Abstract: In order to meet the growing need of rapid isolation, warning and protection in traffic accident scene on expressways, a new design scheme of automatic control system for the delivery and recovery of road cones is developed.In view of the disadvantages of traditional delivery and recovery devices of road cones including high cost and complex structure, virtual prototype technology is used to carry out a new design of mechanical structure of a automatic integration device that can compactly and deliver and recover road cones, including superposition, picking, transfer, placement, and other institutions.Then, simulation tests are launched on the platforms of Pro/E, ADMAS, etc.An overall design scheme of embedded system based on ARM is proposed with uCOS-II operating system as the platform, and the STM32 Series MCU as the CPU.Hardware and software of the controller are designed.The control strategy of "S" type is used to achieve the smooth control of the motor.Based on Android platform, an convenient operation and friendly man-machine interface is developed, which uses "Bluetooth" as the communication bridge between the upper and lower computer, and RSA algorithm is used to ensure the security of data exchange.The test results show that the success rate of delivery and recovery of road cones is 95%, which basically meets the requirements.However, there is a great difference of the success rate (6%) between high and low speed when placing and recycling road cones.In addition, the lodging rate of road cones reaches to 5%, and the single index can't meet the design requirements.