robot inspection state and the microclimate state.
The working principle of the embodiment is as follows:
the robot passes through the visible light camera among its hardware equipment and through discernment road marking, decodes data, through the conversion, forms a virtual road in the robot inside, observes the condition of coming the car, has the vehicle to break into the operation zone time, and the robot passes to the bracelet that the staff wore through wiFi in with information, and bracelet vibrations remind constructor to dodge.
The power supply system in the robot provides working power supply for each template of the robot, the embedded computer of the RISC framework controls the action of the robot by receiving the instruction of the remote controller, and meanwhile, the control system can generate the information of the robot body according to the early warning radar information and the visible light camera information, receives the control of the base station, provides the data of the robot body for the base station and controls the robot to realize various actions.
The background system of the robot is a window for communication between a worker and the robot, and the system analyzes data collected by the robot and automatically generates equipment alarm information.
Example 2:
the embodiment 2 of the present disclosure provides an adjoint active safety warning system based on maintenance work, which includes the robot and the intelligent road cone device in the embodiment 1 of the present disclosure;
the intelligence way awl device includes: the road cone comprises a road cone body, a processor and a balance detection element, wherein the processor and the balance detection element are arranged in the road cone body;
the processor is used for being in communication connection with the control terminal and judging whether the vehicles come and go break into the operation buffer area or not by sending the detection result of the balance detection element to the robot.
The appearance of the intelligent road cone device is in a hat shape, so that the intelligent road cone device can be conveniently placed above and fixed, and the intelligent road cone device is light in weight and cannot influence the road cone.
A level sensor in the device monitors the state of the road cone, whether the road cone topples over or not is judged, and the RFID chip can transmit the relevant information of the road cone to a control terminal on the early warning robot.
The working principle of the intelligent road cone device is as follows:
when a vehicle breaks into the operating area from the side surface of the maintenance area, the horizontal sensor of the road cone sends out the falling information after the vehicle collides with the road cone, and the RFID chip transmits the vehicle breaking-in information to the control terminal carried by the early warning robot.
When the road cone of two continuous serial numbers more than and in succession takes place to empty, just consider for there being the vehicle to break into the operation district, on the bracelet that the staff was worn was sent early warning information to the robot, bracelet vibrations remind constructor to dodge.
Under the condition of high-speed driving, when a small-sized automobile cuts into a road maintenance area at an inclination angle of 10 degrees (an included angle with a road center line), road maintenance personnel can just avoid running vehicles through the warning of the early warning system, and if two intelligent road cones with continuous numbers can just be knocked down, the placement interval of the intelligent road cones is L at the moment4＝12.96m。
The working principle of the embodiment is as follows:
firstly, condition setting is carried out, and people have enough time to avoid vehicles after the system gives an alarm;
vehicle speed setting: v is 80km/h (22m/s) and does not decelerate;
setting the driving position as the central line of the highway according to the actual driving condition, and setting the working position of the maintenance worker as the position near the central line of the working area;
human reaction time: the human reaction time is 0.2s at the fastest, and the human reaction time under the normal condition is as follows: t is t1＝0.3s；
Speed of human avoidance: setting human avoidance speed V1≈7m/s；
Width of the vehicle head: l is11.7-2.45 m (1.7 m for small-sized cars, 2-2.45 m for heavy-duty trucks);
through calculation, the shortest distance for the operator to avoid the vehicle to move is as follows: assuming that the center of the intruding vehicle is aligned with the operator, the shortest distance that the operator needs to move to avoid the collision is one half of the width of the vehicle head, i.e., L2＝L1/2＝0.85～1.225m；
The minimum time required for the operator to avoid the vehicle: because different vehicle types have different vehiclesHead width, so we give the time frame we need to avoid as t2＝L2/V10.12 s-0.175 s, namely the minimum time required for the early warning system to alarm that a person successfully avoids the vehicle: t is t3＝t1+t2＝0.420～0.475s≈0.5s；
In time t3, considering the poor situation, the vehicle braking is not adopted after the vehicle break-in, that is, the break-in vehicle runs at the set vehicle speed, then the running distance of the vehicle is: l is3＝V·t3＝11m。
When the small automobile cuts into a road maintenance area at an angle alpha (included angle with a road center line), the warning system gives an alarm, and road maintenance personnel can just avoid running into the automobile, at the moment:
sinɑ＝2Vt3/Lroad surface＝2V(t1+L1/2V1)/LRoad surface≈0.17(ɑ≈10°)
If the intelligent road cones with two continuous numbers can be just knocked down, the placing intervals of the intelligent road cones are arranged
L4＝L1/tanɑcosɑ＝12.96m。
According to the analog computation data, intelligence way awl early warning system will exert better effect, play better early warning effect, then the biggest interval that intelligence way awl was put is 12.96m, for exerting better early warning effect in the reality, the interval of putting of suggestion intelligence way awl is not more than 10m, when the intelligence way awl of two and above serial numbers collapses, intelligence way awl will be through RFID chip transmission information to maintenance warning robot department, vibrations will take place for constructor bracelet immediately, remind personnel to keep away the danger.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (8)
1. The utility model provides an adjoint initiative safety warning system based on maintenance operation which characterized in that:
comprises a robot and an intelligent road cone device;
the intelligence way awl device includes: the road cone comprises a road cone body, a processor and a balance detection element, wherein the processor and the balance detection element are arranged in the road cone body; the processor is in communication connection with the control terminal and is used for judging whether vehicles come and go break into the operation buffer area or not by sending the detection result of the balance detection element to the robot;
the shortest distance that the operator needs to move to avoid the vehicle: when the center of the intruded vehicle is aligned with the operator, the shortest distance for the operator to move to avoid the collision is half of the width of the vehicle head, namely L2＝L1/2；
The minimum time required for the operator to avoid the vehicle: because different vehicle models have different vehicle head widths, the time range required for people to avoid is t2＝L2/V1Namely, the warning system gives an alarm to the minimum time required for a person to successfully avoid the vehicle: t is t3＝t1+t2Wherein V is1Speed of avoidance by a person, t1Human reaction time;
in time t3, considering the poor situation, the vehicle braking is not adopted after the vehicle break-in, that is, the break-in vehicle runs at the set vehicle speed, then the running distance of the vehicle is: l is3＝V·t3；
When the small car cuts into the road maintenance area at an angle alpha to the road center line, the road maintenance personnel just avoid the break-in vehicle, at this time: sin alpha 2Vt3/LRoad surfaceWhere V is the vehicle speed, t3Minimum time for the early warning system to warn a person to successfully avoid the vehicle, LRoad surfaceIs the lane width;
if can hit down the intelligence way awl of two consecutive numbers just, the interval of putting of intelligence way awl this moment does: l is4＝L1L/tan alpha cos alpha, wherein L1Is the width of the vehicle head;
the robot comprises a robot body, wherein a control terminal and a visible light camera are mounted on the robot body, and the visible light camera is in communication connection with the control terminal;
the visible light camera is used for collecting front road condition information and sending the front road condition information to the control terminal in real time, the control terminal identifies traffic marking lines and constructs a virtual road according to the received road condition information, a safety identification area is constructed according to the virtual road, and when a vehicle breaks into the safety identification area, an alarm signal is sent.
2. A maintenance operation-based attendant active safety warning system as claimed in claim 1, wherein:
each intelligent road cone device is arranged at the edge of the operation buffer area in sequence, when two or more continuous adjacent road cones topple over, a vehicle is considered to intrude into the operation area, and the robot sends vehicle intrusion information to a worker wearing object in real time to perform vibration and/or acousto-optic alarm.
3. A maintenance operation-based attendant active safety warning system as claimed in claim 1, wherein:
the robot body is also provided with a sound-light alarm module, the sound-light alarm module is in communication connection with the control terminal, and when a vehicle breaks into a safety identification area, the sound-light alarm module works.
4. A maintenance operation-based concomitant active safety warning system according to claim 1, wherein:
the control terminal is in communication connection with the wearing bracelet, and when a vehicle breaks into the safety identification area, the control terminal sends a control instruction to the bracelet, so that the bracelet vibrates and/or gives an audible and visual alarm;
or,
control terminal with wear with bracelet communication connection, receive in real time and wear the position of using the bracelet, control robot's removal is so that the robot with wear to hand with the environmental protection and preset the interval.
5. A maintenance operation-based attendant active safety warning system as claimed in claim 1, wherein:
the direction of a visible light camera on the robot body is opposite to the direction of the vehicle, and a safety identification area is constructed according to the identification distance of a preset visible light camera.
6. A maintenance operation-based attendant active safety warning system as claimed in claim 1, wherein:
the control terminal comprises an upper-layer control system for realizing task management, motion track generation and positioning and a lower-layer control system for completing robot servo control and sensor information acquisition;
the upper control system comprises an independent operation mode and a remote control or remote real-time control mode;
under an independent operation mode, generating speed and direction information of a robot body according to early warning radar information and visible light camera information, transmitting the speed and direction information to a motion controller, and realizing robot control by explaining the information transmitted by an upper control system and executing a corresponding program by the motion controller;
under the remote controller or remote real-time control mode, the wireless communication unit receives the command sent by the user end or the remote control end, and the real-time control of the robot is realized.
7. A maintenance operation-based attendant active safety warning system as claimed in claim 1, wherein:
the control terminal is respectively provided with a data layer, a functional layer, a logic layer and a presentation layer, and is used for realizing interaction between personnel and the robot, controlling the robot to finish walking, following and warning work according to a preset walking task through data conversion, verifying and storing data collected by the robot, analyzing the data collected by the robot, and automatically generating equipment warning information according to a set warning threshold value.
8. A maintenance work-based on-accompanied active safety warning method using the maintenance work-based on-accompanied active safety warning system according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:
when a maintenance operation area is arranged in an adjacent area of a travelling lane, at least two intelligent road cones are sequentially arranged on the boundary of the travelling lane, and the distance between every two adjacent intelligent road cones is less than 10 meters;
when two or more continuous adjacent road cones topple over, the road cones are regarded as vehicles to break into the operation area, and the safety warning robot sends vehicle break-in information to a worker bracelet in real time to perform vibration and/or sound-light warning.
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