An intelligent mobile road cone system capable of overturning, self-reporting, self-adjusting and control method thereof

Abstract

The present application relates to a kind of overturning self-alarm self-regulation intelligent mobile road cone system and control method, system includes: including control platform and mobile road cone;Mobile road cone includes: control module, overturning detection module, motion module, communication module, road cone main body, case;Communication module is connected with control platform, control module, overturning detection module communication, control module is connected with motion module communication, overturning detection module is respectively connected with control module, motion module communication;Control platform receives the detection information and overturning alarm signal of overturning detection module by communication module, control module receives the detection information of overturning detection module and then controls motion module.Compared with prior art, the present application can realize autonomous movement and overturning alarm regulation, control moves to specified position, and after overturning exception occurs in the process of movement and after reaching position, alarm is sent to platform and control motion module is intelligently regulated, improve the efficiency and safety in the process of placement and effect.

Description

Technical Field

[0001] This invention relates to the field of mobile traffic cone technology, and in particular to an intelligent mobile traffic cone system and control method with self-alarm and self-adjustment for overturning. Background Technology

[0002] Traffic cones are common traffic safety facilities. Traditional traffic cones require manual placement and adjustment, which is not only inefficient and slow but also poses certain safety hazards. Especially in high-speed traffic scenarios such as highways, traffic accidents frequently occur due to the deployment and repositioning of traffic cones. After being placed, traffic cones often tip over due to human and environmental factors. These factors mainly include human movement, impact, and damage; as well as adverse weather conditions such as strong winds and heavy rain. Abnormal tipping of traffic cones after placement can, at best, render traffic control ineffective and cause traffic congestion in the controlled area; at worst, they can roll into lanes with vehicles, causing traffic accidents.

[0003] Existing technologies already include some road cones with tilt-alarm alarms. Patent CN104594233A features an alarm indicator light on the top of the road cone body, which automatically triggers an alarm via sensors and an alarm when a vehicle approaches. Patent CN104894992B uses a rubber hemispherical base for a self-righting, tumbler-like effect. However, the tilt-alarm road cone in patent CN104594233A only detects tilting and does not provide adjustment feedback to restore the road cone to normal use. Patent CN104894992B, with its tumbler-like design, cannot be placed stably and lacks mobility. Existing intelligent road cones still suffer from structural problems, failing to simultaneously fulfill both tilt adjustment and rapid relocation functions. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology by providing an intelligent mobile traffic cone system and control method with self-alarm and self-adjustment for overturning. It can realize autonomous movement and overturning alarm adjustment, control the movement to a designated position, and alarm the platform and control the motion module to intelligently adjust if an overturning abnormality occurs during the movement or after the cone is in place, thereby improving the efficiency and safety during placement and operation.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] This invention provides an intelligent mobile traffic cone system with self-alarm and self-adjustment for overturning, including a control platform and mobile traffic cones;

[0007] The control platform is used for remote monitoring and management of smart traffic cones;

[0008] The mobile traffic cone includes: a control module, an overturning detection module, a motion module, a communication module, the main body of the traffic cone, and a chassis;

[0009] The control module coordinates the functions of each module, receives input data, performs calculations, and issues instructions.

[0010] The motion module drives the mobile traffic cone and includes four wheels, a motor, and a battery. Each wheel is made of high-strength, wear-resistant, and pressure-resistant rubber and is driven by a brushless DC motor. The motor's power and speed are determined based on the size and maximum speed of the traffic cone to ensure greater obstacle clearance and load-bearing capacity under various road conditions.

[0011] The overturning detection module is used for the measurement and output of triaxial acceleration of intelligent moving traffic cones;

[0012] The communication module is used for data transmission between the management and control platform, the control module, and the overturning detection module;

[0013] The chassis is located at the bottom of the traffic cone body, and the overturning detection module is embedded at the top of the traffic cone body to increase the accuracy of the overturning angle measurement. The battery and motor of the control module and motion module, as well as the communication module, are all encapsulated in the chassis. The four wheels are located at the bottom of the chassis.

[0014] The communication module communicates with the management and control platform, the control module, and the overturning detection module through the communication module interface. The control module communicates with the motion module, and the overturning detection module communicates with both the control module and the motion module. The management and control platform receives detection information and overturning alarm signals from the overturning detection module through the communication module, and the control module receives the detection information from the overturning detection module and then controls the motion module.

[0015] Furthermore, the movable traffic cone is equipped with a positioning module. When the traffic cone moves normally, the control module reads the position data from the positioning module, calculates and controls the motor operating time parameters of the motion module and the rotation angle parameters of the four wheels to achieve the movement. Furthermore, the positioning module is a GPS positioning system.

[0016] Furthermore, the mobile traffic cone is equipped with an information display module. After the mobile traffic cone arrives at its parking location, the control module sends the text and signage information to be displayed to achieve the traffic guidance objective. Furthermore, the information display module is an LED display screen.

[0017] Furthermore, the control module is a microcontroller, with the program pre-programmed via USB port.

[0018] Furthermore, the control module is an STM32H7 series microcontroller from STMicroelectronics.

[0019] Furthermore, the overturning detection module includes a triaxial high-precision digital accelerometer to measure and output parameters of the acceleration of the moving traffic cone in the X, Y, and Z directions.

[0020] Furthermore, the motion module also includes servo motors, which control the four wheels to steer when the moving traffic cone is moving normally.

[0021] This invention also provides a control method for the above-mentioned intelligent mobile traffic cone system with self-alarm and self-adjustment for overturning. When overturning occurs, the control module reads the triaxial acceleration data sensed by the overturning detection module, and the control module uses a judgment algorithm to determine whether the traffic cone has overturned, so as to control the motion module to react and adjust. Specifically, it includes the following steps:

[0022] S0: Obtain the preset non-response angle threshold t0, tilt angle threshold t1, and overturning angle threshold t2;

[0023] S1: Calculate the tilt angle: Obtain the accelerations ax, ay, and az of the intelligent mobile cone in the x, y, and z directions of the vehicle coordinate system. Calculate the tilt angle θ of the intelligent mobile cone relative to the horizontal plane by the ratio of the projection of ay onto the xz plane to the square root of the sum of the squares of ax and az.

[0024] S2: Determine the degree of tilt: When the detected tilt angle θ is less than or equal to the no-response angle threshold t0, no adjustment operation is performed; when the detected tilt angle is greater than or equal to the tilt angle threshold t1, a straight adjustment strategy is adopted, controlling the intelligent moving traffic cone to move a distance L0 along the tilt direction and then move the same distance L0 in the opposite direction to restore the balance state.

[0025] S3: Detect the tilt angle again and determine the degree of tilt: If the tilt angle does not recover to the non-response angle threshold t0 after S2, adopt the angle adjustment strategy, which means controlling the four wheels to move separately, so that the main body of the road cone rotates along the predetermined angle, so that the center of gravity of the road cone in the tilt direction changes, thereby preventing it from tipping over.

[0026] S4: When the detected tilt angle θ is greater than or equal to the overturning angle threshold t2, it is determined that the adjustment operation is invalid and the road cone has already overturned or is about to overturn. The alarm information is uploaded to the control platform through the communication module to complete the overturning self-alarm and self-adjustment function.

[0027] Furthermore, in S1, the tilt angle θ is expressed as:

[0028] Furthermore, the communication module establishes a dedicated communication protocol and interface based on the mobile network to ensure real-time communication with the management and control platform. The communication module utilizes 4G / 5G communication, meeting the requirements of high speed, low latency, and large capacity, enabling the smart traffic cones to achieve fast and accurate data transmission. Standard communication protocols and interfaces are established, allowing the smart traffic cones to communicate effectively with the intelligent connected platform. The communication protocols and interfaces possess high interoperability and compatibility.

[0029] Furthermore, the management and control platform can issue commands and receive road cone status data, enabling real-time monitoring, remote control, statistical analysis, and overturning alarms. The platform can also view the location, status, battery level, and sensor data of the smart road cones in real time, ensuring their safety and effectiveness. It can remotely control the movement, stopping, angle adjustment, and posture adjustment of the smart road cones, improving their operational efficiency and accuracy. The platform can also statistically analyze the usage of the smart road cones, including usage time, movement trajectory, and power consumption, providing data support for management and maintenance. Finally, the platform can receive overturning alarm information from the smart road cones in real time and process and respond promptly, improving the safety and early warning effectiveness of the road cones.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] (1) High degree of automation. No manual operation is required, the range of movement is long, and it can monitor and respond to overturning anomalies throughout the entire process, ensuring safety during use and reducing the danger of manually setting up control zones.

[0032] (2) Automatic tilt adjustment. It has a tilt detection function and can automatically adjust when the intelligent traffic cone is detected to be tilted.

[0033] (3) Automatic alarm for overturned status. When the intelligent traffic cone has overturned, it can automatically detect the status and issue an alarm to prevent subsequent accidents from occurring.

[0034] (4) Status is perceptible. It has a communication module and a management and control platform, which can upload the status information, location information and other data of the smart traffic cone to the cloud in real time. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of an intelligent mobile traffic cone control system with self-alarm and self-adjustment.

[0036] Figure 2 A front view of a smart mobile traffic cone that has an overturning alarm and self-adjustment system.

[0037] Figure 3 A bottom view of a smart mobile traffic cone that has an overturning alarm and self-adjustment system.

[0038] Reference numerals in the attached diagram: 1-Overturning detection module; 2-Road cone body; 3-Chassis; 4-Four-wheel wheel; 5-Communication module interface. Detailed Implementation

[0039] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms, and other features not explicitly described in this technical solution are considered common technical features disclosed in the prior art.

[0040] Example 1

[0041] This embodiment provides an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment, including a control platform and mobile traffic cones;

[0042] The control platform is used for remote monitoring and management of smart traffic cones;

[0043] The mobile traffic cone includes: a control module, an overturning detection module 1, a motion module, a communication module, a traffic cone body 2, and a chassis 3;

[0044] The control module coordinates the functions of each module, receives input data, performs calculations, and issues instructions.

[0045] The motion module drives the mobile traffic cone and includes four wheels (4), a motor, and a battery. Each wheel (4) is made of high-strength, wear-resistant, and pressure-resistant rubber and is driven by a DC brushless motor. The motor's power and speed are determined based on the size and maximum speed of the traffic cone to ensure higher obstacle-crossing and load-bearing capacity under various road conditions. Specifically, the battery in the motion module is a 6000mAh lithium rechargeable battery, which is lighter, has better energy density, and longer operating range.

[0046] The overturning detection module 1 is used for the measurement and output of the triaxial acceleration of the intelligent moving traffic cone;

[0047] The communication module is used for data transmission between the management and control platform, the control module, and the overturning detection module 1;

[0048] The chassis 3 is located at the bottom of the traffic cone body 2, the overturning detection module 1 is embedded at the top of the traffic cone body 2 to increase the accuracy of the overturning angle measurement, the battery and motor of the control module and motion module, and the communication module are all encapsulated in the chassis 3, and the four wheels 4 are located at the bottom of the chassis 3.

[0049] The communication module communicates with the management and control platform, the control module, and the overturning detection module 1 through the communication module interface 5. The control module communicates with the motion module, and the overturning detection module 1 communicates with both the control module and the motion module. The management and control platform receives the detection information and overturning alarm signal from the overturning detection module 1 through the communication module, and the control module receives the detection information from the overturning detection module 1 and then controls the motion module.

[0050] In a specific implementation, the movable traffic cone is equipped with a positioning module. When the traffic cone moves normally, the control module reads the position data from the positioning module, calculates and controls the motor operating time parameters of the motion module and the rotation angle parameters of the four wheels 4 to achieve the movement. Specifically, the positioning module is a GPS positioning system.

[0051] In a specific implementation, the mobile traffic cone is equipped with an information display module. After the mobile traffic cone arrives at its parking location, the control module sends the text and signage information to be displayed to the information display module to achieve the traffic guidance objective. Specifically, the information display module is an LED display screen.

[0052] In a specific implementation, the overturning detection module 1 includes a triaxial high-precision digital accelerometer to measure and output the acceleration of the moving traffic cone in the X, Y, and Z directions.

[0053] In a specific implementation, the motion module also includes a servo motor, which controls the four wheels 4 to steer when the moving traffic cone is moving normally.

[0054] This embodiment also provides a control method for the above-mentioned intelligent mobile traffic cone system with self-alarm and self-adjustment for overturning. When overturning occurs, the control module reads the triaxial acceleration data sensed by the overturning detection module 1, and the control module uses a judgment algorithm to determine whether the traffic cone has overturned, so as to control the motion module to react and adjust. Specifically, it includes the following steps:

[0055] S0: Obtain the preset non-response angle threshold t0, tilt angle threshold t1, and overturning angle threshold t2;

[0056] S1: Calculate the tilt angle: Obtain the accelerations ax, ay, and az of the intelligent mobile cone in the x, y, and z directions of the vehicle coordinate system. Calculate the tilt angle θ of the intelligent mobile cone relative to the horizontal plane by the ratio of the projection of ay onto the xz plane to the square root of the sum of the squares of ax and az.

[0057] S2: Determine the degree of tilt: When the detected tilt angle θ is less than or equal to the no-response angle threshold t0, no adjustment operation is performed; when the detected tilt angle is greater than or equal to the tilt angle threshold t1, a straight adjustment strategy is adopted, controlling the intelligent moving traffic cone to move a distance L0 along the tilt direction and then move the same distance L0 in the opposite direction to restore the balance state.

[0058] S3: Detect the tilt angle again and determine the degree of tilt: If the tilt angle does not recover to the non-response angle threshold t0 after S2, adopt the angle adjustment strategy, which means controlling the four wheels 4 to move separately, so that the main body of the road cone 2 rotates along the predetermined angle, so that the center of gravity of the road cone in the tilt direction changes, thereby preventing it from tipping over.

[0059] S4: When the detected tilt angle θ is greater than or equal to the overturning angle threshold t2, it is determined that the adjustment operation is invalid and the road cone has already overturned or is about to overturn. The alarm information is uploaded to the control platform through the communication module to complete the overturning self-alarm and self-adjustment function.

[0060] In a specific implementation, in S1, the tilt angle θ is expressed as:

[0061] In this specific implementation, the communication module establishes a dedicated communication protocol and interface based on the mobile network, ensuring real-time communication between the communication module and the management platform. The communication module utilizes 4G / 5G communication, meeting the requirements of high speed, low latency, and large capacity, enabling the smart traffic cones to achieve fast and accurate data transmission. Establishing standard communication protocols and interfaces allows the smart traffic cones to communicate effectively with the intelligent connected platform. The communication protocols and interfaces possess high interoperability and compatibility.

[0062] In specific implementations, the management and control platform can issue commands and receive road cone status data, enabling real-time monitoring, remote control, statistical analysis, and overturning alarms. The platform can also view the location, status, battery level, and sensor data of the intelligent road cones in real time, ensuring their safety and effectiveness. Furthermore, the platform can remotely control the movement, stopping, angle adjustment, and posture adjustment of the intelligent road cones, improving their operational efficiency and accuracy. It can also statistically analyze the usage of the intelligent road cones, including usage time, movement trajectory, and power consumption, providing data support for management and maintenance. Finally, the platform can receive overturning alarm information from the intelligent road cones in real time and process and respond promptly, improving the safety and early warning effectiveness of the road cones.

[0063] In this specific implementation, the control module is a microcontroller, pre-programmed via a USB port. Specifically, the control module uses STMicroelectronics' STM32H7 series microcontroller, which employs an ARM Cortex-M7 core, operates at a frequency of up to 400MHz, and features high performance, low power consumption, and rich peripheral interfaces, making it suitable for applications requiring high-speed computing and data processing.

[0064] When the intelligent traffic cone is in operation, the management platform remotely connects to the control module via the communication module to control the movement of the intelligent traffic cone to the designated position. Whether the traffic cone is in motion or stationary, the overturning detection module 1 continuously monitors the traffic cone's own status, setting a no-response angle threshold of 10 degrees, a tilt angle threshold of 30 degrees, and an overturning angle threshold of 60 degrees. The overturning alarm workflow is as follows:

[0065] S1: When the detected tilt angle is less than or equal to 10 degrees, no adjustment is performed; when the detected tilt angle is greater than or equal to 30 degrees, the control system uses the motor to adjust the intelligent traffic cone accordingly, restoring it to a horizontal state.

[0066] S2: Try a linear adjustment strategy, which means that the motion module moves a certain distance in the tilt direction and then moves the same distance in the opposite direction to restore the balance.

[0067] S3: If the tilt angle does not recover to the non-response angle threshold after S2, try the angle adjustment strategy, which means controlling the four wheels 4 to move separately, so that the main body 2 of the road cone rotates along a certain angle, so that the center of gravity of the road cone in the tilt direction changes, thereby preventing it from tipping over.

[0068] S4: When the detected tilt angle is greater than or equal to 60 degrees, it is determined that the adjustment operation is ineffective and the road cone has already overturned or is about to overturn. The alarm information is uploaded to the control platform through the communication module to complete the overturning self-alarm and self-adjustment function.

[0069] Specifically, the principle of an angle adjustment strategy based on angle adjustment is as follows:

[0070] Assuming the center of mass of the intelligent traffic cone is at the origin (0,0) of the coordinate system, the tilt angle is θ, and the tilt direction is the positive x-axis, then it is necessary to control the speed of the four motors to make the intelligent traffic cone rotate along a certain angle, thereby changing the position of its center of mass in the tilt direction.

[0071] Specifically, when the smart traffic cone tilts forward, the rear wheel motor needs to rotate forward; when the smart traffic cone tilts backward, the front wheel motor needs to rotate forward; when the smart traffic cone tilts to the left, the left wheel motor needs to rotate forward and the right wheel motor needs to rotate backward; when the smart traffic cone tilts to the right, the right wheel motor needs to rotate forward and the left wheel motor needs to rotate backward.

[0072] Let the rotational speeds of the four motors be V1, V2, V3, and V4, respectively. The following linear relationship exists between the motor speeds and the linear velocity of the wheel:

[0073] V1=K*Vt+Kw*ω

[0074] V2=K*Vt-Kw*ω

[0075] V1=K*Vt+Kw*ω

[0076] V1=K*Vt-Kw*ω

[0077] In the formula, K is the proportionality coefficient between the motor speed and the wheel linear velocity, Vt is the overall linear velocity of the intelligent traffic cone, Kw is the proportionality coefficient between the motor speed and the wheel angular velocity, and ω is the rotational angular velocity of the intelligent traffic cone.

[0078] To achieve angle adjustment of the intelligent traffic cone, the overall linear velocity and rotational angular velocity of the intelligent traffic cone are controlled to satisfy the following relationship:

[0079] Vt = V0 * cos(θ)

[0080] ω=V0*sin(θ) / L

[0081] Where V0 is the linear velocity of the intelligent traffic cone, and L is the wheelbase of the intelligent traffic cone.

[0082] Therefore, the relationship between the rotational speeds of the four motors and the tilt angle θ can be obtained as follows:

[0083] V1=K*V0*cos(θ)+Kw*V0*sin(θ) / L

[0084] V2=K*V0*cos(θ)-Kw*V0*sin(θ) / L

[0085] V3=K*V0*cos(θ)+Kw*V0*sin(θ) / L

[0086] V4=K*V0*cos(θ)-Kw*V0*sin(θ) / L

[0087] This allows the speed of the four motors to be adjusted according to the magnitude and direction of the tilt angle θ, so that the intelligent mobile traffic cone rotates along a certain angle, changes the center of gravity position of its tilt direction, thereby reducing the tilt angle and preventing the intelligent mobile traffic cone from tipping over.

[0088] In a specific implementation, the overturning detection module 1 includes a triaxial high-precision digital accelerometer to measure and output the acceleration parameters of the intelligent moving traffic cone in the X, Y, and Z directions. Specifically, the overturning detection module 1 can use the STMicroelectronics LIS3LV02DL triaxial MEMS accelerometer, which has a tilt detection accuracy of ±0.2°, an operating voltage of 2.4V to 3.6V, and an operating temperature range of -40℃ to +85℃, offering high accuracy and meeting the operating environment requirements of the intelligent traffic cone.

[0089] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0090] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0091] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment, characterized in that, The system employs an intelligent mobile traffic cone system with self-alarm and self-adjustment for overturning. The system includes a control platform and mobile traffic cones. The control platform is used for remote monitoring and management of smart traffic cones; The mobile traffic cone includes: a control module, an overturning detection module (1), a motion module, a communication module, a traffic cone body (2), and a chassis (3); The control module is used to coordinate the functions of each module, receive input data, complete calculations, and issue instructions. The motion module is used to drive the moving traffic cone to move, and the motion module includes: four wheels (4), a motor, and a battery; The overturning detection module (1) is used for the measurement and output of the triaxial acceleration of the intelligent moving road cone; The communication module is used to transmit data between the management and control platform, the control module, and the overturning detection module (1); The chassis (3) is located at the bottom of the traffic cone body (2), the overturning detection module (1) is embedded at the top of the traffic cone body (2) to increase the accuracy of the overturning angle measurement, the battery and motor of the control module and motion module and the communication module are all encapsulated in the chassis (3), and the four wheels (4) are located at the bottom of the chassis (3); The communication module is connected to the management platform, the control module, and the overturning detection module (1) through the communication module interface. The control module is connected to the motion module. The overturning detection module (1) is connected to the control module and the motion module respectively. The management platform receives the detection information and overturning alarm signal from the overturning detection module (1) through the communication module. The control module receives the detection information from the overturning detection module (1) and then controls the motion module. When an overturning occurs, the control module reads the triaxial acceleration data sensed by the overturning detection module (1), and the control module uses a judgment algorithm to determine whether the traffic cone has overturned, so as to control the motion module to react and adjust. Specifically, the following steps are included: S0: Obtain the preset non-response angle threshold t0, tilt angle threshold t1, and overturning angle threshold t2; S1: Calculate the tilt angle: Obtain the accelerations ax, ay, and az of the intelligent mobile cone in the x, y, and z directions of the vehicle coordinate system. Calculate the tilt angle θ of the intelligent mobile cone relative to the horizontal plane by the ratio of the projection of ay onto the xz plane to the square root of the sum of the squares of ax and az. S2: Determine the degree of tilt: When the detected tilt angle θ is less than or equal to the no-response angle threshold t0, no adjustment operation is performed; when the detected tilt angle is greater than or equal to the tilt angle threshold t1, a straight adjustment strategy is adopted, controlling the intelligent moving traffic cone to move a distance L0 along the tilt direction and then move the same distance L0 in the opposite direction to restore the balance state. S3: Detect the tilt angle again and determine the degree of tilt: If the tilt angle does not recover after S2 and the no-response angle threshold t0 is not detected, adopt the angle adjustment strategy, which means controlling the four wheels (4) to move respectively, so that the road cone body (2) rotates along the predetermined angle, so that the center of gravity of the road cone tilt direction changes, thereby achieving the effect of preventing tipping. S4: When the detected tilt angle θ is greater than or equal to the overturning angle threshold t2, it is determined that the adjustment operation is invalid and the road cone has already overturned or is about to overturn. The alarm information is uploaded to the control platform through the communication module to complete the overturning self-alarm and self-adjustment function.

2. The control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment as described in claim 1, characterized in that, The movable traffic cone is equipped with a positioning module. When the movable traffic cone moves normally, the control module reads the position data of the positioning module, calculates and controls the motor working time parameters of the motion module and the rotation angle parameters of the four wheels (4) to realize the movement action.

3. The control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment as described in claim 1, characterized in that, The mobile traffic cone is equipped with an information publishing module. After the mobile traffic cone arrives at the parking location, the control module sends the text and signage information to be displayed to the information publishing module in order to achieve the traffic guidance objective.

4. The control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment as described in claim 1, characterized in that, The control module is a microcontroller.

5. The control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment according to claim 1, characterized in that, The control module is an STM32H7 series microcontroller from STMicroelectronics.

6. The control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment as described in claim 1, characterized in that, The overturning detection module (1) includes a three-axis high-precision digital accelerometer to measure and output the acceleration of the moving road cone in the X, Y and Z directions.

7. The control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment as described in claim 1, characterized in that, The motion module also includes a servo motor, which controls the four wheels (4) to steer when the moving cone is moving normally.

8. The control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment as described in claim 1, characterized in that, In S1, the tilt angle θ is expressed as: .

9. The control method for an intelligent mobile traffic cone system with overturning self-alarm and self-adjustment as described in claim 1, characterized in that, The communication module establishes a dedicated communication protocol and interface based on the mobile network to ensure that the communication module can communicate with the management and control platform in real time.

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