A monorail hoist operation monitoring system and method based on VR simulation

Abstract

The present invention is a monorail crane operation monitoring system and method based on VR simulation, which relates to the field of VR virtual reality; the VR virtual device subsystem is communicatively connected to a structure data acquisition module and a robot display module; the present invention obtains a VR virtual scene of the monorail crane operation by setting VR virtual interactive glasses, and collects structure data of the monorail crane operation through a robot wearing VR virtual interactive glasses; processes the structure data to obtain abnormal structure data; receives the abnormal structure data, obtains an abnormal functional structure area according to the abnormal function data, generates abnormal three-dimensional structure data based on the abnormal functional structure area and presents it; generates an alarm signal according to the abnormal functional structure area; receives the alarm signal and processes the abnormal functional structure area; the present invention improves the accuracy and convenience of the monorail crane in operation monitoring.

Description

Technical Field

[0001] The present invention relates to the field of VR virtual reality, and specifically to a monorail crane operation monitoring system and method based on VR simulation. Background Art

[0002] VR is a computer system that can create and experience virtual worlds. It is computer-generated and acts on users through vision, hearing, touch, etc., enabling them to have an immersive interactive visual simulation. It integrates multiple sciences such as computer graphics, image processing and pattern recognition, intelligent technology, sensing technology, speech processing and audio technology, and network technology. Users can interact with objects in the virtual environment naturally with the help of necessary devices, and through VR, training, research, and experiments can be realized.

[0003] In the prior art, the operation monitoring of monorail cranes can only monitor the monorail crane as a whole, and it is impossible to perform local monitoring of the monorail crane. For example, the monitoring of specific parts and specific components; in the existing monitoring technologies, an early warning system is usually included, but the existing early warning system usually sets thresholds for early warning judgment, and there are errors in this early warning process, resulting in early warning deviations; therefore, a monorail crane operation monitoring system and method based on VR simulation are provided. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a monorail crane operation monitoring system and method based on VR simulation;

[0005] The object of the present invention can be achieved by the following technical solutions: A monorail crane operation monitoring system based on VR simulation includes a monitoring center, and the monitoring center is communicatively connected to a VR virtual device subsystem and a management subsystem;

[0006] The VR virtual device subsystem is communicatively connected to a structure data acquisition module and a robot display module;

[0007] The robot display module is provided with a structure data processing unit and a VR virtual presentation unit; and a VR virtual interaction glasses is provided, and the VR virtual interaction glasses are used to obtain the VR virtual scene of the monorail crane operation. The structure data acquisition module is used to collect the structure data of the monorail crane operation by the robot wearing the VR virtual interaction glasses. The structure data processing unit is used to process the structure data to obtain abnormal structure data. The VR virtual presentation unit is used to receive the abnormal structure data, generate abnormal three-dimensional structure data and present it;

[0008] The management subsystem is communicatively connected to an early warning module and a management terminal module; the early warning module is used to generate an alarm signal according to the abnormal functional structure area; the management terminal module is used to receive the alarm signal and process the abnormal structure area.

[0009] Furthermore, the process by which the structural data acquisition module acquires the structural data of the single-track hoist operation includes:

[0010] The structural data includes functional structural data and safety structural data; the safety structure area includes fittings, operations, and electricity.

[0011] The single-track hoist is divided into structural areas, including a functional structure area and a safety structure area; and then the corresponding functional structural data and safety structural data are obtained according to the structural areas.

[0012] The functional structure area includes a single track, a hoist, and a drive.

[0013] The functional structural data corresponding to the functional structure area includes load capacity, displacement, speed, acceleration, and tilt angle.

[0014] The safety structural data corresponding to the safety structure area includes a console, a remote control, a control box, a limit switch, a safety baffle, an anti-collision device, and a brake.

[0015] Furthermore, the process by which the structural data processing unit obtains abnormal structural data includes:

[0016] The structural data processing unit is provided with a safety structure data processing pool and a functional structure data pool; the safety structure processing pool is used to process the safety structure data; the functional structure data pool is used to process the functional structure data.

[0017] A local three-dimensional display device is set in the VR virtual interaction glasses to obtain a local three-dimensional model corresponding to the safety structure data and send the local three-dimensional model to the safety structure processing pool.

[0018] Furthermore, the local three-dimensional model is omnidirectionally segmented according to different positions to obtain several local plane graphs of the local three-dimensional model, which are numbered 1, 2,..., i, where i represents the total number of local plane graphs segmented from the local three-dimensional model.

[0019] And several standard local plane graphs corresponding to the safety structure data are set in the structural data processing unit. The several local plane graphs are generated into a set T, and the several standard local plane graphs are generated into a set T'. Then, the set T and the set T' are subjected to spatial mapping and marked as T→T'.

[0020] If there is always a unique standard local plane graph in the set T' corresponding to the local plane graph in the set T, the corresponding local plane graph in the set T is marked as a normal local plane graph; otherwise, the corresponding local plane graph in the set T is marked as an abnormal local plane graph and sent to the VR virtual presentation unit.

[0021] Further, the functional structure data during the operation of the single-rail hoist is obtained through the sensors provided on the single-rail hoist, and the running virtual scene corresponding to the functional structure data is obtained based on the robot wearing VR virtual interaction glasses and sent to the functional structure data pool;

[0022] Upon receiving the running virtual scene, perform a simulation operation of the standard single-rail hoist on the running virtual scene to obtain the standard functional structure data corresponding to the running virtual scene;

[0023] The standard single-rail hoist is used to represent a single-rail hoist without any abnormalities;

[0024] Set the load threshold range to [0, G max ;

[0025] Obtain the start position and end position of the standard single-rail hoist in the running virtual scene, and then obtain the corresponding displacement according to the start position and end position, mark the magnitude and direction of the displacement, and then obtain the angle between the displacement direction and the horizontal line to generate the standard tilt angle; Set the running time of the standard single-rail hoist in the running virtual scene;

[0026] Perform simulation operations on the load weights of 0 and G max respectively. According to the displacement and running time, obtain the maximum uniform speed and minimum uniform speed of the standard single-rail hoist in the running virtual scene, and mark them as V max and V min respectively; Then obtain the speed range corresponding to the running virtual scene as (V min , V max ; Furthermore, according to the speed range and running time, obtain the minimum acceleration and maximum acceleration of the standard single-rail hoist in the running virtual scene, and mark them as a min and a max respectively; Then obtain the acceleration range corresponding to the running virtual scene as (a min , a max ;

[0027] According to the speed range and running time, obtain the minimum acceleration and maximum acceleration of the standard single-rail hoist in the running virtual scene, and then obtain the acceleration range corresponding to the running virtual scene;

[0028] The standard functional structure data includes the standard tilt angle, load threshold, speed range, and acceleration range.

[0029] Further, compare the functional structure data corresponding to the running virtual scene with the standard functional structure data. If it is not within the range, obtain the corresponding functional structure data and mark it as abnormal functional structure data; otherwise, mark it as normal functional structure data.

[0030] Generate abnormal structure data from the abnormal partial floor plan and abnormal functional structure data, and send it to the VR virtual presentation unit.

[0031] Further, the process by which the VR virtual presentation unit obtains the abnormal three-dimensional structure data includes:

[0032] Obtain the number corresponding to the abnormal floor plan, and based on the number, obtain the position corresponding to the abnormal floor plan. Then, generate an abnormal safety structure data set from the abnormal floor plan and the corresponding position, present it in the VR virtual presentation unit, and send it to the management subsystem;

[0033] Obtain the abnormal functional structure data, and determine the abnormal functional structure area based on the abnormal functional structure data;

[0034] If the abnormal functional structure data is the load capacity, the abnormal functional structure area is the crane;

[0035] If the abnormal functional structure data is the speed and acceleration, the abnormal functional structure area is the drive;

[0036] If the abnormal functional structure data is the displacement and tilt angle, the abnormal functional structure area is the monorail;

[0037] Based on the local three-dimensional display device, obtain the three-dimensional model of the abnormal functional structure area, mark it as the abnormal three-dimensional model, present it in the VR virtual presentation unit, and send it to the management subsystem.

[0038] Further, the process by which the warning module generates an alarm signal based on the abnormal functional structure area includes:

[0039] If the abnormal functional structure area is the crane, generate a crane abnormal signal;

[0040] If the abnormal functional structure area is the drive, generate a drive abnormal signal;

[0041] If the abnormal functional structure area is the monorail, generate a monorail abnormal signal.

[0042] Further, the process by which the management terminal module processes the abnormal functional structure area based on the alarm signal includes:

[0043] Pre-store the manager's account in the management terminal module, and the management terminal module communicates with the terminal corresponding to the manager's account based on the manager's account; and send the manager's account to the VR virtual presentation unit;

[0044] The VR virtual presentation unit sends the presented abnormal safety structure data set and the three-dimensional model corresponding to the abnormal functional structure area of the alarm signal to the terminal according to the manager's account;

[0045] If an abnormal safety structure data set is received, obtain the abnormal local plan view and the corresponding position, and then repair the single rail hoist;

[0046] If an alarm signal is received, obtain the corresponding abnormal functional structure area according to the alarm signal, and then obtain the corresponding 3D model, and repair the single rail hoist according to the 3D model;

[0047] On the terminal setting selection interface corresponding to the manager's account, when the terminal receives an alarm signal, the manager corresponding to the manager's account can choose to accept or reject the repair by himself; when and only when one person accepts the repair, the alarm signal disappears.

[0048] Furthermore, the method includes the following steps:

[0049] Step 1: Set up a structure data processing unit, a VR virtual presentation unit, and VR virtual interaction glasses. The robot wears the VR virtual interaction glasses to collect the structure data of the single rail hoist running;

[0050] Step 2: Process the structure data to obtain abnormal structure data. According to the abnormal structure data, obtain the abnormal functional structure area. Generate abnormal 3D structure data according to the abnormal functional structure area and present it;

[0051] Step 3: Generate an alarm signal according to the abnormal functional structure area, and process the abnormal functional structure area according to the alarm signal.

[0052] Compared with the prior art, the beneficial effects of the present invention are:

[0053] 1. By setting up VR virtual interaction glasses, the present invention obtains the VR virtual scene of the single rail hoist running. The robot wears the VR virtual interaction glasses to collect the structure data of the single rail hoist running; process the structure data to obtain abnormal structure data; receive the abnormal structure data, obtain the abnormal functional structure area according to the abnormal functional data, generate abnormal 3D structure data according to the abnormal functional structure area and present it; obtain the local plan view through the local 3D model, which better solves the monitoring of specific parts and specific components;

[0054] 2. Generate an alarm signal according to the abnormal functional structure area; receive the alarm signal and process the abnormal functional structure area; the results obtained by the robot wearing the VR virtual interaction glasses are directly sent to multiple management terminals for monitoring, improving the monitoring efficiency. Description of the Drawings

[0055] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0056] Figure 1 This is the schematic diagram of the present invention.

[0057] Figure 2 This is the schematic diagram of the VR virtual device subsystem.

[0058] Figure 3 This is the schematic diagram of the management subsystem. Detailed implementation manners

[0059] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0060] As Figure 1 shown, a monorail crane operation monitoring system based on VR simulation includes a monitoring center, and the monitoring center is communicatively connected to a VR virtual device subsystem and a management subsystem;

[0061] The VR virtual device subsystem is communicatively connected to a structure data acquisition module and a robot display module;

[0062] The robot display module is provided with a structure data processing unit and a VR virtual presentation unit; and a VR virtual interaction glasses is provided. The VR virtual interaction glasses are used to obtain the VR virtual scene of the monorail crane operation. The structure data acquisition module is used to collect the structure data of the monorail crane operation by the robot wearing the VR virtual interaction glasses. The structure data processing unit is used to process the structure data to obtain abnormal structure data. The VR virtual presentation unit is used to receive the abnormal structure data and generate and present abnormal three-dimensional structure data;

[0063] The process of the structure data acquisition module obtaining the structure data of the monorail crane operation includes:

[0064] The structure data includes functional structure data and safety structure data;

[0065] The monorail crane is divided into structure areas, and the structure areas include a functional structure area and a safety structure area; and then the corresponding functional structure data and safety structure data are obtained according to the structure areas;

[0066] The functional structure area includes a monorail, a crane, and a drive; the safety structure area includes fittings, operations, and electricity.

[0067] The functional structure data corresponding to the functional structure area includes load capacity, displacement, speed, acceleration, and tilt angle.

[0068] The safety structure data corresponding to the safety structure area includes the data obtained by detecting the console, remote control, control box, limit switch, safety baffle, anti-collision device, and brake.

[0069] The process of the structural data processing unit processing the structural data to obtain abnormal structural data includes:

[0070] The structural data processing unit is provided with a safety structure data processing pool and a functional structure data pool; the safety structure processing pool is used to process the safety structure data; the functional structure data pool is used to process the functional structure data.

[0071] A local three-dimensional display device is set in the VR virtual interaction glasses, which is used to obtain the local three-dimensional model corresponding to the safety structure data and send the local three-dimensional model to the safety structure processing pool.

[0072] Furthermore, the local three-dimensional model is omnidirectionally segmented according to different positions to obtain several local plane graphs of the local three-dimensional model, and they are numbered 1, 2,..., i, where i represents the total number of local plane graphs segmented from the local three-dimensional model.

[0073] Several standard local plane graphs corresponding to the safety structure data are set in the structural data processing unit. The several local plane graphs are used to generate a set T, and the several standard local plane graphs are used to generate a set T'. Then, a spatial mapping is performed between the set T and the set T', and it is marked as T→T'.

[0074] If there is always a unique standard local plane graph in the set T' corresponding to the local plane graph in the set T, then the corresponding local plane graph in the set T is marked as a normal local plane graph; otherwise, the corresponding local plane graph in the set T is marked as an abnormal local plane graph and sent to the VR virtual presentation unit.

[0075] It should be further noted that in the specific implementation process, it is extremely difficult to obtain the local 3D model of the single-rail crane during its actual operation. During the operation of the single-rail crane, ensuring its safety is of utmost importance. To ensure the safety of the local components of the single-rail crane, it is necessary to disassemble the structure of the single-rail crane, obtain the local floor plan, process and analyze the local floor plan, and obtain the abnormal local floor plan. It should be further noted that, for example, when a robot wears VR virtual interaction glasses to obtain safety structure data for the console, obtain the corresponding local 3D model of the console, perform a full-range segmentation on the local 3D model corresponding to the console, obtain several local floor plans corresponding to the console, and generate a set T. Mark the standard local floor plan corresponding to the console as set T', and perform set mapping to determine whether the local floor plan in set T is abnormal. If it is abnormal, mark the corresponding local floor plan as an abnormal local floor plan;

[0076] Obtain the functional structure data of the single-rail crane during its operation through the sensors installed on the single-rail crane, and based on the robot wearing VR virtual interaction glasses, obtain the running virtual scene corresponding to the functional structure data, and send it to the functional structure data pool;

[0077] After receiving the running virtual scene, the functional structure data pool performs a simulated operation of the standard single-rail crane on the running virtual scene to obtain the standard functional structure data corresponding to the running virtual scene;

[0078] It should be further noted that the standard single-rail crane is used to represent a single-rail crane without any abnormalities;

[0079] Set the load threshold range as [0, G max ;

[0080] Obtain the starting position and ending position of the standard single-rail crane in the running virtual scene, and based on the starting position and ending position, obtain the corresponding displacement, mark the magnitude and direction of the displacement, and then obtain the angle between the displacement direction and the horizontal line to generate the tilt angle, which are respectively marked as x and θ; Set the running time of the standard single-rail crane in the running virtual scene, marked as t;

[0081] Perform simulated operations for load weights of 0 and G max respectively. According to the displacement and running time, obtain the maximum uniform speed and minimum uniform speed of the standard single-rail crane in the running virtual scene, which are respectively marked as V max and V min ; Then obtain the speed range corresponding to the running virtual scene as (V min , V max ; Furthermore, according to the speed range and running time, obtain the minimum acceleration and maximum acceleration of the standard single-rail crane in the running virtual scene, which are respectively marked as a min and a max; then the obtained acceleration range corresponding to the running virtual scenario is (a min , a max ;

[0082] The standard functional structure data includes a standard tilt angle, a load threshold, a speed range, and an acceleration range;

[0083] Compare the functional structure data corresponding to the running virtual scenario with the standard functional structure data. If it is not within the range, obtain the corresponding functional structure data and mark it as abnormal functional structure data; otherwise, mark it as normal functional structure data;

[0084] Generate abnormal structure data from the abnormal local floor plan and the abnormal functional structure data, and send it to the VR virtual presentation unit;

[0085] The process by which the VR virtual presentation unit obtains the abnormal three-dimensional structure data includes:

[0086] Obtain the number corresponding to the abnormal floor plan, obtain the position corresponding to the abnormal floor plan based on the number, and generate an abnormal safety structure dataset by combining the abnormal floor plan with the corresponding position for presentation in the VR virtual presentation unit, and send it to the management subsystem;

[0087] Obtain the abnormal functional structure data, and judge the abnormal functional structure area according to the abnormal functional structure data;

[0088] If the abnormal functional structure data is the load, the abnormal functional structure area is the crane;

[0089] If the abnormal functional structure data is the speed and acceleration, the abnormal functional structure area is the drive;

[0090] If the abnormal functional structure data is the displacement and tilt angle, the abnormal functional structure area is the monorail;

[0091] Based on the local three-dimensional display device, obtain the three-dimensional model of the abnormal functional structure area, mark it as the abnormal three-dimensional model and present it in the VR virtual presentation unit, and send it to the management subsystem;

[0092] It should be further noted that in the specific implementation process, re-simulate the running virtual scenario corresponding to the obtained functional structure data, simulate the operation of the standard monorail crane in the running virtual scenario, obtain the standard functional structure data corresponding to the running virtual scenario, and then compare according to the obtained functional structure data. The present invention can better obtain comparison data. Compared with directly setting the threshold range corresponding to the functional structure data of the monorail crane for comparison, the data is more accurate and the comparison error is reduced.

[0093] The management subsystem is communicatively connected to an early warning module and a management terminal module; the early warning module is used to generate an alarm signal according to the abnormal functional structure area; the management terminal module is used to receive the alarm signal and process the abnormal structure area;

[0094] The process by which the early warning module generates an alarm signal according to the abnormal functional structure area includes:

[0095] If the abnormal functional structure area is a crane, a crane abnormal signal is generated;

[0096] If the abnormal functional structure area is a drive, a drive abnormal signal is generated;

[0097] If the abnormal functional structure area is a monorail, a monorail abnormal signal is generated;

[0098] And the alarm signal is sent to the management terminal module.

[0099] The process by which the management terminal module processes the abnormal functional structure area according to the alarm signal includes:

[0100] The management account of the management personnel is pre - stored in the management terminal module, and the management terminal module communicatively connects to the terminal corresponding to the management account of the management personnel according to the management account; and the management account is sent to the VR virtual presentation unit;

[0101] The VR virtual presentation unit sends the presented abnormal safety structure data set and the three - dimensional model corresponding to the abnormal functional structure area corresponding to the alarm signal to the terminal according to the management account of the management personnel;

[0102] If the abnormal safety structure data set is received, the abnormal local floor plan and the corresponding location are obtained, and then the monorail crane is repaired;

[0103] If the alarm signal is received, the corresponding abnormal functional structure area is obtained according to the alarm signal, and then the corresponding three - dimensional model is obtained, and the monorail crane is repaired according to the three - dimensional model.

[0104] It should be further noted that, in the specific implementation process, a selection interface is set on the terminal corresponding to the management account of the management personnel. When the terminal receives the alarm signal, the management personnel corresponding to the management account can self - select to accept or reject the repair; when and only when one person accepts the repair, the alarm signal disappears.

[0105] The present invention also discloses a detection method for a monorail crane operation monitoring system based on VR simulation, including the following steps:

[0106] Step 1: Set up a structure data processing unit, a VR virtual presentation unit, and VR virtual interaction glasses. The robot wears the VR virtual interaction glasses to collect the structure data of the monorail crane operation;

[0107] Step 2: Process the structural data to obtain abnormal structural data. Based on the abnormal structural data, obtain the abnormal functional structure area. Generate abnormal three-dimensional structural data according to the abnormal functional structure area and present it.

[0108] Step 3: Generate an alarm signal according to the abnormal functional structure area and process the abnormal functional structure area based on the alarm signal.

[0109] The features and exemplary embodiments of various aspects of the present application will be described in detail below. To make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below in combination with the accompanying drawings and specific embodiments; it should be understood that the specific embodiments described herein are only intended to explain the present application rather than limit the present application; for those skilled in the art, the present application can be implemented without some of these specific details; the above description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0110] The above embodiments are only used to illustrate the technical method of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A VR simulation-based monorail crane operation monitoring system, comprising a monitoring center, characterized in that: The monitoring center is communicatively connected to the VR virtual device subsystem and the management subsystem; The VR virtual device subsystem is communicatively connected with a structure data acquisition module and a robot display module; The robot display module is provided with a structure data processing unit and a VR virtual presentation unit; And VR virtual interactive glasses are set, the VR virtual interactive glasses are used to obtain the VR virtual scene of the monorail crane operation, and the structural data acquisition module is used to collect the structural data of the monorail crane operation by the robot wearing the VR virtual interactive glasses; The structural data processing unit is used to process the structural data and obtain abnormal structural data; the VR virtual presentation unit is used to receive the abnormal structural data and obtain the abnormal functional structural area, generate abnormal three-dimensional structural data according to the abnormal functional structural area and present it; The sensors set up on the monorail crane are used to obtain the functional structure data of the monorail crane during operation, and the operating virtual scene corresponding to the functional structure data is obtained based on the robot wearing VR virtual interactive glasses, and sent to the functional structure data pool, including: After receiving the running virtual scene, simulate the running of the standard monorail crane on the running virtual scene, and obtain the standard functional structure data corresponding to the running virtual scene; set the load threshold range to [0, G max ]; Obtain the starting position and ending position of the standard monorail crane in the running virtual scene, obtain the corresponding displacement according to the starting position and ending position, mark the size and direction of the displacement, and then obtain the angle between the displacement direction and the horizontal line to generate the standard inclination angle; set the running time of the standard monorail crane in the running virtual scene; For loads of 0 and G max Carry out simulation runs respectively, and obtain the maximum uniform speed and minimum uniform speed of the standard monorail crane in the running virtual scene according to the displacement and running time, and then obtain the speed range corresponding to the running virtual scene; According to the speed range and the running time, the minimum acceleration and the maximum acceleration of the standard monorail crane in the running virtual scene are obtained, and then the acceleration range corresponding to the running virtual scene is obtained; The standard functional structure data includes a standard tilt angle, a load threshold, a speed range, and an acceleration range; The function structure data corresponding to the running virtual scene is compared with the standard function structure data. If it does not exist within the range, the corresponding function structure data is obtained and marked as abnormal function structure data; otherwise, it is marked as normal function structure data. Generate abnormal structure data from the abnormal local plan view and the abnormal functional structure data, and send the data to a VR virtual presentation unit; The management subsystem is communicatively connected with an early warning module and a management terminal module; the early warning module is used to generate an alarm signal according to the abnormal functional structure area; the management terminal module is used to receive the alarm signal and process the abnormal functional structure area.

2. According to the VR simulation-based monorail crane operation monitoring system of claim 1, it is characterized in that: The process of the structural data acquisition module acquiring the structural data of the monorail crane operation includes: The structural data includes functional structural data and safety structural data; The monorail crane is divided into structural areas, wherein the structural areas include functional structural areas and safety structural areas; and then corresponding functional structural data and safety structural data are obtained according to the structural areas; The functional structural area includes the monorail, the crane and the drive; The functional structure data corresponding to the functional structure area include load, displacement, speed, acceleration and tilt angle; The safety structure data corresponding to the safety structure area includes a control panel, a remote controller, a control box, a limit switch, a safety baffle, an anti-collision device and a brake.

3. The VR simulation-based monorail crane operation monitoring system according to claim 2 is characterized in that: The process of the structure data processing unit acquiring abnormal structure data includes: The structure data processing unit is provided with a safety structure data processing pool and a functional structure data pool; A local three-dimensional display device is provided in the VR virtual interactive glasses to obtain a local three-dimensional model corresponding to the safety structure data, and send the local three-dimensional model to the safety structure processing pool; Then, the local three-dimensional model is segmented in all directions according to different positions, and several local plane views of the local three-dimensional model are obtained and numbered; A plurality of standard local plane diagrams corresponding to the safety structure data are set in the structure data processing unit, a set T is generated from the plurality of local plane diagrams, a set T' is generated from the plurality of standard local plane diagrams, and then the set T and the set T' are spatially mapped and marked as T→T'; If a local plan view in set T always has a unique standard local plan view corresponding to it in set T', the corresponding local plan view in set T is marked as a normal local plan view; otherwise, the corresponding local plan view in set T is marked as an abnormal local plan view and sent to the VR virtual presentation unit.

4. The VR simulation-based monorail crane operation monitoring system according to claim 3 is characterized in that: The process of the VR virtual presentation unit acquiring abnormal three-dimensional structure data includes: Obtain the number corresponding to the abnormal plan view, obtain the position corresponding to the abnormal plan view according to the number, generate an abnormal safety structure data set based on the abnormal plan view and the corresponding position, present it in the VR virtual presentation unit, and send it to the management subsystem; Acquire abnormal functional structure data, and determine the abnormal functional structure area according to the abnormal functional structure data; If the abnormal functional structure data is load capacity, the abnormal functional structure area is the crane; If the abnormal function structure data is velocity and acceleration, the abnormal function structure area is drive; If the abnormal functional structure data are displacement and tilt angle, the abnormal functional structure area is a single track; A three-dimensional model of the abnormal functional structure area is obtained based on a local three-dimensional display device, marked as an abnormal three-dimensional model, presented in a VR virtual presentation unit, and sent to the management subsystem.

5. The VR simulation-based monorail crane operation monitoring system according to claim 4 is characterized in that: The process of generating an alarm signal according to the abnormal functional structure area by the early warning module includes: If the abnormal functional structure area is a crane, a crane abnormality signal is generated; If the abnormal functional structural area is a drive, a drive abnormality signal is generated; If the abnormal functional structure area is a single track, a single track abnormal signal is generated.

6. The VR simulation-based monorail crane operation monitoring system according to claim 5 is characterized in that: The process of the management terminal module processing the abnormal functional structure area according to the alarm signal includes: The management terminal module pre-stores the management account, and the management terminal module communicates with the terminal corresponding to the management account according to the management account; and sends the management account to the VR virtual presentation unit; The VR virtual presentation unit sends the presented abnormal safety structure data set and the three-dimensional model corresponding to the abnormal functional structure area corresponding to the alarm signal to the terminal according to the administrator account; If an abnormal safety structure data set is received, the abnormal local plan view and the corresponding location are obtained, and the monorail crane is repaired; If an alarm signal is received, the corresponding abnormal functional structural area is obtained according to the alarm signal, and then the corresponding three-dimensional model is obtained, and the monorail crane is repaired according to the three-dimensional model.

7. A detection method for a monorail crane operation monitoring system based on VR simulation according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: Step 1: Set up a structural data processing unit, a VR virtual presentation unit and VR virtual interactive glasses, and collect the structural data of the monorail crane operation by having the robot wear the VR virtual interactive glasses; Step 2: Process the structural data to obtain abnormal structural data, obtain abnormal functional structural regions based on the abnormal structural data, generate abnormal three-dimensional structural data based on the abnormal functional structural regions and present them; Step 3: Generate an alarm signal according to the abnormal functional structure area, and process the abnormal functional structure area according to the alarm signal.

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