Portal crane multi-working-condition monitoring system and method based on digital twinning

Abstract

The invention provides a portal crane multi-working-condition monitoring system and method based on digital twinning, a portal crane interacts with digital twinning monitoring software through an FPGA (Field Programmable Gate Array), and the portal crane multi-working-condition monitoring system comprises a portal crane normal working condition digital twinning monitoring module, a digital twinning monitoring module and a digital twinning monitoring module, state data of the portal crane under the working condition are subjected to FPGA intermediate frequency acquisition, fusion and primary verification and then are transmitted to digital twinborn monitoring software; according to the portal crane extreme working condition digital twinning monitoring module, state data of a portal crane under the working condition are subjected to FPGA high-frequency collection, fusion and two times of verification and then transmitted to digital twinning monitoring software, and the digital twinning monitoring software conducts dimension reduction processing on a portal crane digital model based on monitoring data and then completes working condition display. According to the portal crane maintenance working condition digital twinning monitoring module, state data of a portal crane under the working condition are subjected to FPGA low-frequency acquisition, fusion and primary verification and then transmitted to digital twinning monitoring software, and meanwhile the digital twinning monitoring software generates analog data and excites the portal crane.

Description

Technical Field

[0001] The present invention belongs to the fields of electronic engineering, computer science and electrical digital data processing, and specifically relates to the field of crane monitoring technology, and in particular to a multi-working condition monitoring method for a gantry crane based on digital twins. Background Art

[0002] As a key lifting equipment in the field of water conservancy and hydropower, gantry cranes have variable operating conditions, including normal operating conditions, extreme conditions and maintenance conditions. The data volume, real-time and reliable transmission under different conditions are all different, and the computing power of the host computer needs to be considered. However, the current condition monitoring of gantry cranes generally does not take into account the differences between different conditions, which either causes a waste of computing resources or a shortage of computing resources, resulting in inaccurate multi-condition monitoring of gantry cranes. Summary of the invention

[0003] The present invention proposes a multi-condition monitoring system and method for a gantry crane based on digital twins, starting from normal working conditions, extreme working conditions and maintenance working conditions, and using FPGA hardware acceleration and good I / O characteristics to improve the multi-condition monitoring efficiency of the gantry crane.

[0004] In order to realize the above technical features, the object of the present invention is to realize: a multi-condition monitoring system for gantry crane based on digital twin, comprising: The digital twin monitoring module for normal working conditions of gantry cranes is used to realize digital twin monitoring of the operating status of gantry cranes under normal working conditions; Gantry crane extreme working condition digital twin monitoring module, used to realize digital twin monitoring of the operating status of gantry crane under extreme working conditions; The digital twin monitoring module for gantry crane maintenance conditions is used to realize digital twin monitoring of the operating status of the gantry crane under maintenance conditions.

[0005] Preferably, the input end of the digital twin monitoring module for normal operating conditions of the gantry crane is connected to the gantry crane, and the output end of the digital twin monitoring module for normal operating conditions of the gantry crane is connected to the digital twin monitoring software, thereby realizing digital twin monitoring of the operating status of the gantry crane under normal operating conditions.

[0006] Preferably, the input end of the digital twin monitoring module for extreme working conditions of the gantry crane is connected to the gantry crane, and the output end of the digital twin monitoring module for extreme working conditions of the gantry crane is connected to the digital twin monitoring software, thereby realizing digital twin monitoring of the operating status of the gantry crane under extreme working conditions.

[0007] Preferably, the input end of the digital twin monitoring module for the maintenance condition of the gantry crane is connected to the gantry crane, and the output end of the digital twin monitoring module for the maintenance condition of the gantry crane is connected to the digital twin monitoring software, thereby realizing digital twin monitoring of the operating status of the gantry crane under maintenance conditions.

[0008] Preferably, the gantry crane normal working condition digital twin monitoring module includes: FPGA intermediate frequency acquisition module is used to collect the intermediate frequency data of the normal working condition of the gantry crane, automatically add a timestamp to each data, and store it in the first level BRAM cache module in sequence; The first level BRAM cache module is used to cache the normal working condition data and timestamp of the gantry crane collected by the FPGA intermediate frequency acquisition module in two adjacent addresses; A data de-redundancy module, used to remove redundant data in the first level BRAM cache module according to a preset time range and standard deviation value, and store the removed data in the first and second level BRAM cache modules; The data verification module is used to compare the data in the first and second level BRAM cache modules with the stress sensor limit values ​​stored in advance in the FPGA to verify the data and transmit the data that meets the requirements to the digital twin monitoring software.

[0009] Preferably, the gantry crane extreme working condition digital twin monitoring module includes: FPGA high-frequency acquisition module, used for high-frequency acquisition of extreme working condition data of gantry cranes, automatically adding timestamps to each data, and storing them in sequence in the second-level BRAM cache module; The second level BRAM cache module is used to cache the normal working condition data and timestamp of the gantry crane collected by the FPGA high-frequency acquisition module in two adjacent addresses; MicroBlaze soft core module, used to build a MicroBlaze soft core in FPGA and design two parallel threads in the MicroBlaze soft core, including thread 1 module and thread 2 module; Thread 1 module, including a data de-redundancy module and a data verification module, and is used to read the data in the second level BRAM cache module, perform data de-redundancy and double verification, and finally store the data in the second level BRAM cache module; Thread 2 module is used to read the data in the second-level BRAM cache module and send it to the digital twin monitoring software. When each data is sent, it automatically listens to the reply of the digital twin monitoring software. If it times out, it is considered that the data sending fails, and the data is stored in the third-level BRAM cache module, and the next data in the second-level BRAM cache module is sent; after a period of time, the data in the third-level BRAM cache module is re-read and sent to the digital twin monitoring software until all the data are sent; The digital model dimensionality reduction module is used to reduce the dimensionality of the digital model of the gantry crane in the digital twin monitoring software.

[0010] Preferably, the gantry crane maintenance condition digital twin monitoring module includes: FPGA low-frequency acquisition module is used to perform low-frequency acquisition of gantry crane maintenance condition data, automatically add timestamps to each data, and store them in the third-level BRAM cache module in sequence; The third level BRAM cache module is used to cache the gantry crane maintenance condition data and timestamp collected by the FPGA low-frequency acquisition module in two adjacent addresses; A data de-redundancy module, used to remove redundant data in the third level BRAM cache module according to a preset time range and standard deviation value, and store the removed data in the third level BRAM cache module; The data verification module is used to compare the data in the third and second level BRAM cache modules with the stress sensor limit values ​​stored in advance in the FPGA to verify the data and transmit the data that meets the requirements to the digital twin monitoring software.

[0011] Preferably, the digital twin monitoring software supports users to simulate and generate various operating scenarios, and transmit instructions to the gantry crane, which performs maintenance and operation. At the same time, based on the feedback data to the digital twin monitoring software, it can finally determine whether the functions and performances of the gantry crane are normal based on the virtual-real linkage of the gantry crane.

[0012] A multi-condition monitoring method for a gantry crane based on digital twins, wherein the gantry crane interacts with digital twin monitoring software via FPGA; Specifically, the digital twin monitoring method for the normal working condition of the gantry crane is as follows: the state data of the gantry crane under this working condition is collected, fused and verified once by the FPGA intermediate frequency and then transmitted to the digital twin monitoring software; Digital twin monitoring method for extreme working conditions of gantry cranes: The state data of the gantry crane under this working condition is collected, fused and verified twice by FPGA at high frequency and then transmitted to the digital twin monitoring software. The digital twin monitoring software completes the working condition display based on the monitoring data and dimensionality reduction processing of the digital model of the gantry crane; Digital twin monitoring method for gantry crane maintenance condition: The status data of the gantry crane in this condition is collected, fused and verified once by FPGA low frequency and then transmitted to the digital twin monitoring software. At the same time, the digital twin monitoring software generates simulation data and stimulates the gantry crane.

[0013] Preferably, the digital twin monitoring method for normal working condition of a gantry crane specifically comprises the following steps: Step 1.1, using the FPGA inherent clock as a reference, the normal working condition data of the gantry crane is collected at intermediate frequency, and a timestamp is automatically added to each data, and the data is stored in the first-level BRAM cache in sequence; Step 1.2, starting from address 0, read the data in two adjacent addresses in the first-level BRAM cache each time, the two data respectively represent the normal working condition data and timestamp of the gantry crane, and the address is automatically incremented when reading next time; Step 1.3, within a certain timestamp range, take the first data in the range as the benchmark, compare the standard deviation between the data in the range, when the standard deviation is less than a certain value, remove the data, and store the data in the secondary BRAM cache, at this time, there is no need to store the timestamp; the time range and standard deviation value here can be set as needed; redundant data is removed by this step; Step 1.4, read the data in the secondary BRAM cache and compare it with the stress sensor limit value stored in the FPGA in advance. When the data in the secondary BRAM cache exceeds the stress sensor limit value, remove the data, otherwise transmit the data to the digital twin monitoring software; data verification is achieved through this step.

[0014] Preferably, the digital twin monitoring method for extreme working conditions of a gantry crane specifically includes the following steps: Step 2.1: The operating state of the gantry crane changes dramatically under extreme working conditions. The amount of state data generated is large and needs to be transmitted in a timely and reliable manner. The FPGA inherent clock is used as a reference and multiplied to collect the extreme working condition data of the gantry crane at high frequency. At the same time, a timestamp is automatically added to each data and stored in the first-level BRAM cache in sequence. Step 2.2, build a MicroBlaze soft core in the FPGA, and design two parallel threads in the soft core, where thread 1 is responsible for reading the data in the first-level BRAM cache and performing data de-redundancy and double verification according to steps 1.2, 1.3, and 1.4, and finally storing the data in the second-level BRAM cache; Step 2.3, thread 2 in step 2.2 reads the data in the secondary BRAM cache and sends it to the digital twin monitoring software. When each data is sent, it automatically listens to the reply of the digital twin monitoring software. If it times out, it is considered that the data sending fails, and the data is stored in the tertiary BRAM cache, and the next data in the secondary BRAM cache is sent; after a period of time, the data in the tertiary BRAM cache is re-read and sent to the digital twin monitoring software, and step 2.3 is repeated until all the data are sent; In step 2.4, the digital model of the gantry crane in the digital twin monitoring software is subjected to dimensionality reduction processing, that is, the digital model rendering of the non-critical units of the gantry crane is fuzzy and the data of the unit is not displayed, and the computing power is used for the digital model rendering and data display of the critical units of the gantry crane; whether a certain unit of the gantry crane is critical is configured by the user.

[0015] Preferably, the digital twin monitoring method for the maintenance condition of a gantry crane specifically includes: Step 3.1, the operating state of the gantry crane changes smoothly under the maintenance condition. The FPGA inherent clock is used as a reference and the frequency is reduced to collect the maintenance condition data of the gantry crane at a low frequency. At the same time, a timestamp is automatically added to each data and stored in the first-level BRAM cache in sequence; Step 3.2, execute step 1.2, step 1.3, step 1.4; Step 3.3, the digital twin monitoring software supports users to simulate and generate various operation scenarios, and transmit instructions to the gantry crane. The gantry crane performs maintenance and operation, and at the same time, transmits data back to the digital twin monitoring software according to steps 3.1 and 3.2. Finally, based on the virtual-real linkage of the gantry crane, it is determined whether the function and performance of the gantry crane are normal.

[0016] Beneficial effects of the present invention: 1. The present invention takes the normal, extreme and maintenance working conditions into consideration, and uses FPGA hardware acceleration and good I / O characteristics to improve the multi-condition monitoring efficiency of gantry cranes.

[0017] 2. The present invention analyzes the differences between normal, extreme and maintenance working conditions and based on this method, achieves the optimal computing power and rendering of the gantry crane digital twin detection software. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 It is a structural block diagram of a multi-condition monitoring method for a gantry crane based on digital twins of the present invention.

[0020] In the figure, there are digital twin monitoring module 1 for normal working condition of gantry crane, digital twin monitoring module 2 for extreme working condition of gantry crane, digital twin monitoring module 3 for maintenance working condition of gantry crane, gantry crane 4, and digital twin monitoring software 5. DETAILED DESCRIPTION

[0021] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0022] Embodiment 1: See also Figure 1 , this embodiment provides a multi-condition monitoring system for a gantry crane based on digital twins, including: The digital twin monitoring module 1 of the normal working condition of the gantry crane is used to realize the digital twin monitoring of the operating status of the gantry crane under normal working conditions; Gantry crane extreme working condition digital twin monitoring module 2, used to realize digital twin monitoring of the operating status of the gantry crane under extreme working conditions; The digital twin monitoring module 3 of the maintenance working condition of the gantry crane is used to realize the digital twin monitoring of the operating status of the gantry crane under the maintenance working condition. The above-mentioned monitoring system starts from the normal working condition, extreme working condition and maintenance working condition, and uses FPGA hardware acceleration and good I / O characteristics to improve the multi-condition monitoring efficiency of the gantry crane.

[0023] Furthermore, the input end of the digital twin monitoring module 1 for normal working condition of the gantry crane is connected to the gantry crane 4, and the output end of the digital twin monitoring module 1 for normal working condition of the gantry crane is connected to the digital twin monitoring software 5, thereby realizing the digital twin monitoring of the operating state of the gantry crane under normal working condition. The above-mentioned digital twin monitoring module 1 for normal working condition of the gantry crane can realize the monitoring of the gantry crane under normal working condition.

[0024] Furthermore, the input end of the gantry crane extreme working condition digital twin monitoring module 2 is connected to the gantry crane 4, and the output end of the gantry crane extreme working condition digital twin monitoring module 2 is connected to the digital twin monitoring software 5, which is used to realize the digital twin monitoring of the operating state of the gantry crane under extreme working conditions. The above-mentioned gantry crane extreme working condition digital twin monitoring module 2 can realize the monitoring of the gantry crane under extreme working conditions.

[0025] Furthermore, the input end of the gantry crane maintenance condition digital twin monitoring module 3 is connected to the gantry crane 4, and the output end of the gantry crane maintenance condition digital twin monitoring module 3 is connected to the digital twin monitoring software 5, which is used to realize the digital twin monitoring of the operating state of the gantry crane under the maintenance condition. The above-mentioned gantry crane maintenance condition digital twin monitoring module 3 can realize the monitoring of the gantry crane under the maintenance condition.

[0026] Furthermore, the gantry crane normal working condition digital twin monitoring module 1 includes: FPGA intermediate frequency acquisition module is used to collect the intermediate frequency data of the normal working condition of the gantry crane, automatically add a timestamp to each data, and store it in the first level BRAM cache module in sequence; The first level BRAM cache module is used to cache the normal working condition data and timestamp of the gantry crane collected by the FPGA intermediate frequency acquisition module in two adjacent addresses; A data de-redundancy module, used to remove redundant data in the first level BRAM cache module according to a preset time range and standard deviation value, and store the removed data in the first and second level BRAM cache modules; The data verification module is used to compare the data in the first and second level BRAM cache modules with the stress sensor limit values ​​pre-stored in the FPGA to verify the data, and transmit the data that meets the requirements to the digital twin monitoring software 5.

[0027] Furthermore, the gantry crane extreme working condition digital twin monitoring module 2 includes: FPGA high-frequency acquisition module, used for high-frequency acquisition of extreme working condition data of gantry cranes, automatically adding timestamps to each data, and storing them in sequence in the second-level BRAM cache module; The second level BRAM cache module is used to cache the normal working condition data and timestamp of the gantry crane collected by the FPGA high-frequency acquisition module in two adjacent addresses; MicroBlaze soft core module, used to build a MicroBlaze soft core in FPGA and design two parallel threads in the MicroBlaze soft core, including thread 1 module and thread 2 module; Thread 1 module, including a data de-redundancy module and a data verification module, and is used to read the data in the second level BRAM cache module, perform data de-redundancy and double verification, and finally store the data in the second level BRAM cache module; Thread 2 module, used to read the data in the second-level BRAM cache module and send it to the digital twin monitoring software 5. When sending each data, it automatically listens to the reply of the digital twin monitoring software 5. If it times out, it is considered that the data sending fails, and the data is stored in the third-level BRAM cache module, and the next data in the second-level BRAM cache module is sent; after a period of time, the data in the third-level BRAM cache module is re-read and sent to the digital twin monitoring software 5 until all the data are sent; The digital model dimensionality reduction module is used to reduce the dimensionality of the gantry crane digital model in the digital twin monitoring software 5.

[0028] Furthermore, the gantry crane maintenance condition digital twin monitoring module 3 includes: FPGA low-frequency acquisition module is used to perform low-frequency acquisition of gantry crane maintenance condition data, automatically add timestamps to each data, and store them in the third-level BRAM cache module in sequence; The third level BRAM cache module is used to cache the gantry crane maintenance condition data and timestamp collected by the FPGA low-frequency acquisition module in two adjacent addresses; A data de-redundancy module, used to remove redundant data in the third level BRAM cache module according to a preset time range and standard deviation value, and store the removed data in the third level BRAM cache module; The data verification module is used to compare the data in the third and second level BRAM cache modules with the stress sensor limit values ​​pre-stored in the FPGA to verify the data, and transmit the data that meets the requirements to the digital twin monitoring software 5.

[0029] Furthermore, the digital twin monitoring software 5 supports users to simulate and generate various operation scenarios, and transmit instructions to the gantry crane, which performs maintenance and operation. At the same time, based on the feedback data to the digital twin monitoring software 5, it finally determines whether the functions and performances of the gantry crane are normal based on the virtual-real linkage of the gantry crane.

[0030] Embodiment 2: A multi-operating condition monitoring method for a gantry crane based on digital twins, wherein the gantry crane interacts with digital twin monitoring software via FPGA; Specifically, the digital twin monitoring method for the normal working condition of the gantry crane is as follows: the state data of the gantry crane under this working condition is collected, fused and verified once by the FPGA intermediate frequency and then transmitted to the digital twin monitoring software; Digital twin monitoring method for extreme working conditions of gantry cranes: The state data of the gantry crane under this working condition is collected, fused and verified twice by FPGA at high frequency and then transmitted to the digital twin monitoring software. The digital twin monitoring software completes the working condition display based on the monitoring data and dimensionality reduction processing of the digital model of the gantry crane; Digital twin monitoring method for gantry crane maintenance condition: The status data of the gantry crane in this condition is collected, fused and verified once by FPGA low frequency and then transmitted to the digital twin monitoring software. At the same time, the digital twin monitoring software generates simulation data and stimulates the gantry crane.

[0031] Preferably, the digital twin monitoring method for normal working condition of a gantry crane specifically comprises the following steps: Step 1.1, using the FPGA inherent clock as a reference, the normal working condition data of the gantry crane is collected at intermediate frequency, and a timestamp is automatically added to each data, and the data is stored in the first-level BRAM cache in sequence; Step 1.2, starting from address 0, read the data in two adjacent addresses in the first-level BRAM cache each time, the two data respectively represent the normal working condition data and timestamp of the gantry crane, and the address is automatically incremented when reading next time; Step 1.3, within a certain timestamp range, take the first data in the range as the benchmark, compare the standard deviation between the data in the range, when the standard deviation is less than a certain value, remove the data, and store the data in the secondary BRAM cache, at this time, there is no need to store the timestamp; the time range and standard deviation value here can be set as needed; redundant data is removed by this step; Step 1.4, read the data in the secondary BRAM cache and compare it with the stress sensor limit value stored in the FPGA in advance. When the data in the secondary BRAM cache exceeds the stress sensor limit value, remove the data, otherwise transmit the data to the digital twin monitoring software; data verification is achieved through this step.

[0032] Preferably, the digital twin monitoring method for extreme working conditions of a gantry crane specifically includes the following steps: Step 2.1: The operating state of the gantry crane changes dramatically under extreme working conditions. The amount of state data generated is large and needs to be transmitted in a timely and reliable manner. The FPGA inherent clock is used as a reference and multiplied to collect the extreme working condition data of the gantry crane at high frequency. At the same time, a timestamp is automatically added to each data and stored in the first-level BRAM cache in sequence. Step 2.2, build a MicroBlaze soft core in the FPGA, and design two parallel threads in the soft core, where thread 1 is responsible for reading the data in the first-level BRAM cache and performing data de-redundancy and double verification according to steps 1.2, 1.3, and 1.4, and finally storing the data in the second-level BRAM cache; Step 2.3, thread 2 in step 2.2 reads the data in the secondary BRAM cache and sends it to the digital twin monitoring software. When each data is sent, it automatically listens to the reply of the digital twin monitoring software. If it times out, it is considered that the data sending fails, and the data is stored in the tertiary BRAM cache, and the next data in the secondary BRAM cache is sent; after a period of time (this time can be set), the data in the tertiary BRAM cache is re-read and sent to the digital twin monitoring software, and step 2.3 is repeated until all the data are sent; In step 2.4, the digital model of the gantry crane in the digital twin monitoring software is subjected to dimensionality reduction processing, that is, the digital model rendering of the non-critical units of the gantry crane is fuzzy and the data of the unit is not displayed, and the computing power is used for the digital model rendering and data display of the critical units of the gantry crane; whether a certain unit of the gantry crane is critical is configured by the user.

[0033] Preferably, the digital twin monitoring method for the maintenance condition of a gantry crane specifically includes: Step 3.1, the operating state of the gantry crane changes smoothly under the maintenance condition. The FPGA inherent clock is used as a reference and the frequency is reduced to collect the maintenance condition data of the gantry crane at a low frequency. At the same time, a timestamp is automatically added to each data and stored in the first-level BRAM cache in sequence; Step 3.2, execute step 1.2, step 1.3, step 1.4; Step 3.3, the digital twin monitoring software supports users to simulate and generate various operation scenarios, and transmit instructions to the gantry crane. The gantry crane performs maintenance and operation, and at the same time, transmits data back to the digital twin monitoring software according to steps 3.1 and 3.2. Finally, based on the virtual-real linkage of the gantry crane, it is determined whether the function and performance of the gantry crane are normal.

[0034] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A multi-condition monitoring system for gantry cranes based on digital twins, characterized in that: include: A digital twin monitoring module (1) for normal working conditions of a gantry crane, used to implement digital twin monitoring of the operating state of the gantry crane under normal working conditions; A digital twin monitoring module (2) for extreme working conditions of a gantry crane, used to implement digital twin monitoring of the operating status of the gantry crane under extreme working conditions; The digital twin monitoring module (3) for the maintenance working condition of the gantry crane is used to realize the digital twin monitoring of the operating state of the gantry crane under the maintenance working condition.

2. According to claim 1, a gantry crane multi-condition monitoring system based on digital twins is characterized in that: The input end of the gantry crane normal operating condition digital twin monitoring module (1) is connected to the gantry crane (4), and the output end of the gantry crane normal operating condition digital twin monitoring module (1) is connected to the digital twin monitoring software (5), thereby realizing digital twin monitoring of the operating state of the gantry crane under normal operating conditions.

3. According to claim 1, a gantry crane multi-condition monitoring system based on digital twin is characterized in that: The input end of the gantry crane extreme working condition digital twin monitoring module (2) is connected to the gantry crane (4), and the output end of the gantry crane extreme working condition digital twin monitoring module (2) is connected to the digital twin monitoring software (5), thereby realizing digital twin monitoring of the operating state of the gantry crane under extreme working conditions.

4. According to claim 1, a gantry crane multi-condition monitoring system based on digital twin is characterized in that: The input end of the gantry crane maintenance working condition digital twin monitoring module (3) is connected to the gantry crane (4), and the output end of the gantry crane maintenance working condition digital twin monitoring module (3) is connected to the digital twin monitoring software (5), thereby being used to realize digital twin monitoring of the operating state of the gantry crane under maintenance working conditions.

5. According to claim 2, a gantry crane multi-condition monitoring system based on digital twins is characterized in that: The gantry crane normal working condition digital twin monitoring module (1) comprises: FPGA intermediate frequency acquisition module is used to collect the intermediate frequency data of the normal working condition of the gantry crane, automatically add a timestamp to each data, and store it in the first level BRAM cache module in sequence; The first level BRAM cache module is used to cache the normal working condition data and timestamp of the gantry crane collected by the FPGA intermediate frequency acquisition module in two adjacent addresses; A data de-redundancy module, used to remove redundant data in the first level BRAM cache module according to a preset time range and standard deviation value, and store the removed data in the first and second level BRAM cache modules; The data verification module is used to compare the data in the first and second level BRAM cache modules with the stress sensor limit values ​​pre-stored in the FPGA to verify the data, and transmit the data that meets the requirements to the digital twin monitoring software (5).

6. According to claim 5, a gantry crane multi-condition monitoring system based on digital twin is characterized in that: The gantry crane extreme working condition digital twin monitoring module (2) comprises: FPGA high-frequency acquisition module, used for high-frequency acquisition of extreme working condition data of gantry cranes, automatically adding timestamps to each data, and storing them in sequence in the second-level BRAM cache module; The second level BRAM cache module is used to cache the normal working condition data and timestamp of the gantry crane collected by the FPGA high-frequency acquisition module in two adjacent addresses; MicroBlaze soft core module, used to build a MicroBlaze soft core in FPGA and design two parallel threads in the MicroBlaze soft core, including thread 1 module and thread 2 module; Thread 1 module, including a data de-redundancy module and a data verification module, and is used to read the data in the second level BRAM cache module, perform data de-redundancy and double verification, and finally store the data in the second level BRAM cache module; The thread 2 module is used to read the data in the second-level BRAM cache module and send it to the digital twin monitoring software (5). When sending each data, it automatically listens to the reply of the digital twin monitoring software (5). If the timeout is exceeded, it is considered that the data sending fails, and the data is stored in the third-level BRAM cache module, and the next data in the second-level BRAM cache module is sent; after a period of time, the data in the third-level BRAM cache module is re-read and sent to the digital twin monitoring software (5), until all the data are sent; The digital model dimensionality reduction module is used to reduce the dimensionality of the gantry crane digital model in the digital twin monitoring software (5).

7. According to claim 5, a gantry crane multi-condition monitoring system based on digital twin is characterized in that: The gantry crane maintenance condition digital twin monitoring module (3) comprises: FPGA low-frequency acquisition module is used to perform low-frequency acquisition of gantry crane maintenance condition data, automatically add timestamps to each data, and store them in the third-level BRAM cache module in sequence; The third level BRAM cache module is used to cache the gantry crane maintenance condition data and timestamp collected by the FPGA low-frequency acquisition module in two adjacent addresses; A data de-redundancy module, used to remove redundant data in the third level BRAM cache module according to a preset time range and standard deviation value, and store the removed data in the third level BRAM cache module; The data verification module is used to compare the data in the third and second level BRAM cache modules with the stress sensor limit values ​​pre-stored in the FPGA to verify the data, and transmit the data that meets the requirements to the digital twin monitoring software (5).

8. According to claim 7, a gantry crane multi-condition monitoring system based on digital twin is characterized in that: The digital twin monitoring software (5) supports the user to simulate and generate a variety of operation scenarios, and transmits instructions to the gantry crane, the gantry crane maintenance operation, and at the same time, based on the data transmitted back to the digital twin monitoring software (5), finally judges whether the function and performance of the gantry crane are normal based on the virtual-real linkage of the gantry crane.

9. A multi-condition monitoring method for gantry crane based on digital twin, characterized in that: In the monitoring method, the gantry crane interacts with the digital twin monitoring software via FPGA; Specifically, the digital twin monitoring method for the normal working condition of the gantry crane is as follows: the state data of the gantry crane under this working condition is collected, fused and verified once by the FPGA intermediate frequency and then transmitted to the digital twin monitoring software; Digital twin monitoring method for extreme working conditions of gantry cranes: The state data of the gantry crane under this working condition is collected, fused and verified twice by FPGA at high frequency and then transmitted to the digital twin monitoring software. The digital twin monitoring software completes the working condition display based on the monitoring data and dimensionality reduction processing of the digital model of the gantry crane; Digital twin monitoring method for gantry crane maintenance condition: The status data of the gantry crane in this condition is collected, fused and verified once by FPGA low frequency and then transmitted to the digital twin monitoring software. At the same time, the digital twin monitoring software generates simulation data and stimulates the gantry crane.

10. A multi-condition monitoring method for a gantry crane based on digital twin according to claim 9, characterized in that: The digital twin monitoring method for normal working conditions of gantry cranes specifically includes the following steps: Step 1.1, using the FPGA inherent clock as a reference, the normal working condition data of the gantry crane is collected at intermediate frequency, and a timestamp is automatically added to each data, and the data is stored in the first-level BRAM cache in sequence; Step 1.2, starting from address 0, read the data in two adjacent addresses in the first-level BRAM cache each time, the two data respectively represent the normal working condition data and timestamp of the gantry crane, and the address is automatically incremented when reading next time; Step 1.3, within a certain timestamp range, take the first data in the range as the benchmark, compare the standard deviation between the data in the range, when the standard deviation is less than a certain value, remove the data, and store the data in the secondary BRAM cache, at this time, there is no need to store the timestamp; the time range and standard deviation value here can be set as needed; redundant data is removed by this step; Step 1.4, read the data in the secondary BRAM cache and compare it with the stress sensor limit value stored in the FPGA in advance. When the data in the secondary BRAM cache exceeds the stress sensor limit value, remove the data, otherwise transmit the data to the digital twin monitoring software; data verification is achieved through this step.

11. A multi-operating condition monitoring method for a gantry crane based on digital twin according to claim 10, characterized in that: The digital twin monitoring method for extreme working conditions of gantry cranes specifically includes the following steps: Step 2.1: The operating state of the gantry crane changes dramatically under extreme working conditions. The amount of state data generated is large and needs to be transmitted in a timely and reliable manner. The FPGA inherent clock is used as a reference and multiplied to collect the extreme working condition data of the gantry crane at high frequency. At the same time, a timestamp is automatically added to each data and stored in the first-level BRAM cache in sequence. Step 2.2, build a MicroBlaze soft core in the FPGA, and design two parallel threads in the soft core, where thread 1 is responsible for reading the data in the first-level BRAM cache and performing data de-redundancy and double verification according to steps 1.2, 1.3, and 1.4, and finally storing the data in the second-level BRAM cache; Step 2.3, thread 2 in step 2.2 reads the data in the secondary BRAM cache and sends it to the digital twin monitoring software. When each data is sent, it automatically listens to the reply of the digital twin monitoring software. If it times out, it is considered that the data sending fails, and the data is stored in the tertiary BRAM cache, and the next data in the secondary BRAM cache is sent; after a period of time, the data in the tertiary BRAM cache is re-read and sent to the digital twin monitoring software, and step 2.3 is repeated until all the data are sent; In step 2.4, the digital model of the gantry crane in the digital twin monitoring software is subjected to dimensionality reduction processing, that is, the digital model rendering of the non-critical units of the gantry crane is fuzzy and the data of the unit is not displayed, and the computing power is used for the digital model rendering and data display of the critical units of the gantry crane; whether a certain unit of the gantry crane is critical is configured by the user.

12. The method for multi-operating condition monitoring of a gantry crane based on digital twin according to claim 10, characterized in that: The digital twin monitoring method for gantry crane maintenance conditions specifically includes: Step 3.1, the operating state of the gantry crane changes smoothly under the maintenance condition. The FPGA inherent clock is used as a reference and the frequency is reduced to collect the maintenance condition data of the gantry crane at a low frequency. At the same time, a timestamp is automatically added to each data and stored in the first-level BRAM cache in sequence; Step 3.2, execute step 1.2, step 1.3, step 1.4; Step 3.3, the digital twin monitoring software supports users to simulate and generate various operation scenarios, and transmit instructions to the gantry crane. The gantry crane performs maintenance and operation, and at the same time, transmits data back to the digital twin monitoring software according to steps 3.1 and 3.

2. Finally, based on the virtual-real linkage of the gantry crane, it is determined whether the function and performance of the gantry crane are normal.

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