Virtual reality-based collaborative operation method and system

Abstract

The invention relates to a virtual reality-based collaborative operation method and system, and the method comprises the steps: obtaining the task attributes of all collaborative operation tasks in a virtual reality scene, and determining the priority of each collaborative operation task according to the task attributes; matching with each collaborative operation task according to the role attribute of the user to obtain a matching relationship, and determining the task load rate of each user according to the matching relationship; and according to the priority, the matching relationship and the task load rate of each collaborative operation task, distributing each collaborative operation task to a corresponding user and generating a task scheduling table, so that each user executes the corresponding collaborative operation task according to the task scheduling table. The system comprises a priority calculation module, a task matching module and a task distribution module, and is used for executing corresponding method steps. Therefore, the collaborative operation problem of multiple users in a virtual reality scene is solved, and high-fidelity collaborative training consistent with the real working condition of equipment installation is realized.

Description

Technical Field

[0001] This application mainly relates to the field of electronic information technology, and in particular to a collaborative operation method and system based on virtual reality. Background Technology

[0002] In the field of nuclear power plant construction, the installation of the main equipment in the nuclear island is a critical link with complex technology and extremely high safety requirements. Traditionally, personnel training has mainly relied on theoretical lectures and "mentor-apprentice" style on-site practical training. Theoretical teaching methods are abstract, making it difficult for trainees to form an intuitive understanding; while on-site practical training faces severe challenges such as high training costs, high risks, scarce opportunities, and difficulty in reproducing complex working conditions.

[0003] While some virtual reality (VR) simulation training systems have emerged with technological advancements, they typically focus on skills training for a single trade, exhibiting significant limitations. Firstly, they fail to enable the crucial real-time interactive multi-trade collaborative operations required in nuclear island installation. For instance, crane operators in VR environments cannot effectively communicate and coordinate actions with high-fidelity crane simulators, resulting in fragmented training processes. Secondly, their simulation fidelity is often insufficient, failing to rigorously reproduce the operational procedures and safety interlocking mechanisms of real equipment. Furthermore, their limited functionality makes it difficult to cover the entire process from teaching and training to collaborative assessment. Therefore, existing technologies cannot meet the urgent need for safe, efficient, and systematic collaborative training in the specific field of nuclear island main equipment installation. Summary of the Invention

[0004] One objective of this application is to provide a collaborative work method and system based on virtual reality, in order to solve the problems of high cost, high risk, and low efficiency of traditional training methods, as well as the lack of realistic collaboration and insufficient fidelity of existing simulation systems.

[0005] According to one aspect of this application, a collaborative work method based on virtual reality is provided. The method includes: acquiring task attributes of all collaborative work tasks in a virtual reality scene; determining the priority of each collaborative work task based on the task attributes; matching each collaborative work task with a user's role attributes to obtain a matching relationship; determining the task load rate of each user based on the matching relationship; and allocating each collaborative work task to a corresponding user and generating a task scheduling table based on the priority of each collaborative work task, the matching relationship, and the task load rate, so that each user executes the corresponding collaborative work task according to the task scheduling table.

[0006] Optionally, the method further includes: dynamically monitoring the collaborative task during the process of each user executing the corresponding collaborative task according to the task scheduling table, wherein the dynamic monitoring includes risk conflict monitoring and operation step monitoring.

[0007] Optionally, the risk conflict monitoring includes: determining a total conflict risk value based on the multi-dimensional conflict risks of the user executing the collaborative task; if the total conflict risk value exceeds a set threshold, triggering an early warning and simultaneously interrupting the user's execution of conflicting operations in the collaborative task.

[0008] Optionally, determining the total conflict risk value based on the multi-dimensional conflict risks of users performing the collaborative task includes: determining the spatial overlap based on the work space of each user in the virtual reality scene, and determining the spatial conflict risk value based on the spatial overlap; determining the temporal overlap based on the time window of each user performing the collaborative task, and determining the temporal conflict risk value based on the temporal overlap; determining the device conflict risk value based on the mutual exclusion state of the device corresponding to each collaborative task; and determining the total conflict risk value based on the spatial conflict risk value, the temporal conflict risk value, and the device conflict risk value.

[0009] Optionally, the operation step monitoring includes: determining whether the user is executing the current step in the collaborative task correctly based on state transition verification; if not, interrupting the execution of the current step; determining the operation compliance index based on the user's operation in the collaborative task; if the operation compliance index is less than a preset value, triggering a parameter correction prompt, so as to achieve dynamic monitoring of the collaborative task.

[0010] Optionally, the method further includes: setting a data synchronization period, synchronizing data for each user according to the data synchronization period; calculating the consistency coefficient of the collaborative task, and if the consistency coefficient is less than a preset value, sending a refresh command to the user with the largest deviation to ensure data synchronization for each user.

[0011] Optionally, the method further includes: in response to all users completing their respective task schedules, determining a comprehensive performance score for each user, wherein the comprehensive performance score is determined based on the dynamic monitoring results.

[0012] According to another aspect of this application, a virtual reality-based collaborative work system is also provided. This system includes: a priority calculation module, a task matching module, and a task allocation module. The priority calculation module is used to obtain the task attributes of all collaborative work tasks in the virtual reality scene and determine the priority of each collaborative work task based on the task attributes. The task matching module is used to match each collaborative work task with the user's role attributes to obtain a matching relationship and determine the task load rate of each user based on the matching relationship. The task allocation module is used to allocate each collaborative work task to a corresponding user and generate a task scheduling table based on the priority of each collaborative work task, the matching relationship, and the task load rate, so that each user executes the corresponding collaborative work task according to the task scheduling table.

[0013] Optionally, the system further includes: an operation monitoring module, a performance evaluation module, and a data synchronization module; the operation monitoring module is used to dynamically monitor the collaborative task during the execution of the corresponding collaborative task by each user according to the task schedule, wherein the dynamic monitoring includes risk conflict monitoring and operation step monitoring; the performance evaluation module is used to determine the comprehensive performance score of each user in response to each user completing their respective task schedule, wherein the comprehensive performance score is determined based on the dynamic monitoring results; the data synchronization module is used to set a data synchronization period and perform data synchronization for each user according to the data synchronization period; the data synchronization module is also used to calculate the consistency coefficient of the collaborative task, and if the consistency coefficient is less than a preset value, a refresh command is sent to the user with the largest deviation to ensure data synchronization for each user.

[0014] According to another aspect of this application, a computer-readable medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the above methods.

[0015] Compared with existing technologies, this application solves the problem of collaborative operation of multiple trades in virtual reality scenarios by constructing a full-process collaborative mechanism of "role interaction - task scheduling - conflict warning - operation verification - data synchronization - performance evaluation" and coupling it with a modular design and mathematical model. This achieves high-fidelity collaborative training that is consistent with the actual working conditions of the nuclear island main equipment installation. Attached Figure Description

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings, wherein:

[0017] Figure 1 A schematic flowchart of a virtual reality-based collaborative work method is shown according to one aspect of this application;

[0018] Figure 2 A schematic diagram of a system framework for collaborative work based on virtual reality, according to another aspect of this application, is shown.

[0019] Figure 3 This diagram illustrates a system framework for collaborative work based on virtual reality in one embodiment of this application.

[0020] Figure 4 This application illustrates the process steps for installing a ring crane in one embodiment.

[0021] Figure 5 This application illustrates the first-level steps and second-level sub-tasks for installing the ring crane equipment in one embodiment;

[0022] The same or similar reference numerals in the accompanying drawings represent the same or similar parts. Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein, and therefore this application is not limited to the specific embodiments disclosed below.

[0025] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0026] Figure 1 The diagram illustrates a flowchart of a virtual reality-based collaborative work method according to one aspect of this application, the method comprising steps S11 to S13.

[0027] Step S11: Obtain the task attributes of all collaborative tasks in the virtual reality scene, and determine the priority of each collaborative task based on the task attributes.

[0028] Prioritization is achieved based on the inherent attributes of collaborative tasks, providing a basis for subsequent task scheduling and clarifying the order of task execution. In the scenario of nuclear island main equipment installation, key attributes of all collaborative tasks are first extracted, such as safety, technology, and impact dimensions, and each attribute is quantitatively standardized. Then, the weight coefficients of each attribute are determined according to nuclear island installation specifications (such as industry standards, safety regulations, and professional experience). Finally, the priority coefficient of each task is calculated by weighted summation; the larger the coefficient, the higher the priority of the task, and the more likely it is to enter the subsequent scheduling and allocation process.

[0029] Specifically, the set of collaborative tasks for the installation of the main equipment on the nuclear island is defined as T = {T1, T2, ..., T}. n}, each task T i The attributes include the security risk coefficient S. i Technical complexity J i and subsequent impact R i All attributes employ a quantitative scoring mechanism, such as a scale of 1 to 10 points based on expert experience or historical data. Among these, the safety risk coefficient S...i This indicates the risk level of potential safety accidents that may occur during the task execution process. For example, the safety risk coefficient of a high-altitude hoisting task is higher than that of an equipment debugging task; technical complexity J i This indicates the required level of expertise, operational difficulty, and technological requirements for the task; the subsequent impact R. i Indicates task T i The completion status (e.g., whether it was completed on time and to a high standard) has a comprehensive impact on subsequent tasks in terms of schedule, construction quality, and safety. For example, a delay in the "ring rail beam hoisting" task may cause the entire ring hoisting installation schedule to be delayed, or even lead to safety risks; therefore, its subsequent impact degree R is significant. i Relatively high.

[0030] Task T i Priority coefficient P i The weighted summation method can be used to calculate it, and the formula is as follows: .in, , , Let be the weight coefficients of each attribute, satisfying... Furthermore, the weights are calibrated based on the nuclear island installation specifications. These specifications are not a single document, but rather a comprehensive and quantified result of industry standards, safety regulations, and the experience of experts from past projects in the nuclear island installation field. Professional algorithms such as the analytic hierarchy process (AHP) are used to integrate the assessments of the relative importance of factors such as safety, technology, and schedule by multiple field experts to ultimately determine the specific values ​​of the weights. This ensures that the weight settings conform to industry consensus and also possess the flexibility to adapt to different project requirements. For example, after calibration... , , This means that the weight of safety risk is the highest, which is in line with the core principle of safety priority in nuclear island installation.

[0031] The priority coefficient P for each task is calculated using the formula above. i The higher the priority coefficient, the greater the safety importance, technical urgency, or impact on the overall process of the task, and the more it needs to be prioritized for execution.

[0032] Step S12: Match the user's role attributes with each collaborative task to obtain a matching relationship, and determine the task load rate of each user based on the matching relationship.

[0033] Establish the compatibility relationship between role attributes and tasks, and quantify the task load rate of each role. In the scenario of main equipment installation on the nuclear island, clarify the set of jobs participating in collaborative operations and the core attributes of each job, and standardize the definition of the attributes; then, calculate the matching degree between job and specific task by weighted summation, and screen out the compatible jobs with the ability to perform the task; finally, based on the task workload and the job's unit time carrying capacity, quantify the current task load rate of each job and determine its remaining task carrying capacity.

[0034] Specifically, the set of jobs participating in the collaborative operation is defined as W = {F, L, C}, where F is a fitter, L is a crane operator, and C is a crane operator. Each job type W... j (j=1, 2, 3 correspond to F, L, C respectively) For a specific task T k The attributes include skill matching degree K. jk And historical task efficiency E jk Among them, skill matching degree K jk Indicates job type W j Professional skills, operational qualifications and task requirements k The degree of fit between technical requirements and process standards can be measured on a scale of 0 to 1, where 1 represents a perfect match and 0 represents a complete mismatch. For example, the skill matching degree K between a fitter and the task of "leveling the main pump base" can be used. jk Higher than crane operators.

[0035] Historical task efficiency E jk Indicates job type W j Complete similar tasks T k Efficiency level, which can range from 0 to 1, is calculated based on the ratio of "actual time / standard time" for similar tasks completed historically for this job type. The smaller the ratio, the higher the efficiency level. jk The larger the scale, the higher the efficiency. The standard time for similar tasks is determined by a team of experienced construction engineers based on the specific process requirements, equipment parameters, and historical project data for nuclear island installation. For example, the standard man-hour for leveling the main pump base is set at 4 hours. If a fitter's historical actual completion time is 3.2 hours, then their historical task efficiency... .

[0036] Job type W j With Task T k Match degree M jk The calculation formula is as follows: .in, , For the weighting coefficients, satisfying It can be configured according to actual needs; for example, it can be set to emphasize skill specialization. , If efficiency optimization is the priority, it can be adjusted to... , For each task T k Calculate W for each job type j Its matching degree M jk This allows us to obtain a list of matching job types for the task.

[0037] Calculate the current task load rate L for each job in the matching job list. j The formula is:

[0038]

[0039] The total collaborative work time is the project's preset overall work cycle for this stage, such as 8 hours; the load threshold can be set to 80% to avoid overloading of different tasks.

[0040] Step S13: Based on the priority of each collaborative task, the matching relationship, and the task load rate, each collaborative task is assigned to the corresponding user and a task scheduling table is generated so that each user executes the corresponding collaborative task according to the task scheduling table.

[0041] By combining task priority, job matching degree, and task load rate, the optimal allocation of each task is completed, and a visual and executable task schedule table is generated. First, the pre-dependencies between tasks are identified using a directed acyclic graph (DAG) to clarify the logical order constraints of task execution; then, tasks without dependency constraints are sorted by priority, and high-priority tasks are processed first; based on the principle of "optimal matching degree + load balancing", suitable jobs are assigned to each task; finally, the allocation results are integrated to generate a task schedule table containing "job type-task-time window", which is synchronized to the VR / simulator interface to guide the collaborative work of various jobs.

[0042] Specifically, the prerequisite dependencies between all collaborative tasks are identified, such as a task that can only start after other tasks are completed, and visualized in the form of a directed acyclic graph (DAG). For example, "Pressure vessel support ring hoisting (T3)" depends on "foundation layout (T1)" and "lifting fixture installation (T2)". Therefore, the DAG contains edges T1→T3 and T2→T3, indicating that T1 and T2 are prerequisite tasks for T3. This avoids conflicts in task execution order and ensures that all tasks start only after the prerequisites are met, conforming to the process logic of nuclear island installation.

[0043] Filter tasks in the DAG that have no prerequisite dependencies, according to the priority coefficient P calculated in step S11. i Sort in descending order, meaning higher priority tasks are assigned first. For a single sorted task, extract the list of jobs that match it from step S12, and sort them in descending order of matching degree. Select the job with the highest matching degree and the highest load rate L. jThe task is assigned to job types with a load factor below the set threshold. If the load factor of the job type with the highest matching degree exceeds the threshold, the job type with the second highest matching degree is selected in turn until a job type that meets the load requirements is found, thereby ensuring that the load of each job type is balanced.

[0044] After task allocation, a three-dimensional scheduling table of "job type-task-time window" is generated, which clarifies which job type, in which time period, and which task to perform. For example, the crane operator (L) performs T3 in the time period [t1, t2], and the fitter (F) performs T4 in the time period [t2, t3]. This is synchronized in real time to the VR / simulator operation interface of each job type for visualization, ensuring that the collaborative operation of nuclear island installation is carried out in an orderly and efficient manner.

[0045] In one embodiment of this application, during the process of each user executing the corresponding collaborative task according to the task scheduling table, the collaborative task is dynamically monitored, wherein the dynamic monitoring includes risk conflict monitoring and operation step monitoring.

[0046] During collaborative operations conducted by users based on the three-dimensional scheduling table, dynamic monitoring tracks the task execution status of each user in real time, promptly identifying and issuing warnings of abnormal issues, including risk and conflict monitoring and operational procedure monitoring. Risk and conflict monitoring identifies safety risks and collaborative conflicts arising from resource consumption, time overlap, environmental changes, etc., during task execution, ensuring that the operation process complies with the safety specifications for nuclear island installation. Operational procedure monitoring ensures that the task execution process complies with the process specifications for nuclear island installation, ensuring the compliance and accuracy of each operation and avoiding impacts on construction quality due to operational deviations.

[0047] In one embodiment of this application, a total conflict risk value is determined based on the multi-dimensional conflict risks of the user executing the collaborative task. If the total conflict risk value exceeds a set threshold, an early warning is triggered and the conflict operation in the user's collaborative task is interrupted.

[0048] To address multi-dimensional conflict risks that may arise during user collaboration, such as resource usage conflicts, task time conflicts, and job load conflicts, a pre-defined quantitative model (e.g., weighted summation) is used to calculate the sum of all conflict risks, i.e., the total conflict risk value. This total risk value is then compared to a set risk threshold. If the total risk value does not exceed the threshold, the risk is deemed controllable, and the user is allowed to continue their current operation. If the total risk value exceeds the threshold, a tiered warning is immediately triggered, such as pop-up notifications or audible and visual alarms, while simultaneously forcibly interrupting the user's current conflicting operation to prevent the risk from escalating and causing safety incidents or task delays.

[0049] Furthermore, spatial overlap is determined based on the work space of each user in the virtual reality scene, and spatial conflict risk value is determined based on the spatial overlap; temporal overlap is determined based on the time window of each user executing the collaborative task, and temporal conflict risk value is determined based on the temporal overlap; device conflict risk value is determined based on the mutual exclusion state of the device corresponding to each collaborative task; and total conflict risk value is determined based on the spatial conflict risk value, the temporal conflict risk value, and the device conflict risk value.

[0050] For the multi-dimensional conflict risks in user collaborative work processes, quantitative assessments can be conducted from aspects such as spatial conflicts, temporal conflicts, and equipment conflicts. Specifically, in the VR scenario of installing main equipment on the nuclear island, the real-time workspace for each type of work is defined as follows: (j=F, L, C, t is time), for example, the workspace of fitter F is a fixed three-dimensional area, and the workspace within the pit can be represented as The working space of crane operator L is a dynamic trajectory area, and the movement path of the hoisting equipment can be represented as follows: The space changes in real time with the hoisting time and the location of the equipment.

[0051] By spatial overlap The formula for calculating the degree of overlap in the workspaces of different job types is as follows:

[0052]

[0053] Among them, Vol( ) is a spatial volume calculation function used to calculate the volume of a three-dimensional spatial region; This refers to the total space of the current collaborative scenario, i.e., the defined work area for installing VR scenarios on the main equipment of the nuclear island; This represents the intersection of the real-time work spaces of the fitter, crane operator, and gantry crane operator at time t, i.e., the overlapping area of ​​their work spaces. The value can be in the range of 0 to 1, where 0 indicates that there is no overlap in the work space of each type of work and no potential for spatial conflict; The higher the value, the wider the overlap of multiple work areas and the higher the risk of spatial conflicts.

[0054] Next, the spatial overlap was further quantified into a spatial conflict risk value by combining the safety attributes of different jobs. The formula for calculating the risk value of spatial conflict is: Among them, S j The safety level for job type j needs to be determined based on the risk characteristics of nuclear island operations; there is no fixed value, and it can be dynamically adapted. For example, crane operator L involves high-altitude hoisting and heavy object relocation, and its safety level is higher than that of fitter F. The weighting coefficients for the safety levels of each job type satisfy the following conditions: The weights can be adjusted according to the phased requirements of the nuclear island installation.

[0055] Regarding the assessment of time conflict risks, the execution time window for each task in collaborative operations is defined as follows: ,in For the task start time, This represents the task completion time. If any two tasks... and The time windows overlap, that is... Then calculate the time overlap between the two tasks. The calculation formula is:

[0056]

[0057] Among them, Len ( The ) indicates the length of the time window, and the range of values ​​for time overlap is... The larger the value, the greater the time overlap between the two tasks, and the more significant the potential impact of the time conflict.

[0058] Combined with task priority coefficient P i The formula for calculating the time conflict risk value is as follows: The risk level of time overlap is weighted and calculated. ,in Tasks The priority coefficient is used. Since the time overlap of high-priority tasks amplifies the conflict risk, the evaluation process needs to traverse all task pairs with time overlap and take the maximum value of the product of "overlap and highest priority" as the final time conflict risk value. The larger this value, the higher the risk of time conflicts in collaborative work.

[0059] In terms of equipment conflict risk assessment, accurate assessment of equipment operation conflict risks is achieved through equipment status quantification, establishment of mutual exclusion relationships, and risk value calculation. Specifically, taking a ring crane as an example, the real-time operating state vector of the ring crane at time t is defined as follows: The state parameters in each dimension are quantized using 0-1 binary quantization. Among them, Indicates the status of the 35T trolley (0 = parked, 1 = running); This indicates the status of the 200T trolley (0 = parked, 1 = running). Indicates the status of the 480T trolley (0 = parked, 1 = running); Indicates the state of the vehicle (0 = stationary, 1 = rotating); Indicates the status of the spreader (0 = upper limit position, 1 = non-upper limit position).

[0060] Based on the safety operation specifications for the nuclear island hoisting equipment, a 5×5 order equipment state mutual exclusion matrix is ​​constructed. This is used to characterize the mutual exclusion constraints between different device states. The rule for the values ​​of matrix elements is: if M eq [i][j]=1 indicates that the device state s i With s j Mutual exclusion means that two states cannot be in operation simultaneously; otherwise, it will cause safety risks such as mechanical interference and overload. If M eq [i][j]=0 indicates that the device state s i With s j No mutual exclusion, meaning that they can be running simultaneously.

[0061] Equipment conflict risk value of the ring crane at time t The calculation formula is:

[0062]

[0063] in, The equipment operation risk factor needs to be determined by considering the equipment's rated load and the risk level of the operating scenario (such as reactor pressure vessel hoisting scenario). (Higher than the standard equipment hoisting) The larger the coefficient, the higher the risk value corresponding to the same number of conflicts. The higher the value, the more mutually exclusive operating states exist in the hoisting equipment, and the higher the risk of equipment conflict; when When this occurs, it indicates that there are no conflicts in the operation of the equipment in all states.

[0064] Based on the risk quantification assessment results of spatial conflict, temporal conflict, and equipment conflict, the total conflict risk value was calculated. . It can be a weighted sum of the three types of conflict risk values, calculated using the following formula: ,in, , , The weighting coefficients for the three types of conflict risks satisfy the following conditions: Preset total conflict risk threshold ,when When the conflict occurs, emergency control measures are immediately triggered. A red warning box pops up on the VR operation interface of all relevant workers, such as fitters, crane operators, and crane operators, clearly indicating the conflict type (space / time / equipment) and the source of risk. At the same time, the VR device is triggered to sound an alarm, enhancing the recognition of the warning signal. The operation that caused the conflict is automatically frozen, and any instructions issued under the conflict state are prohibited until the user resolves the conflict by adjusting the work space, optimizing the time window, or switching the equipment operation status.

[0065] In one embodiment of this application, a state transition check is used to determine whether the current step in the collaborative task is performed correctly by the user. If not, the execution of the current step is interrupted. An operation compliance index is determined based on the user's operation in performing the collaborative task. If the operation compliance index is less than a preset value, a parameter correction prompt is triggered to achieve dynamic monitoring of the collaborative task.

[0066] By monitoring the operational steps during collaborative user operations, real-time control over user actions is achieved, thereby preventing equipment damage or safety incidents caused by unauthorized operations. Specifically, compliance is determined based on state transition verification, and a compliance index for executed operations is calculated based on parameter deviation verification to provide corrective guidance for user operations.

[0067] A standardized set of operating states, Q={q0, q1, q2, q3, q4}, is predefined for the main equipment of the nuclear island (such as the hoist). Here, q0 represents the equipment being de-energized (initial state), q1 represents the equipment being energized (key switch to the "ON" position), q2 represents the start-up preheating (press the "Start" button and preheat for 10 seconds), q3 represents the ready state (preheating completed, operation can be performed), and q4 represents the operation in progress (such as hoisting, trolley movement). This covers the entire process from equipment de-energization to operation execution.

[0068] Simultaneously, based on the operating specifications of the nuclear island equipment, a 5×5 order state transition matrix was constructed. , Indicates from state arrive The transfer is compliant, and This indicates an illegal transition. An example of the matrix's specific form is as follows:

[0069]

[0070] In this matrix, A[q1][q2]=1 indicates that the transition from the power-on state to the preheating state is legal, that is, the operation of powering on the equipment first and then starting the preheating is in accordance with the operation specifications; while A[q1][q4]=0 indicates that the operation is performed directly after powering on the equipment, which is not in accordance with the specifications.

[0071] The current device status is monitored in real time when the user performs an operation. The target state triggered by the operation If the transfer is determined to be illegal, such as entering the operation state q4 directly without completing the preheating q2, the user's current operation will be immediately interrupted, and a violation notice will be displayed. The type and number of erroneous operations will be recorded for subsequent performance evaluation of the user.

[0072] In the operation parameter deviation verification, the set of operation parameters is defined as P={v, F, h}, where v is the lifting speed, F is the bolt tightening force, and h is the lifting height. A preset safety range is set for each parameter [p]. min , p max ] and the optimal value p opt For any parameter p, the parameter deviation is calculated using the following formula:

[0073]

[0074] Where p is the actual measured value or current value of the parameter, p opt This represents the optimal value of the parameter, |p - p opt | Indicates the absolute deviation between the actual value and the optimal value. Deviation degree The larger the value, the more severe the deviation. This is based on the weights of each parameter. , , Calculate the operational compliance index:

[0075]

[0076] like Less than the preset threshold If the operating parameters deviate from the safe or optimal standard, the system will immediately trigger a parameter correction prompt, displaying the deviation value and adjustment direction of each parameter in real time, guiding the trainee to correct the operating parameters until the compliance index meets the standard, ensuring the accuracy and safety of the operation process.

[0077] It should be noted that other forms of force parameters may exist in different tasks during the installation of the main equipment on the nuclear island. For example, in the "lifting and positioning" task, there is the lifting force or tension of the lifting gear; in the "support ring installation" task, there is preload; and in the "pipeline installation" task, there is welding stress, etc. The above set of operational parameters P={v, F, h} is exemplary and can be extended to other parameters (such as torque, pressure, vibration, etc.) simply by adding the corresponding weights and deviation calculations to the model.

[0078] In one embodiment of this application, in response to all users completing their respective task schedules, a comprehensive performance score for each user is determined, wherein the comprehensive performance score is determined based on the dynamic monitoring results.

[0079] After users complete collaborative tasks according to the task schedule, a comprehensive performance score is calculated. This score is generated based on risk and conflict monitoring and operational procedure monitoring. Specifically, after each user participating in the training (fitter F, crane operator L, and hoist operator C) completes all their assigned tasks according to the system's schedule, the system automatically triggers the individual comprehensive performance score calculation process. This score is not solely based on task completion but comprehensively quantifies the user's operational performance based on the dynamic monitoring results throughout the training process. Dynamic monitoring results include operational compliance monitoring data (such as the number of misoperations in state transition verification and the operational compliance index C in parameter deviation verification). op This includes conflict risk management data (such as the number of spatial, temporal, and equipment conflicts caused or involved by users, and the efficiency of conflict handling and response) and basic task execution data (such as task completion quality, whether progress is made according to time window nodes, and the completeness of operation steps). The above monitoring data is transformed into a quantifiable comprehensive performance score, which intuitively reflects each user's performance in terms of operational standardization, safety awareness, and collaborative adaptability.

[0080] In one embodiment of this application, a data synchronization period is set, and data synchronization is performed for each user according to the data synchronization period; the consistency coefficient of the collaborative task is calculated, and if the consistency coefficient is less than a preset value, a refresh command is sent to the user with the largest deviation to ensure data synchronization for each user.

[0081] Multi-user collaborative operations rely on real-time and consistent data interaction. Data delays or status discrepancies can easily lead to errors in collaborative operations. To address this, precise synchronization cycles and consistency checks ensure that data from all user terminals is aligned in real time.

[0082] Specifically, the data synchronization base period T is defined. sync =50ms, continuously synchronizing core data such as operation commands, device status, and task progress from each role's end at this cycle. Simultaneously, a data transmission delay threshold τ is set. th =100ms, transmission delay τ=t receive -t send , t receive t represents the data reception time. send For data transmission time, a synchronization precision coefficient is introduced. The quality of data synchronization can be quantified using the following formula:

[0083]

[0084] right The values ​​are monitored in real time. If the coefficient remains at a high level, it indicates that the synchronization status is good, and the current 50ms synchronization period is maintained. If the coefficient decreases, it indicates that the synchronization quality has deteriorated, and a synchronization alarm is triggered immediately. The synchronization strategy is dynamically adjusted (such as shortening the synchronization period and optimizing the data transmission link) to ensure that the synchronization accuracy meets the coordination requirements.

[0085] For data consistency verification, the SHA-256 hash value comparison method can be used to achieve strong consistency verification of data across all roles. Based on the core data of each role in the current collaborative scenario, such as scenario status, task progress, and device parameters, the SHA-256 hash value H is calculated. j (j=F, L, C), and upload the hash value to the server. After receiving it, the server calculates the average hash value of the three. And through the consistency coefficient The formula for quantifying the degree of data deviation is as follows:

[0086]

[0087] Consistency coefficient The value is [0,1]. This indicates that the data on all three ends are completely consistent; This indicates a data discrepancy, with smaller values ​​indicating greater discrepancies. The terminal with the largest discrepancy is targeted with a "data refresh command," forcing it to synchronize. The corresponding standard dataset ensures that all roles see the same scene status and task progress, thereby avoiding collaboration conflicts.

[0088] Figure 2 The diagram illustrates a framework of a virtual reality-based collaborative work system according to another aspect of this application. The system includes: a priority calculation module 100, a task matching module 200, and a task allocation module 300. The priority calculation module 100 is used to obtain the task attributes of all collaborative work tasks in the virtual reality scene and determine the priority of each collaborative work task based on the task attributes. The task matching module 200 is used to match each collaborative work task with the user's role attributes to obtain a matching relationship and determine the task load rate of each user based on the matching relationship. The task allocation module 300 is used to allocate each collaborative work task to a corresponding user and generate a task scheduling table based on the priority of each collaborative work task, the matching relationship, and the task load rate, so that each user executes the corresponding collaborative work task according to the task scheduling table.

[0089] The priority calculation module 100, task matching module 200, and task allocation module 300 work together to schedule collaborative tasks. Specifically, the priority calculation module 100 collects the core attributes of all collaborative tasks in the virtual reality scene (such as safety risk coefficient, technical complexity, and subsequent impact), and determines the priority coefficient of each task through a preset weighted calculation model, clarifying the order of task execution. The task matching module 200 performs adaptability matching between the role attributes of the executing users (such as the skill type of fitter, crane operator, and hoist operator) and each task, generating a matching relationship between roles and tasks; simultaneously, it calculates the task load rate of each role based on the task workload to determine whether it meets the load balancing requirements. The task allocation module 300 comprehensively considers task priority, role-task matching relationship, and task load rate data to accurately allocate each task to the corresponding executing user, ultimately generating a task scheduling table containing "job type-task-time window" to guide users in carrying out collaborative work in an orderly manner.

[0090] In one embodiment of this application, the virtual reality-based collaborative work system further includes: an operation monitoring module 400, a performance evaluation module 500, and a data synchronization module 600; the operation monitoring module 400 is used to dynamically monitor the collaborative work task as each user executes the corresponding collaborative work task according to the task schedule, wherein the dynamic monitoring includes risk conflict monitoring and operation step monitoring; the performance evaluation module 500 is used to determine the comprehensive performance score of each user in response to each user completing their respective task schedule, wherein the comprehensive performance score is determined based on the dynamic monitoring results; the data synchronization module 600 is used to set a data synchronization period and perform data synchronization for each user according to the data synchronization period; the data synchronization module 600 is also used to calculate the consistency coefficient of the collaborative work task, and if the consistency coefficient is less than a preset value, a refresh command is sent to the user with the largest deviation to ensure data synchronization for each user.

[0091] exist Figure 3In the illustrated embodiment, the operation monitoring module 400 dynamically monitors the entire process of each user performing tasks according to the task schedule. The monitoring includes risk and conflict monitoring and operation step monitoring. Risk and conflict monitoring includes quantitative assessment and early warning of conflicts related to space, time, and equipment. Operation step monitoring includes compliance verification of operation state transitions and real-time detection of operation parameter deviations to ensure safe and standardized operation. After all users complete their tasks in their respective task schedules, the performance evaluation module 500 is triggered to calculate a comprehensive performance score for each user. This score is not solely based on task completion results but is based on the full-process data collected by the operation monitoring module 400 (such as conflict counts, misoperation records, parameter compliance, etc.) to achieve a quantitative assessment of user performance. The data synchronization module 600 sets a fixed data synchronization cycle and periodically synchronizes operation instructions, equipment status, task progress, and other data between user terminals. Furthermore, it calculates the consistency coefficient of data across multiple user terminals. If this coefficient is lower than a preset threshold, the system locates the user terminal with the largest deviation and sends a data refresh command, forcing it to synchronize to the standard dataset. This ensures that all users see a completely consistent virtual scene, avoiding collaborative errors.

[0092] Based on the above modules and models, the collaborative training process of this invention can achieve a complete closed loop from "collaborative initialization" to "performance evaluation". In the collaborative initialization phase, the teacher selects the training subject through the "Main Equipment Installation Simulation Practice Backend Management System". The system automatically loads the corresponding 3D scene model and generates a "job type-task-time window" schedule based on the priority calculation module 100, task matching module 200, and task allocation module 300, synchronizing it to the fitter, crane operator, and hoist operator terminals. Next is the role teaming and preparation phase. Each trainee enters the "Room Teaming" interface through VR devices / simulators. The system assigns roles according to the entry order and supports role swapping. When all three roles click the "Ready" button, the system triggers a countdown, and simultaneously completes initial data alignment through the data synchronization module 600. After the countdown ends, the collaborative training phase begins. In the real-time collaborative training phase, each job type executes tasks based on the schedule; the data synchronization module 600 synchronizes instructions, equipment status, and task progress at 50ms intervals to ensure data consistency for each role; the operation monitoring module 400 calculates R in real time. total (t) Real-time verification of operation status and parameters; when all tasks are completed according to the schedule, the system automatically ends collaborative training, triggers the performance evaluation module 500, and generates a training report containing misoperation analysis, conflict records, and performance coefficients, which is pushed to both the teacher and student ends. Teachers can provide targeted feedback based on the report, and students can view their own weaknesses. After the training, optimization and adjustments are made. Based on historical training data, the system dynamically adjusts the priority weight of task timing and the parameter thresholds of the operation monitoring module 400 to continuously optimize the training effect.

[0093] By constructing core modules for task timing scheduling, conflict early warning, operation verification, data synchronization, and performance evaluation, and combining them with multi-dimensional mathematical models, key problems such as "chaotic timing, frequent conflicts, numerous misoperations, and inconsistent data" in multi-skill collaborative training for nuclear island main equipment installation have been solved. This has enabled high-fidelity, safe, and efficient collaborative training, filling the technical gap in existing single-skill simulation systems and providing a scientific technical solution for cultivating high-quality collaborative talents in the field of nuclear power plant nuclear island installation.

[0094] exist Figure 4 as well as Figure 5 The illustrated embodiment demonstrates the installation process of the ring crane equipment during nuclear island construction, including 22 process steps and 39 sub-tasks. In the collaborative operation scenario of ring crane installation, the instructor first logs into the main equipment installation simulation practice backend management system and selects the "ring crane installation" training scenario from the training subject list. After receiving the subject selection instruction, the system automatically loads a high-fidelity 3D scene model of the nuclear island ring crane installation; initially, the ring crane itself and related main equipment are hidden, and the virtual camera defaults to pointing at the preset work site for assembling the ring crane trolley, providing basic scene support for subsequent collaborative operations.

[0095] First, the 39 sub-tasks of the entire ring crane installation process are imported, including "re-measurement of bracket elevation", "placement of supports", and "assembly of ring rail beams". Based on the process logic and execution order between each sub-task, a task-dependent directed acyclic graph (DAG) is constructed. Strong temporal constraints between tasks are identified. For example, "assembling ring rail beams (fitter execution)" is a prerequisite task for "integral hoisting of ring rail beams and ring rails (crane operator command)" and must be completed before the latter starts.

[0096] The priority calculation module 100 is invoked to calculate the task priority coefficient P by combining the security risk coefficient, technical complexity, and subsequent impact of each subtask. i Among them, tasks involving the hoisting of large equipment and high safety risks, such as "ring track beam and overall ring track hoisting", were identified as the highest priority.

[0097] Based on the task matching module 200, the task and job type are accurately matched. Fine operation tasks such as "re-measurement of bracket elevation" and "bolt tightening" are assigned to fitters (F); on-site command tasks such as "overall hoisting" are assigned to crane operators (L); and equipment operation tasks such as "main beam hoisting and positioning" are assigned to crane operators (C).

[0098] The task allocation module 300 integrates task priorities, job matching relationships, and load balancing requirements to generate a scheduling table containing three core dimensions: job type, task content, and time window. Through the cross-role data synchronization module, the scheduling table is distributed in real-time to the VR devices and crane simulator interfaces of the three types of trainees (fitters, crane operators, and crane operators), providing an execution basis for subsequent collaborative operations. At this point, the initialization and task scheduling generation phases of collaborative operations are complete.

[0099] Next, users form teams and prepare. Three trainees log into the system using professional VR equipment (suitable for fitter and crane operator roles) and a customized ring crane operator simulator (exclusively for ring crane operator roles), and independently choose to enter the "Ring Crane Installation" specialized training room. The system automatically assigns corresponding roles to the three trainees based on the training configuration (fitter F, crane operator L, ring crane operator C), with the fitter and crane operator roles interchangeable as needed to meet flexible training requirements. After confirming the role assignments are correct, the three trainees click the "Ready" button on the interface to complete the role confirmation process before the operation begins. Upon receiving the "Ready" command from all trainees, the system automatically triggers a countdown before the operation. During this period, the data synchronization module 600 initiates a strong consistency check of terminal data, synchronously calibrating the initial scene state, task list, scheduling time window, and other core information of all trainees' devices to ensure that the virtual operation scene, task details, and collaborative time nodes seen by the three trainees are completely consistent.

[0100] After the training begins, the real-time collaborative operation training phase commences. The VR equipment or simulator interfaces for each trade will accurately display the core tasks and operational instructions for the current phase, with collaborative operations proceeding in an orderly manner according to the schedule. The fitter (F) prioritizes initiating the "Corner Elevation Re-measurement and Laying Out" task. In the VR virtual environment, they manipulate virtual measuring tools (such as levels and marking tools) to complete operations such as corner elevation data re-measurement and baseline delineation. The progress of each operation, such as the completion rate of the re-measurement and the status of the laying out markers, is synchronized in real-time to the terminal interfaces of the crane operator and the hoist driver, ensuring that all collaborators dynamically monitor the progress of the preceding tasks.

[0101] Meanwhile, the interface of the crane operator (L) clearly prompts the crane operator to prepare for the subsequent hoisting command work of "placing the support" and "ground assembly of the ring rail beam". The interface simultaneously displays the real-time progress bar of the fitter's current task and the estimated completion time, which makes it easier for the crane operator to plan the command process in advance and predict the connection nodes of the operation.

[0102] The customized cockpit simulator interface for the crane operator (C) shows that the assigned tasks in the current dispatch table have not yet started. The system automatically guides the trainee to perform preparatory operations such as power-on checks of the crane equipment, warm-up of the control system, and calibration of safety parameters.

[0103] The data synchronization module 600 continuously performs real-time data synchronization across all terminals with a 50ms cycle. The synchronized content covers core information such as trainee operation instructions, virtual equipment operating status, task progress nodes, and scene marker updates. For example, when a fitter completes the marking of a single bracket, the 3D effect of the marking will be instantly displayed in the virtual work area of ​​the crane operator VR scene and the crane driver simulator.

[0104] During the collaborative operation, the operation monitoring module 400 performs multi-dimensional monitoring. In the "ring rail beam and ring rail overall hoisting" task, spatial conflicts are monitored in real time. When the crane operator (L) directs the virtual 1600t crawler crane to hoist the ring rail beam as a whole, if the fitter (F) is still working in the virtual area below the hoisting path, the system calculates the spatial overlap in real time. This leads to a risk value of space conflict. The risk increases sharply. Real-time monitoring of equipment conflict is crucial. If the crane operator (C) fails to move the crane trolley to a safe parking position before lifting, the equipment conflict risk value will increase dramatically. The number will increase due to the mutual exclusion matrix of the touch devices.

[0105] The total conflict risk value is obtained by weighting and integrating the spatial conflict risk value, equipment conflict risk value, and temporal conflict risk value. When the total conflict risk value When the threshold of 0.6 is exceeded, the system displays a red warning box on all trainees' interfaces, sounds a buzzer alarm, and freezes the crane operator's unauthorized operations and the crane hoisting instructions. The system prompts: "Warning! There are personnel below the hoisting path, and the crane trolley is not in position. Please have the fitter evacuate the work area, and the crane operator move the 35T trolley to the parking position." The system will only restore operating privileges after all personnel have followed the prompts and the conflict has been resolved.

[0106] The operation monitoring module 400 also performs real-time compliance verification of user operations, achieving dual control through state transition verification and parameter deviation verification. When the crane operator (C) operates the simulator, if they fail to complete the standard procedure of "power on (q1) → start preheating (q2)" and directly attempt to operate the lifting equipment into the operating state (q4), the system will determine that the operation is an illegal state transition (A[q1][q4]=0) based on the state transition matrix, immediately freezing the operation controls and displaying a prompt "Please complete equipment preheating first." In the task of "adjusting pad installation, bolt installation and tightening," if the bolt tightening force F applied by the fitter (F) using a virtual torque wrench deviates from the preset optimal value, it will lead to parameter deviation D. F The increase leads to a higher operational compliance index C. op As the load decreases, the system will trigger a parameter correction prompt in real time, guiding the fitter to adjust the tightening force parameters to the compliant range.

[0107] Once all 39 ring hoist installation sub-tasks were completed according to the 3D scheduling table, the system automatically terminated the training process, and the efficiency evaluation module 500 was immediately activated, calculating the comprehensive efficiency coefficient of this training based on the full-process operation data. Regarding task completion, because all trades strictly followed the scheduling table to advance collaborative operations, there were no omissions or incomplete tasks, resulting in a near-perfect score (1.0) for this evaluation. Regarding safety compliance, deductions were calculated based on conflict warning records and operational compliance verification results during the training. This training had one spatial conflict warning and two operational parameter deviations, resulting in corresponding deductions, reflecting that the compliance of some operational steps still needs optimization. Regarding collaborative efficiency, by comparing the actual total training time with the preset standard duration, the efficiency score was quantitatively calculated, intuitively reflecting the time management level of multi-trade collaborative operations.

[0108] Based on the performance evaluation results, the system generated a detailed evaluation report including quantitative scores, problem analysis, and improvement suggestions. The report clearly stated: "The overall collaborative effectiveness of this training was good. Specifically, the crane operator's operating procedures were standardized and met the operating standards for nuclear island equipment; the spatial coordination awareness of the crane operator and fitter needs further strengthening to avoid conflicts during overlapping operations; and the fitter has room for improvement in the parameter accuracy of fine operations such as bolt tightening." This report was simultaneously pushed to the teacher's management system and the trainee's VR device / simulator interface, providing data support for subsequent targeted reinforcement training.

[0109] After the training, the system stored data such as the overall effectiveness coefficient, types of misoperations, and conflict records into the database. The instructor noticed that the group of trainees lost many points on spatial conflicts, so they fine-tuned the parameters in the operation monitoring module 400 in the background, appropriately increasing the weight of spatial conflict risk. This allows the system to issue spatial conflict warnings earlier and more sensitively in subsequent training sessions, thereby continuously optimizing the training effectiveness.

[0110] The proposed solution designs a highly realistic multi-skill collaborative training method and system. In a virtual reality scenario of main equipment installation in a nuclear power plant's nuclear island, fitters and crane operators can interact and collaborate in real-time with crane operators using a high-fidelity crane simulator, accurately simulating the entire process from hoisting to placement. It constructs a complete training system integrating "teaching, training, and assessment." Through built-in strict operating rules and safety interlocking logic, it ensures the safety and standardization of training, enabling trainees to master operating procedures in a zero-risk environment. It significantly reduces the reliance on physical equipment, overcomes time and space limitations, and saves costs. Furthermore, it visualizes the training process and quantifies assessment data, supporting refined skills evaluation and providing a safe, efficient, and scientific modern training solution for cultivating high-quality professionals in nuclear power plant construction.

[0111] This application also provides a computer-readable medium having computer instructions stored thereon, which can be executed by a processor to implement a virtual reality-based collaborative work method as described above.

[0112] When a virtual reality-based collaborative work method is implemented as a computer program, it can also be stored as an article of art in a computer-readable storage medium. For example, computer-readable storage media can include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic stripes), optical discs (e.g., compact discs (CDs), digital multifunction discs (DVDs)), smart cards, and flash memory devices (e.g., electrically erasable programmable read-only memory (EPROM), cards, sticks, key drives). Furthermore, the various storage media described herein can represent one or more devices and / or other machine-readable media used for storing information. The term "machine-readable medium" can include, but is not limited to, wireless channels and various other media (and / or storage media) capable of storing, containing, and / or carrying code and / or instructions and / or data.

[0113] It should be understood that the embodiments described above are merely illustrative. The embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For hardware implementation, the processor may be implemented within one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and / or other electronic units designed to perform the functions described herein, or combinations thereof.

[0114] Some aspects of this application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The aforementioned hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." The processor may be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. Furthermore, aspects of this application may manifest as computer products residing in one or more computer-readable media, including computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), optical discs (e.g., compressed CDs, digital multifunction DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.).

[0115] A computer-readable medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. A computer-readable medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0116] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0117] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0118] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

Claims

1. A collaborative work method based on virtual reality, characterized in that, The method includes: Obtain the task attributes of all collaborative tasks in the virtual reality scene, and determine the priority of each collaborative task based on the task attributes; The user's role attributes are matched with each collaborative task to obtain a matching relationship, and the task load rate of each user is determined based on the matching relationship. Based on the priority of each collaborative task, the matching relationship, and the task load rate, each collaborative task is assigned to a corresponding user and a task scheduling table is generated so that each user executes the corresponding collaborative task according to the task scheduling table.

2. The method according to claim 1, characterized in that, The method further includes: During the process of each user executing the corresponding collaborative task according to the task scheduling table, the collaborative task is dynamically monitored, wherein the dynamic monitoring includes risk conflict monitoring and operation step monitoring.

3. The method according to claim 2, characterized in that, The risk and conflict monitoring includes: The total conflict risk value is determined based on the multi-dimensional conflict risks of the user executing the collaborative task. If the total conflict risk value exceeds the set threshold, an early warning is triggered and the conflict operation in the user's collaborative task is interrupted.

4. The method according to claim 3, characterized in that, The determination of the total conflict risk value based on the multi-dimensional conflict risks of users executing the collaborative task includes: The spatial overlap is determined based on the workspace of each user in the virtual reality scene, and the spatial conflict risk value is determined based on the spatial overlap. The time overlap is determined based on the time window in which each user performs the collaborative task, and the time conflict risk value is determined based on the time overlap. The equipment conflict risk value is determined based on the mutual exclusion status of the equipment corresponding to each collaborative task. The total conflict risk value is determined based on the spatial conflict risk value, the temporal conflict risk value, and the equipment conflict risk value.

5. The method according to claim 2, characterized in that, The monitoring of the operation steps includes: The state transition check determines whether the user is executing the current step in the collaborative task correctly. If not, the execution of the current step is interrupted. An operation compliance index is determined based on the user's actions in performing collaborative tasks. If the operation compliance index is less than a preset value, a parameter correction prompt is triggered to achieve dynamic monitoring of the collaborative tasks.

6. The method according to claim 1, characterized in that, The method further includes: Set a data synchronization cycle, and perform data synchronization for each user according to the data synchronization cycle; Calculate the consistency coefficient of the collaborative task. If the consistency coefficient is less than a preset value, send a refresh command to the user with the largest deviation to ensure data synchronization for each user.

7. The method according to claim 2, characterized in that, The method further includes: In response to all users completing their respective task schedules, a comprehensive performance score is determined for each user, wherein the comprehensive performance score is determined based on the dynamic monitoring results.

8. A collaborative work system based on virtual reality, characterized in that, The system includes: Priority calculation module, task matching module, and task allocation module; The priority calculation module is used to obtain the task attributes of all collaborative tasks in the virtual reality scene, and determine the priority of each collaborative task based on the task attributes. The task matching module is used to match each collaborative task with the user's role attributes to obtain a matching relationship, and to determine the task load rate of each user based on the matching relationship. The task allocation module is used to allocate each collaborative task to a corresponding user and generate a task scheduling table according to the priority of each collaborative task, the matching relationship and the task load rate, so that each user can execute the corresponding collaborative task according to the task scheduling table.

9. The system according to claim 8, characterized in that, The system also includes: Operation monitoring module, performance evaluation module, and data synchronization module; The operation monitoring module is used to dynamically monitor the collaborative task during the process of each user executing the corresponding collaborative task according to the task scheduling table. The dynamic monitoring includes risk conflict monitoring and operation step monitoring. The performance evaluation module is used to determine the comprehensive performance score of each user in response to each user completing their respective task schedule, wherein the comprehensive performance score is determined based on the dynamic monitoring results; The data synchronization module is used to set the data synchronization period and perform data synchronization for each user according to the data synchronization period. The data synchronization module is also used to calculate the consistency coefficient of the collaborative task. If the consistency coefficient is less than a preset value, a refresh command is sent to the user with the largest deviation to ensure data synchronization for each user.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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