Highway maintenance safety operation cooperative prevention and control system integrated with four-prevention and one-hiding technology

Abstract

The invention provides a highway maintenance safety operation cooperative prevention and control system integrated with a four-prevention and one-hiding technology. According to the system, the safety of road maintenance operation is improved. The early warning control module is connected with the remote sound-light-electricity early warning unit, the upstream guardrail early warning unit, the forward anti-mistaken-running unit and the lateral anti-mistaken-running unit through the Internet of Things and the single-chip microcomputer control technology, an operation area is monitored in real time, social vehicles are prevented from mistakenly running into the operation area, and the operator safety monitoring module is connected with the early warning module in real time through intelligent wearable equipment. An early warning signal is sent to an operator to remind the operator to avoid risks in time, and the cooperative control module fuses real-time data of all the modules, carries out global target optimization decision, adjusts the working state and ensures cooperative and efficient operation of all the modules. Through the combination of four-prevention and one-hiding technologies, the safety of road maintenance operation is effectively improved, the risk of accidents is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of coordinated prevention and control of highway maintenance safety operations, and in particular to a coordinated prevention and control system for highway maintenance safety operations integrating four-prevention and one-avoidance technologies. Background Art

[0002] In the current highway maintenance operations, safety protection is mainly achieved through the setting of traffic signs, signboards and safety protection areas. Although these methods have ensured the safety of operations to a certain extent, there are still many shortcomings. After the maintenance operation area is set up, there is a lack of effective active early warning mechanism, especially when private vehicles mistakenly enter the operation area, the early warning signal cannot be issued in time; at the same time, the existing protection means are usually static, and the protection measures cannot be dynamically adjusted according to the real-time situation, resulting in the safety of the operators cannot be fully guaranteed.

[0003] The existing highway maintenance operation safety protection system is traditional and simple. Not only are the operating vehicles easily rear-ended by other vehicles during the process of setting up the maintenance safety operation area, but there is also no guarantee for the safety of personnel when setting up traffic signs. After the operation is set up, there is not only no ability to actively warn to prevent other vehicles from accidentally entering the operation area from the front or side, but there is also no active reminder and avoidance technology when the operating personnel encounter danger. Summary of the invention

[0004] In order to solve the technical problems mentioned in the current background technology, the present invention proposes a highway maintenance safety operation collaborative prevention and control system that integrates four prevention and one avoidance technologies.

[0005] To this end, the technical solution adopted in the present invention is as follows:

[0006] An early warning control module, wherein the early warning control module divides the highway maintenance operation area into a warning area, an upstream transition area, a buffer area and a working area, a remote control sound and light unit is deployed in the warning area, a remote warning signal is output, and the remote warning signal strength is adjusted based on a PID control algorithm, an upstream guardrail early warning unit is deployed in the guardrail of the upstream transition area, an upstream warning signal is output and the vehicle navigation is linked for early warning, a forward anti-accidental intrusion unit is set in the buffer area, a weighted average algorithm is used to predict the risk value of social vehicles and the vehicle anti-accidental intrusion device is triggered to perform a forward anti-accidental intrusion early warning, a lateral anti-accidental intrusion unit is arranged outside the working area, social vehicles are detected by self-recovering traffic cones and a second road anti-accidental intrusion device and a lateral anti-accidental intrusion early warning is triggered, and the early warning control module is based on the Internet of Things technology and the single-chip microcomputer control technology, and integrates the remote control sound and light unit, the upstream guardrail early warning unit, the forward anti-accidental intrusion unit and the lateral anti-accidental intrusion unit to form a four-prevention technology system;

[0007] The operator safety monitoring module includes intelligent wearable devices worn by operators. Through wireless communication technology, the intelligent wearable devices are connected to the early warning control module in real time. The early warning control module sends early warning signals to the intelligent wearable devices through risk comparison.

[0008] Furthermore, the four-prevention technology is applied to the remote control sound and light early warning unit, the upstream guardrail early warning unit, the forward anti-intrusion unit and the side anti-intrusion unit. The highway maintenance operation area is divided into a warning area, an upstream transition area, a buffer area and a work area.

[0009] The remote control sound and light early warning unit is arranged in the warning area, detects the distance data of social vehicles to the upstream transition area, and remotely warns social vehicles in advance through a directional sound wave sound and light early warning terminal, and outputs remote warning signals by using a sound and light alarm, an LED display screen and voice synthesis technology.

[0010] According to the distance data of social vehicles to the upstream transition area, the output intensity of the remote warning signal is adjusted based on single-chip microcomputer control technology. The formula is:

[0011]

[0012] where u(t) is the control signal, that is, the output intensity of the remote warning signal; e(t) is the distance data of social vehicles; K p 、K i 、K d are the proportional, integral and differential gains respectively.

[0013] Furthermore, the upstream guardrail early warning unit sets up a guardrail early warning machine on the guardrail in the upstream transition area. The guardrail early warning machine detects social vehicles through sensors, triggers upstream warning signals, including high-frequency sound waves, strong light flashes and electronic display screens to synchronously warn social vehicles, and synchronizes road condition information to the navigation of social vehicles. Through the upstream warning signals and navigation information, social vehicles are guided to change lanes in advance to avoid the work area.

[0014] Furthermore, the forward anti-intrusion unit includes a first road anti-intrusion device and a vehicle anti-intrusion device. The first road anti-intrusion device is set in the buffer area, detects the speed, distance and position information of social vehicles, and predicts the approaching behavior of social vehicles. A prediction model is constructed based on the weighted average algorithm of the speed, distance and position information of social vehicles.

[0015] The weighted average algorithm includes three factors, namely the distance factor D f 、the speed factor V f and the time factor T f , combining the three factors, calculates the risk value R k ,

[0016] Based on the risk value R k and the preset risk threshold R a for comparison to trigger the judgment of the forward anti-collision warning signal, that is, R k >R a , the forward anti-collision warning signal is triggered to warn social vehicles.

[0017] The vehicle anti-collision device is installed on the anti-collision buffer vehicle and automatically emits an audible, visual, and electrical alarm according to the forward anti-collision warning signal triggered by the road anti-collision device.

[0018] Furthermore, the lateral anti-collision unit includes a second road anti-collision device and a tumbler audible, visual, and electrical traffic cone. Self-recovering traffic cones are arranged around the working area and the buffer area, and the second road anti-collision device that automatically waves a flag is arranged inside the working area.

[0019] When the second road anti-collision device detects that a social vehicle drives into the side road of the working area and the buffer area, the second road anti-collision device sends a lateral anti-collision warning signal to the tumbler audible, visual, and electrical traffic cone. The tumbler audible, visual, and electrical traffic cone warns the social vehicle through audible, visual, and electrical technology, and based on the self-recovery design, it can return to its original position after being hit and continue to emit warning signals.

[0020] Furthermore, the intelligent wearable device includes an intelligent helmet, a shoulder lamp, and a bracelet. The warning control module makes a judgment on the sending of warning signals through a dynamic evaluation algorithm. The formula is:

[0021]

[0022] where R t is the risk value of the current threat; v v is the speed of the social vehicle; D c is the distance between the operator and the social vehicle; t r is the reaction time of the operator, and α and β are weight coefficients;

[0023] The judgment on the sending of the warning signal is that when R t >R a , the warning control module sends an evasion warning signal to the intelligent wearable device. Through the evasion warning signal, the intelligent wearable device sends an evasion warning instruction to the operator.

[0024] The evasion warning instruction specifically includes that the intelligent helmet gives a warning through a vibration motor, the shoulder lamp flashes to warn the operator through an LED light source, and the bracelet gives a warning through vibration and visual display.

[0025] Further, the evasion warning instruction is optimized in accuracy through the behavior prediction algorithm of the operator, and the formula is:

[0026]

[0027] where φ is the prediction function; P e (t) is the probability that the operator takes evasive action at time t; is the prediction of the operator's evasive behavior at time t-1.

[0028] Further, anti-collision buffer vehicles are deployed in the buffer area.

[0029] Compared with the prior art, the advantages of the present invention are as follows:

[0030] 1. Precise section-level warning system: By adopting the Internet of Things technology, the present invention realizes precise warning at the section level of highway maintenance operations. The system can monitor the environmental changes around the operation area in real time, accurately identify potential safety risks, and issue efficient warnings, thus greatly improving the safety of highway maintenance operations.

[0031] 2. Intelligent real-time warning: By introducing single-chip microcomputer control technology, the present invention realizes intelligent real-time warning for highway maintenance operations, can make judgments and process based on the real-time collected data, and issue warning signals in time before the occurrence of safety threats to ensure that both operators and passing vehicles can have sufficient warning time.

[0032] 3. Multi-dimensional signal warning: The present invention combines directional sound wave technology, LED display warning technology, and Chinese speech synthesis technology. Through the fusion of multi-dimensional signals, it has stronger adaptability and effectiveness in dealing with various complex environments, and improves the overall safety protection level of highway maintenance operations. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 is the flow chart of the highway maintenance safety operation collaborative prevention and control system of the present invention;

[0035] Figure 2 is the three-dimensional actual deployment diagram of the four-prevention and one-evasion technology of the present invention;

[0036] Figure 3 is the two-dimensional plane schematic diagram of the four-prevention and one-evasion technology of the present invention;

[0037] Figure 4 It is a two-dimensional plan view of the forward anti-accidental-intrusion unit and the lateral anti-accidental-intrusion unit of the present invention. DETAILED DESCRIPTION

[0038] To achieve the above objectives, the present invention is implemented through the following technical solutions. The present invention provides a highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies, the system comprising:

[0039] An early warning control module, which divides the highway maintenance operation area into a warning area, an upstream transition area, a buffer area and a working area. A remote control sound and light unit is deployed in the warning area to output a remote warning signal and adjust the remote warning signal strength based on a PID control algorithm. An upstream guardrail early warning unit is deployed in the guardrail of the upstream transition area to output an upstream warning signal and link the vehicle navigation for early warning. A forward anti-accidental intrusion unit is set in the buffer area to predict the risk value of social vehicles using a weighted average algorithm and trigger the vehicle anti-accidental intrusion device for a forward anti-accidental intrusion early warning. A lateral anti-accidental intrusion unit is arranged outside the working area to detect social vehicles through self-recovering traffic cones and a second-way anti-accidental intrusion device and trigger a lateral anti-accidental intrusion early warning. The early warning control module is based on the Internet of Things technology and the single-chip microcomputer control technology, and integrates the remote control sound and light unit, the upstream guardrail early warning unit, the forward anti-accidental intrusion unit and the lateral anti-accidental intrusion unit to form a four-defense technology system.

[0040] The early warning control module connects each unit in the operation area through the Internet of Things technology and ensures real-time data transmission through wireless communication protocols. The single-chip control technology schedules each unit in real time through the preset control algorithm.

[0041] The early warning control module integrates four defense technologies, which are used in the remote control sound and light warning unit, the upstream guardrail warning unit, the forward anti-accidental intrusion unit and the lateral anti-accidental intrusion unit.

[0042] First defense: The remote-controlled sound and light warning unit is arranged in the warning area to detect the distance data from social vehicles to the upstream transition area, and remotely warn social vehicles in advance through the directional sound wave sound and light warning terminal, and output remote warning signals using sound and light alarms, LED displays and speech synthesis technology.

[0043] According to the distance data from social vehicles to the upstream transition zone, the intensity of the remote warning signal is adjusted in real time based on the single-chip control technology. The single-chip control technology uses the PID control algorithm, and the formula is:

[0044]

[0045] where u(t) is the control signal, i.e., the output intensity of the remote warning signal; e(t) is the error, i.e., the deviation of the vehicle approaching the operation area; K p 、K i 、K d are the proportional, integral, and differential gains; according to the change of e(t), the intensity of the acoustic, optical, and electrical warning signals is adjusted in real time, so that the remote warning signal is always in the best state, ensuring that the vehicle can respond in time.

[0046] Second defense: The upstream guardrail warning unit is responsible for deploying guardrail warning machines on the guardrails in the upstream transition area, and realizing real-time warning of social vehicles through acoustic, optical, and electrical devices synchronized with navigation. The guardrail warning machine detects social vehicles through sensors, triggers upstream warning signals, including high-frequency sound waves, strong light flashes, and electronic display screens to synchronously warn social vehicles, and synchronizes road condition information to the social vehicle navigation. Through the upstream warning signal and navigation information, social vehicles are guided to change lanes in advance to avoid the work area.

[0047] When it is judged that a social vehicle is approaching and there is a collision risk, the upstream guardrail warning module activates the acoustic, optical, and electrical warning devices to issue upstream warning signals, including

[0048] The acoustic-optic alarm timely reminds the driver to avoid by loud sounds and flashing light signals. The LED display screen provides high-brightness display of text and images to ensure clear transmission of warning information. The voice synthesis system converts warning text into voice to ensure that the driver can clearly understand.

[0049] The upstream guardrail warning technology makes intelligent adjustments according to environmental changes during the monitoring process. When the traffic is busy, it increases the intensity of the upstream warning signal to ensure timely warning; when the traffic is sparse, it reduces the intensity of the upstream warning signal to avoid excessive interference.

[0050] The upstream guardrail warning technology issues upstream warning signals in time through the guardrail warning machines deployed in the upstream transition area and detected by sensors, preventing social vehicles from accidentally entering the operation area. Through intelligent control and dynamic adjustment, it optimizes the intensity and response strategy of the warning signal in real time to ensure the safety of the operation area.

[0051] Third defense: The forward anti-accidental entry unit, which includes the first anti-accidental entry device for the road and the anti-accidental entry device for the vehicle. In the preferred embodiment, the anti-accidental entry device for the road can be the Road Ningbao, and the anti-accidental entry device for the vehicle can be the Vehicle Ningbao. The Road Ningbao and Vehicle Ningbao are intelligent anti-collision and anti-intrusion active warning devices developed by Jiangsu Bowait Electronic Technology Co., Ltd.

[0052] The first anti-misentry device is set in the buffer zone of the highway maintenance operation area. It uses radar sensors and lidar to monitor the speed, distance, and position information of social vehicles in real time, predicts the approaching behavior of social vehicles, constructs a prediction model based on the weighted average algorithm of the speed, distance, and position information of social vehicles, and combines a risk assessment algorithm to dynamically adjust the forward anti-misentry warning signal to ensure that an alarm is issued in a timely manner.

[0053] The weighted average algorithm includes three factors, namely the distance factor D f , the speed factor V f , and the time factor T f . Through the weighted average algorithm, the risk value R of social vehicles is calculated by combining the dynamic changes of the above three factors. k ,

[0054] When the calculated risk value R k exceeds the preset risk threshold R a , a forward anti-misentry warning signal is triggered, and the intensity of the warning signal is adjusted according to the risk assessment result calculated by the weighted average method. Specifically, vehicles with a high risk (high R k value) will trigger a strong forward anti-misentry warning signal, and vehicles with a lower risk (low R k value) will trigger a weaker forward anti-misentry warning signal to reduce unnecessary alarms.

[0055] The vehicle anti-misentry device is set on the crash cushion vehicle and automatically issues an audible, visual, and electrical alarm according to the forward anti-misentry warning signal triggered by the road anti-misentry device.

[0056] The forward anti-misentry warning unit monitors the operation area in real time, uses a risk assessment algorithm based on the weighted average method, combines the distance, speed, and arrival time of the vehicle, dynamically calculates the risk value of each vehicle, and adjusts the intensity of the warning signal according to the risk value. It cooperates with remote control audible, visual, and electrical warnings and upstream guardrail warnings to ensure that warnings can be issued in a timely manner from different directions and at different stages to protect the safety of the operation area.

[0057] Fourth prevention: The lateral anti-misentry unit includes the second anti-misentry device and the tumbler audible, visual, and electrical traffic cones. Self-recovering traffic cones are arranged around the work area and the buffer zone, and the second anti-misentry device that automatically waves a flag is arranged inside the work area. When the second anti-misentry device detects that a social vehicle drives into the side road of the work area and the buffer zone, the second anti-misentry device sends a lateral anti-misentry warning signal to the tumbler audible, visual, and electrical traffic cones. The tumbler audible, visual, and electrical traffic cones warn the social vehicle through audible, visual, and electrical technologies, and based on the self-recovering design, even if the traffic cone is hit, it can return to its original position and continue to issue warning signals to ensure continuous safety protection.

[0058] The lateral anti-intrusion unit and the forward anti-intrusion unit complement each other. When the forward anti-intrusion early warning technology detects the approach of a social vehicle and triggers an early warning, the lateral anti-intrusion unit further ensures the protection of the lateral area through acoustic, optical, and electrical signals.

[0059] The operator safety monitoring module includes intelligent wearable devices worn by operators. Through wireless communication technology, the intelligent wearable devices are connected to the early warning control module in real time. The early warning control module sends evasion early warning signals to the intelligent wearable devices through risk comparison.

[0060] The operator safety monitoring module ensures that operators can receive safety warnings in a timely manner by monitoring the status of operators, environmental changes, and dynamic changes in surrounding threats in real time, and taking corresponding evasion actions according to the evasion early warning signals provided by the early warning control module.

[0061] The early warning control module monitors the approach of social vehicles in real time, collects the position and speed information of the vehicles, and evaluates whether the vehicles pose a threat to the operators through a dynamic algorithm. The formula is:

[0062]

[0063] where R t is the risk value of the current threat; v v is the speed of the social vehicle; D c is the distance between the operator and the social vehicle; t r is the reaction time of the operator; when R t exceeds the preset risk threshold, an evasion early warning signal is sent to the intelligent wearable device, and the intelligent wearable device sends an evasion early warning instruction to the operator. Specifically, the intelligent helmet gives a warning through a vibration motor; the shoulder lamp flashes to warn the operator through an LED light source; the bracelet gives a warning through vibration and visual display.

[0064] To further improve the response accuracy of the evasion early warning instruction, through the operator behavior prediction algorithm, according to the operator's historical reaction patterns and environmental changes, predict the operator's evasion behavior and dynamically optimize the early warning strategy. The behavior prediction formula is:

[0065]

[0066] where P e (t) is the probability that the operator takes evasive action at time t; is the prediction of the operator's evasion behavior at time t-1; use historical reaction data to predict the operator's behavior in different situations, and optimize the evasion early warning signal according to the prediction results to make the early warning more personalized and intelligent.

[0067] Through the collaborative work of five links: remote control of acoustic, optical and electrical warning, upstream guardrail warning, forward anti-collision warning, lateral anti-collision warning and safety monitoring of operators, a five-in-one whole-process and seamless active warning and prevention system integrating "human prevention + technical prevention" is constructed.

[0068] The present invention provides a collaborative prevention and control system for highway maintenance safety operations integrating the four-prevention and one-avoidance technology, aiming to improve the safety of highway maintenance operations. The present invention integrates a variety of technologies to form a multi-level safety protection network, effectively preventing social vehicles from accidentally entering the operation area. At the same time, the safety status of operators is monitored through intelligent wearable devices, and warning instructions are sent to them in real time to remind operators to take avoidance measures. In addition, the collaborative control module can integrate real-time data, make global target optimization decisions, and adjust the working status of each module to ensure the efficient cooperation of the system in complex environments.

[0069] The multi-dimensional signal warning of the present invention integrates directional sound wave, LED display warning and Chinese voice synthesis technology to ensure that warning information can be accurately and clearly conveyed in various environments. The combination of Internet of Things and single-chip microcomputer control technology enables the system to have intelligent and real-time warning capabilities and can be dynamically adjusted according to environmental changes to ensure the safety of the operation area. Through the integration and innovation of these technical means, the present invention significantly improves the safety of highway maintenance operations, reduces the risk of accidents, and at the same time improves the operation efficiency.

[0070] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claimed rights.

Claims

1. A highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies, characterized in that: The system includes: An early warning control module, wherein the early warning control module divides the highway maintenance operation area into a warning area, an upstream transition area, a buffer area and a working area, a remote control sound and light unit is deployed in the warning area, a remote warning signal is output, and the remote warning signal strength is adjusted based on a PID control algorithm, an upstream guardrail early warning unit is deployed in the guardrail of the upstream transition area, an upstream warning signal is output and the vehicle navigation is linked for early warning, a forward anti-accidental intrusion unit is set in the buffer area, a weighted average algorithm is used to predict the risk value of social vehicles and the vehicle anti-accidental intrusion device is triggered to perform a forward anti-accidental intrusion early warning, a lateral anti-accidental intrusion unit is arranged outside the working area, social vehicles are detected by self-recovering traffic cones and a second road anti-accidental intrusion device and a lateral anti-accidental intrusion early warning is triggered, and the early warning control module is based on the Internet of Things technology and the single-chip microcomputer control technology, and integrates the remote control sound and light unit, the upstream guardrail early warning unit, the forward anti-accidental intrusion unit and the lateral anti-accidental intrusion unit to form a four-prevention technology system; The operator safety monitoring module includes a smart wearable device worn by the operator. The smart wearable device is connected to the early warning control module in real time through wireless communication technology. The early warning control module sends an early warning signal to the smart wearable device through risk comparison.

2. According to claim 1, a highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies is characterized in that: The four-defense technology is used in the remote-controlled sound and light warning unit, the upstream guardrail warning unit, the forward anti-accidental intrusion unit and the lateral anti-accidental intrusion unit. The highway maintenance operation area is divided into a warning area, an upstream transition area, a buffer area and a working area. The remote control sound and light warning unit is arranged in the warning area to detect the distance data from social vehicles to the upstream transition area, and remotely warn social vehicles in advance through the directional sound wave sound and light warning terminal, and output remote warning signals using sound and light alarms, LED display screens and speech synthesis technology. According to the distance data from social vehicles to the upstream transition zone, the output intensity of the remote warning signal is adjusted based on the single-chip control technology. The formula is: Among them, u(t) is the control signal, that is, the output strength of the remote warning signal; e(t) is the distance data of social vehicles; K p , K i , K d They are proportional, integral and differential gains respectively.

3. According to claim 1, a highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies is characterized in that: The upstream guardrail warning unit is equipped with a guardrail warning machine on the guardrail of the upstream transition zone. The guardrail warning machine detects social vehicles through sensors and triggers upstream warning signals, including high-frequency sound waves, strong light flashing and electronic display screens to simultaneously warn social vehicles, and synchronize road condition information to the social vehicle navigation. Through the upstream warning signals and navigation information, social vehicles are guided to change lanes in advance to avoid the work area.

4. According to claim 1, a highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies is characterized in that: The forward anti-accidental intrusion unit includes a first-way anti-accidental intrusion device and a vehicle anti-accidental intrusion device. The first-way anti-accidental intrusion device is arranged in a buffer zone to detect the speed, distance and position information of social vehicles, and predict the approaching behavior of social vehicles. A prediction model is constructed based on a weighted average algorithm of the speed, distance and position information of social vehicles. The weighted average algorithm includes three factors, namely the distance factor D f , speed factor V f and time factor T f , combining the above three factors, calculate the risk value R of social vehicles k , The risk value R k and the preset risk threshold R a Compare and judge the triggering of the positive anti-mistaken intrusion warning signal, that is, R k >R a The positive anti-mistaken intrusion warning signal is triggered to warn social vehicles. The vehicle accidental intrusion prevention device is arranged on the anti-collision buffer vehicle, and automatically issues an audible and optical alarm according to the positive accidental intrusion prevention warning signal triggered by the road accidental intrusion prevention device.

5. According to claim 1, a highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies is characterized in that: The lateral anti-accidental intrusion unit includes a second anti-accidental intrusion device and a tumbler sound and light traffic cone. Self-recovering traffic cones are arranged around the working area and the buffer zone, and a second anti-accidental intrusion device with an automatic waving flag is arranged inside the working area. When the second-way anti-accidental-intrusion device detects that a private vehicle enters the side road of the working area and the buffer zone, the second-way anti-accidental-intrusion device sends a lateral anti-accidental-intrusion warning signal to the tumbler acoustic and photoelectric traffic cone. The tumbler acoustic and photoelectric traffic cone uses acoustic and photoelectric technology to warn private vehicles, and based on the self-recovery design, the tumbler acoustic and photoelectric traffic cone can return to its original position after being hit, and continue to send warning signals.

6. According to claim 1, a highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies is characterized in that: The smart wearable device includes a smart helmet, a shoulder light and a bracelet. The early warning control module uses a dynamic evaluation algorithm to make a judgment on avoiding the sending of the early warning signal. The formula is: Among them, R t is the risk value of the current threat; v v is the speed of social vehicles; D c is the distance between the operator and social vehicles; t r is the operator's reaction time, α and β are weight coefficients; The sending of the warning signal is determined as follows: t >R a The warning control module sends an avoidance warning signal to the smart wearable device, and through the avoidance warning signal, the smart wearable device sends an avoidance warning instruction to the operator. The avoidance warning instruction specifically includes the smart helmet issuing a warning through a vibration motor, the shoulder light flashing an LED light source to warn the operator, and the bracelet giving a warning through vibration and visual display.

7. According to claim 6, a highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies is characterized in that: The avoidance warning instruction is optimized for accuracy through the operator's behavior prediction algorithm, and the formula is: Among them, φ is the prediction function; P e (t) is the probability that the operator takes a risk avoidance approach at time t; Prediction of the risk avoidance behavior of the operator at time t-1.

8. According to claim 2, a highway maintenance safety operation collaborative prevention and control system integrating four prevention and one avoidance technologies is characterized in that: The buffer zone is equipped with anti-collision buffer vehicles.

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