Ball mill numerical simulation method and system based on augmented reality technology, terminal and medium

Abstract

The invention belongs to the field of mechanism simulation, and particularly discloses a ball mill numerical simulation method and system based on an augmented reality technology, a terminal and a medium, and the method comprises the steps: building a ball mill three-dimensional digital model through a Unity 3D development platform based on the design data and operation principle of a ball mill; installing an augmented reality plug-in on a Unity 3D development platform, and superposing the three-dimensional digital model of the ball mill to a real world through the augmented reality plug-in to obtain an augmented reality scene of the ball mill; acquiring operation data or working parameters of the ball mill, mapping the operation data or the working parameters into animation parameters of a three-dimensional digital model of the ball mill, and realizing dynamic numerical simulation of the operation state of the ball mill; and displaying the dynamic numerical simulation result of the running state of the ball mill in an augmented reality scene of the ball mill. Through combination of the three-dimensional digital model and the augmented reality scene, dynamic numerical simulation and visualization of the running state of the ball mill are realized.

Description

Technical Field

[0001] The present invention belongs to the field of mechanism simulation, and in particular relates to a ball mill numerical simulation method, system, terminal and medium based on augmented reality technology. Background Art

[0002] Ball mills are grinding equipment widely used in industries such as mining, cement, and chemicals. Monitoring and optimizing ball mill operating status can improve production efficiency, reduce energy consumption, and reduce maintenance costs. Traditional ball mill monitoring methods rely primarily on sensors to collect operating data and analyze it through data reports or simple visualization interfaces. These methods display data in a limited format, typically providing only static numerical values or charts. This makes it difficult to intuitively display the dynamic operating status within the ball mill, particularly the motion trajectory of the steel balls. Furthermore, they lack real-time performance and are unable to integrate operating data with the equipment's three-dimensional structure in real time, making it difficult for operators to quickly understand the equipment's operating status, especially under complex operating conditions. Although augmented reality (AR) technology is gaining traction in the industrial sector, there are currently no AR visualization methods specifically tailored to ball mill operating status, making it difficult to fully leverage the advantages of AR technology to integrate dynamic numerical simulation with real-world equipment. Summary of the Invention

[0003] To solve the above problems, the present invention provides a ball mill numerical simulation method, system, terminal and medium based on augmented reality technology, which realizes dynamic numerical simulation and visualization of the ball mill operating status by combining a three-dimensional digital model with an augmented reality scene.

[0004] In a first aspect, the technical solution of the present invention provides a ball mill numerical simulation method based on augmented reality technology, comprising the following steps: Use the Unity3D development platform to build a 3D digital model of the ball mill based on its design data and operating principles; Install an augmented reality plug-in on the Unity3D development platform, and use the augmented reality plug-in to superimpose the 3D digital model of the ball mill on the real world to obtain an augmented reality scene of the ball mill; Acquiring operating data or operating parameters of the ball mill, mapping the operating data or operating parameters into animation parameters of a three-dimensional digital model of the ball mill, and realizing dynamic numerical simulation of the operating state of the ball mill; wherein the dynamic numerical simulation includes simulating the operating state of the steel balls based on the steel ball dynamic equation; The dynamic numerical simulation results of the ball mill operating status are displayed in the ball mill augmented reality scene.

[0005] In an optional embodiment, the 3D digital model of the ball mill is superimposed on the real world through an augmented reality plug-in to obtain an augmented reality scene of the ball mill, which specifically includes: Set up the augmented reality camera; Create a ball mill equipment identification map and generate a ball mill feature point database; Set the physical size of the logo to match the device ratio in the actual scene; Import the model file of the ball mill 3D digital model; Adjust the initial position of the 3D digital model of the ball mill so that it is aligned with the logo in the augmented reality scene.

[0006] In an optional embodiment, the method further comprises the following steps: A virtual operation button is created on the display interface of the enhanced on-site scene, and the virtual operation button is associated with the parameter adjustment instruction of the ball mill.

[0007] In an optional embodiment, the operating parameters of the ball mill are obtained, and the operating parameters are mapped into animation parameters of a three-dimensional digital model of the ball mill to realize dynamic numerical simulation of the operating state of the ball mill, specifically including: Listen for virtual operation button events; When a virtual operation button-related event is monitored, the associated parameter adjustment instruction is called; wherein the virtual operation button-related event includes adjusting the operating parameters of the ball mill and adjusting the state control parameters of the ball mill; Execute the parameter adjustment instruction to map the working parameters into the animation parameters of the three-dimensional digital model of the ball mill, and realize the dynamic numerical simulation of the operating status of the ball mill.

[0008] In an optional embodiment, the operating data of the ball mill is obtained, and the operating data is mapped into animation parameters of a three-dimensional digital model of the ball mill to realize dynamic numerical simulation of the operating state of the ball mill, specifically including: Receive real-time operating data collected by sensors on the ball mill through the Internet of Things; The real-time collected operating data is analyzed and the numerical values are mapped into animation parameters of the ball mill's three-dimensional digital model to achieve dynamic numerical simulation of the ball mill's operating status.

[0009] In an optional embodiment, simulating the running state of the steel ball based on the steel ball dynamic equation specifically includes: The dynamic equation of the steel ball in the drum is established based on the discrete element method; Configure the steel ball dynamics equation based on real-time operation data, and obtain the steel ball operation results through the configured steel ball dynamics equation; The steel ball operation results are mapped to the ball mill augmented reality scene to realize the dynamic numerical simulation of the steel ball operation status.

[0010] In an optional embodiment, the steel ball dynamic equation in the drum is established based on the discrete element method, specifically including: Define the roller geometry, including roller radius ,length , angular velocity ; Define the steel ball parameters, including the steel ball radius ,quality ,density , elastic modulus , Poisson's ratio , friction coefficient ; Detect the distance between the centers of two steel balls Is it less than or equal to If it represents contact between steel balls, then the overlap ; Detect the distance from the center of the steel ball to the drum wall Is it less than If it means that the steel ball is in contact with the drum wall, then the overlap ; When the steel balls are in contact with each other or with the drum wall, the normal force is calculated by the following formula and tangential force ,

[0011]

[0012] Among them, the equivalent elastic modulus , equivalent radius , Tangential stiffness , equivalent shear modulus , tangential displacement Obtained by integrating the relative sliding velocity; The dynamic equation of the steel ball is expressed as,

[0013] Among them, gravity , centrifugal force , steel ball moment of inertia ; The steel ball dynamics equation is configured based on the real-time operation data, and the steel ball operation result is obtained through the configured steel ball dynamics equation, specifically including: Real-time running data including real-time running temperature inside the drum and the actual angular velocity of the drum ; The friction coefficient is corrected by the following formula ,in is the temperature influence coefficient, is the reference temperature; Calculate the corrected tangential force by correcting the friction coefficient; The actual angular velocity of the drum Calculate corrected centrifugal force; The dynamic equation of the steel ball is modified by correcting the tangential force and the centrifugal force; Based on the modified steel ball dynamic equation, the display time integration method is used to update the steel ball position and velocity in real time.

[0014] In a second aspect, the technical solution of the present invention provides a ball mill numerical simulation system based on augmented reality technology, comprising: A 3D digital model construction module is used to construct a 3D digital model of a ball mill based on its design data and operating principles using the Unity3D development platform; A reality overlay module is used to install an augmented reality plug-in on the Unity3D development platform, and to superimpose the 3D digital model of the ball mill onto the real world through the augmented reality plug-in to obtain an augmented reality scene of the ball mill; A digital simulation module is used to obtain the operating data or working parameters of the ball mill, map the operating data or working parameters into the animation parameters of the three-dimensional digital model of the ball mill, and realize dynamic numerical simulation of the operating state of the ball mill; wherein the dynamic numerical simulation includes simulating the operating state of the steel ball based on the steel ball dynamic equation; The scene display module is used to display the dynamic numerical simulation results of the ball mill operation status in the ball mill augmented reality scene.

[0015] In a third aspect, the technical solution of the present invention provides a terminal, including: A memory, used for storing a ball mill numerical simulation program based on augmented reality technology; A processor is used to implement the steps of any of the above-mentioned ball mill numerical simulation methods based on augmented reality technology when executing the ball mill numerical simulation program based on augmented reality technology.

[0016] In a fourth aspect, the technical solution of the present invention provides a computer-readable storage medium, on which a ball mill numerical simulation program based on augmented reality technology is stored. When the ball mill numerical simulation program based on augmented reality technology is executed by a processor, the steps of the ball mill numerical simulation method based on augmented reality technology as described in any one of the above items are implemented.

[0017] As can be seen from the above technical solutions, the present invention has the following advantages: a three-dimensional digital model of a ball mill is constructed using the Unity3D development platform, and the three-dimensional digital model of the ball mill is superimposed on the real world through an augmented reality plug-in to obtain an augmented reality scene of the ball mill. Then, the operating data or working parameters are mapped to the animation parameters of the three-dimensional digital model of the ball mill to realize dynamic numerical simulation of the operating state of the ball mill, and then the dynamic numerical simulation results of the operating state of the ball mill are displayed in the augmented reality scene of the ball mill. The present invention superimposes the three-dimensional digital model of the ball mill on the real world through augmented reality technology, so that the operator can intuitively observe the dynamic operating state inside the ball mill, including the motion trajectory of the steel balls, thereby improving the intuitiveness and efficiency of monitoring. Among them, by mapping the operating data or working parameters to the animation parameters of the three-dimensional digital model, the dynamic numerical simulation of the operating state of the ball mill is realized, especially the simulation based on the dynamic equation of the steel balls, which can accurately display the motion state of the steel balls, thereby providing a scientific basis for optimizing the operating parameters of the ball mill. In addition, the augmented reality plug-in displays the dynamic numerical simulation results in real time in the augmented reality scene. Operators can directly observe the simulation results against the background of real equipment, achieving a seamless combination of virtual and reality, and improving the accuracy of monitoring and analysis. Furthermore, through dynamic numerical simulation and augmented reality display, operators can quickly identify abnormal conditions in the operation of the ball mill, adjust operating parameters or perform maintenance in a timely manner, thereby reducing equipment failure rate and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 A schematic flow chart of a ball mill numerical simulation method based on augmented reality technology provided in an embodiment of the present invention.

[0020] Figure 2 This is a schematic block diagram of the structure of a ball mill numerical simulation system based on augmented reality technology provided by an embodiment of the present invention.

[0021] Figure 3 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the application objectives, features, and advantages of this application more obvious and easy to understand, the technical solutions protected by this application will be clearly and completely described below using specific embodiments and drawings. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this patent.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0024] Figure 1 A flow chart of a ball mill numerical simulation method based on augmented reality technology provided by an embodiment of the present invention. Figure 1 The execution entity may be an augmented reality-based ball mill numerical simulation system. The augmented reality-based ball mill numerical simulation method provided in the embodiments of the present invention is executed by a computer device. Accordingly, the augmented reality-based ball mill numerical simulation system runs on the computer device. The order of the steps in this flowchart may be changed, and some steps may be omitted, depending on different needs.

[0025] like Figure 1 As shown, the method includes the following steps.

[0026] S1, using the Unity3D development platform to build a three-dimensional digital model of the ball mill based on the design data and operating principle of the ball mill.

[0027] Using the Unity3D development platform, a 3D digital model of the ball mill was constructed based on its design data (such as geometric dimensions and structural parameters) and operating principles (such as drum rotation and ball motion). This 3D digital model accurately reproduces the mill's physical structure and operating principles, providing a foundation for subsequent dynamic simulations. Furthermore, the 3D model provides a visual platform for augmented reality scenarios and dynamic numerical simulations, facilitating real-time monitoring and operational guidance.

[0028] S2, install an augmented reality plug-in on the Unity3D development platform, and use the augmented reality plug-in to superimpose the three-dimensional digital model of the ball mill on the real world to obtain an augmented reality scene of the ball mill.

[0029] An augmented reality (AR) plug-in was installed in the Unity3D development platform. Using AR technology, the 3D digital model of the ball mill was superimposed on the real world, generating an AR scene of the ball mill. This involved setting up the AR camera, creating a device identification map, generating a feature point database, and adjusting the model's scale and position.

[0030] Through the augmented reality plug-in, the 3D digital model of the ball mill is superimposed on the real world to generate an augmented reality scene. The operator can directly observe the virtual model against the background of the real equipment, which enhances the intuitiveness and real-time nature of monitoring. The augmented reality scene supports the combination of virtual and reality, making it easier for operators to quickly understand the equipment status.

[0031] S3, obtaining the operating data or working parameters of the ball mill, mapping the operating data or working parameters into animation parameters of the three-dimensional digital model of the ball mill, and realizing dynamic numerical simulation of the operating state of the ball mill; wherein the dynamic numerical simulation includes simulating the operating state of the steel ball based on the steel ball dynamic equation.

[0032] The system acquires ball mill operating data (such as real-time data collected by sensors) or operating parameters (such as parameters adjusted by the operator using virtual buttons) and maps these data into animated parameters of a 3D digital model to achieve dynamic numerical simulation of the ball mill's operating state. This dynamic numerical simulation includes simulation of the steel ball's operating state based on the steel ball's dynamic equations.

[0033] By driving the three-dimensional digital model through operating data or working parameters, dynamic numerical simulation of the ball mill's operating status can be achieved, which can reflect the ball mill's operating status in real time and help operators quickly identify abnormalities.

[0034] S4, the dynamic numerical simulation results of the ball mill operation state are displayed in the ball mill augmented reality scene.

[0035] The results of dynamic numerical simulations (such as steel ball trajectory, material level changes, and equipment load) are displayed in real time within an augmented reality (AR) scene. Operators can directly observe the dynamic changes of the virtual model using AR devices (such as AR glasses and display screens). Augmented reality (AR) technology combines virtual 3D models with the real environment, overlaying them on the actual equipment scene in real time, providing more intuitive and interactive visualization. Operators can see the equipment's internal structure, dynamic operating status, and simulation analysis results in the actual working scene, thereby optimizing equipment operation, management, and maintenance.

[0036] Furthermore, as a refinement and extension of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process in this embodiment, another ball mill numerical simulation method based on augmented reality technology is provided, which includes the following steps.

[0037] SS1, construct a three-dimensional digital model of the ball mill.

[0038] In this step, the Unity3D development platform is used to construct a three-dimensional digital model of the ball mill based on the design data and operating principles of the ball mill. The model includes the external structure and internal components (such as grinding balls, grinding chamber, transmission device, etc.) of the ball mill to ensure that the model can accurately reflect the actual working state of the ball mill.

[0039] Specifically, the main construction process is as follows.

[0040] (1) Select the "Geometry" menu in the modeling software and click the "Cylinder" tool.

[0041] (2) Drag and draw a circle on the bottom surface in the top view or front view, and adjust the height parameters to generate a cylinder as the main body of the ball mill drum.

[0042] (3) Set the radius, height and number of segments (e.g. radius 500mm, height 1500mm) through the parameter panel.

[0043] (4) Use the "Extrude" or "Revolve Boss" function to draw a semicircular cross-section sketch and rotate it around the center axis to generate a hemispherical end cap.

[0044] (5) The end cap and the cylinder are merged through Boolean operation to form a closed drum structure.

[0045] (6) Select the "Sphere" tool, drag in the 3D view to generate a single sphere, and adjust the radius parameter (such as diameter 50mm).

[0046] (7) If batch creation is required, use the "Array" function to evenly distribute the steel balls along the axial and circumferential directions of the drum.

[0047] (8) The contact relationship between the steel ball and the inner wall of the drum is set through the “geometric constraint” function to ensure that the steel ball is located inside the drum during dynamic simulation.

[0048] (9) Use the "reference coordinate system" or "positioning tool" to adjust the initial position of the steel ball.

[0049] (10) Create a cuboid as the bearing base and optimize the edges using the “rounding” function.

[0050] (11) Draw a gear outline sketch and use "Extrude" or "Sweep" to generate a 3D gear model.

[0051] (12) Use the combination of "cylinder" and "cone" to create the transmission shaft and set the assembly relationship with the roller.

[0052] (13) Add a rotational constraint to simulate the transmission effect when the motor is driven.

[0053] (14) Refine the mesh of key components (such as the inner wall of the drum) to improve simulation accuracy.

[0054] (15) In the material editor, assign metal material to the drum and set the steel ball to high hardness alloy properties.

[0055] (16) Set the angular velocity of the drum around the central axis (e.g., 10 rad / s) and observe whether the trajectory of the steel ball meets expectations.

[0056] (17) Use the “collision detection” function to verify whether the interaction between the steel ball and the roller is reasonable.

[0057] SS2,generates the ball mill augmented reality scene through the augmented reality plug-in.

[0058] First, install the augmented reality plug-in on the Unity3D development platform. For example, use Vuforia to implement it. Install the VuforiaEngineAR plug-in through the PackageManager in Unity3D, ensure version compatibility, configure the project's XR settings, enable ARFoundation and Vuforia support, and bind the SDK parameters of the Android / iOS target platform.

[0059] Then, the three-dimensional digital model of the ball mill is superimposed on the real world through the augmented reality plug-in to obtain the ball mill augmented reality scene, which specifically includes the following steps.

[0060] Step 1: Set up the augmented reality camera.

[0061] Set camera parameters, gyroscope, and light sensor interfaces based on AR devices (such as HoloLens 2 and mobile terminals) to ensure dynamic matching between the physical environment and the virtual model.

[0062] Specifically, in Unity3D, find the ARCamera object. Set the camera's resolution, frame rate, and other parameters based on the AR device's camera specifications. For example, if you're using a mobile device, refer to the device's camera manual for relevant parameters. Adjust the camera's field of view (FOV) to suit your actual observation needs.

[0063] For AR devices that support gyroscopes, call the corresponding API in your code to obtain gyroscope data. For example, in Unity, you can use Input.gyro to access gyroscope information. For light sensors, similarly, use the device's provided API to obtain information such as light intensity. In Unity, you can integrate third-party plugins or custom scripts to interact with the light sensor.

[0064] Create a script to dynamically adjust the posture and lighting effects of the 3D digital model of the ball mill based on data from the gyroscope and light sensor. For example, you can rotate the virtual model based on the gyroscope's rotation data, and adjust the virtual model's lighting material based on the light intensity from the light sensor.

[0065] Step 2: Create a ball mill equipment identification map and generate a ball mill feature point database.

[0066] Use Vuforia TargetManager to create a high-contrast ball mill equipment identification image (such as a QR code or a specific mechanical structure pattern) and upload it to the cloud to generate a feature point database.

[0067] Use graphic design software (such as Adobe Illustrator, Inkscape, etc.) to design a high-contrast ball mill equipment identification diagram, such as a QR code, a specific mechanical structure pattern, etc. For the QR code, you can use an online QR code generator to encode relevant information about the ball mill (such as equipment number, model, etc.) into the QR code.

[0068] To generate a feature point database, log in to the Vuforia TargetManager, create a new database, and then access the newly created database page to add targets. Once you've added targets, click the "Generate Database" button on the database page. Vuforia will process the uploaded marker image to generate the feature point database. Once generated, download the generated database file (.unitypackage format) and import it into your Unity project.

[0069] Step 3: Set the physical size of the logo to match the device ratio in the actual scene.

[0070] Vuforia's SmartTerrain feature can be used to enhance the stability of signage in complex industrial environments, supporting scenarios such as occlusion and lighting changes.

[0071] Specifically, measure the actual physical size of the ball mill device corresponding to the identification diagram, and set the physical size of the identification diagram in Vuforia. For example, in the Unity project, find the ImageTarget object of Vuforia, and in the Inspector panel, set the PhysicalWidth property of ImageTarget to the actual physical size obtained by measurement.

[0072] Step 4: Import the model file of the ball mill 3D digital model.

[0073] Import the 3D ball mill model (.fbx or .obj format) built in Unity into Vuforia ARCamera to import the model file of the 3D digital model of the ball mill.

[0074] Ensure the ball mill 3D model file is in .fbx or .obj format and is in the Assets folder of your Unity project. In Unity's Hierarchy panel, locate the Vuforia ARCamera object. Drag the ball mill 3D model file from the Assets folder and drop it under the Vuforia ARCamera object, making it a child of the Vuforia ARCamera object.

[0075] Step 5: Adjust the initial position of the 3D digital model of the ball mill so that it is aligned with the logo in the augmented reality scene.

[0076] Click the Play button in Unity to run the project on your AR device and observe the relative position of the 3D ball mill model and the logo. Select the 3D ball mill model in Unity's Hierarchy panel. In the Inspector panel, adjust the model's Position, Rotation, and Scale properties until the model aligns accurately with the logo in the augmented reality scene.

[0077] SS3, numerical simulation of ball mill.

[0078] This embodiment obtains the operating data or working parameters of the ball mill, maps the operating data or working parameters into animation parameters of a three-dimensional digital model of the ball mill, and realizes dynamic numerical simulation of the operating state of the ball mill.

[0079] In some optional embodiments, virtual operation buttons are created on the display interface of the augmented scene, and the virtual operation buttons are associated with the parameter adjustment instructions of the ball mill. Specifically, the VirtualButton function of Vuforia is used to create virtual operation buttons in the AR interface and associate them with the parameter adjustment instructions of the ball mill (such as start / stop and speed adjustment).

[0080] In some optional embodiments, a voice command recognition module is integrated to support operators to control AR interface functions (such as "display internal structure" and "switch fault simulation mode") through voice.

[0081] Accordingly, the working parameters of the ball mill are obtained, and the working parameters are mapped into the animation parameters of the three-dimensional digital model of the ball mill to realize the dynamic numerical simulation of the operating status of the ball mill, which specifically includes: monitoring virtual operation button events; when monitoring virtual operation button related events, calling the associated parameter adjustment instructions; wherein the virtual operation button related events include adjusting the operating parameters of the ball mill and adjusting the state control parameters of the ball mill; executing the parameter adjustment instructions to map the working parameters into the animation parameters of the three-dimensional digital model of the ball mill to realize the dynamic numerical simulation of the operating status of the ball mill.

[0082] In some optional implementations, real-time sensor data (e.g., drum speed, steel ball trajectory) is received via an IoT platform (e.g., MQTT protocol) to drive dynamic changes in the AR model. A data parsing script is written in Unity to map the values into model animations (e.g., steel ball collision effects, drum rotation speed).

[0083] Accordingly, the operating data of the ball mill is obtained, and the operating data is mapped into the animation parameters of the three-dimensional digital model of the ball mill to realize the dynamic numerical simulation of the operating status of the ball mill, which specifically includes: receiving the operating data collected in real time by the sensor on the ball mill through the Internet of Things; parsing the real-time collected operating data, mapping the numerical values into the animation parameters of the three-dimensional digital model of the ball mill, and realizing the dynamic numerical simulation of the operating status of the ball mill.

[0084] In some optional embodiments, the system can dynamically simulate the ball mill's operating state, specifically including key parameters such as the grinding media's trajectory, rotational speed, feed and discharge rates, and the grinding process. The dynamic numerical simulation of the steel balls involves simulating their operating state based on their dynamic equations. For ball motion modeling, the discrete element method (DEM) is used to establish the equations of motion for the balls within the drum, including calculations for gravity, centrifugal force, collision force, and friction. An explicit time integration method (such as the Verlet algorithm) is used to iteratively update the ball's position and velocity in real time, balancing computational efficiency and accuracy. This includes the following steps.

[0085] Step 1: Establish the dynamic equation of the steel ball in the drum based on the discrete element method.

[0086] Step 1.1, define the roller geometry parameters, including the roller radius ,length , angular velocity .

[0087] Step 1.2, define the steel ball parameters, including the steel ball radius ,quality ,density , elastic modulus , Poisson's ratio , friction coefficient .

[0088] Step 1.3, check the distance between the centers of the two steel balls Is it less than or equal to If it represents contact between steel balls, then the overlap .

[0089] Step 1.4, check the distance from the center of the steel ball to the drum wall Is it less than If it means that the steel ball is in contact with the drum wall, then the overlap .

[0090] Step 1.5: When the steel balls are in contact with each other or with the drum wall, calculate the normal force using the following formula: and tangential force ,

[0091]

[0092] Among them, the equivalent elastic modulus , equivalent radius , Tangential stiffness , equivalent shear modulus , tangential displacement Obtained by integrating the relative sliding velocity.

[0093] It should be noted that if the two steel balls are not in contact, the normal force and tangential force between the two balls do not need to be calculated.

[0094] Step 1.6, the dynamic equation of the steel ball is expressed as,

[0095] Among them, gravity , centrifugal force , steel ball moment of inertia ,for Ball position.

[0096] Step 2: configure the steel ball dynamics equation based on the real-time operation data, and obtain the steel ball operation result through the configured steel ball dynamics equation.

[0097] Step 2.1, real-time running data including real-time running temperature inside the drum and the actual angular velocity of the drum .

[0098] Step 2.2, correct the friction coefficient using the following formula ,in is the temperature influence coefficient, is the reference temperature.

[0099] Step 2.3, calculate the corrected tangential force by correcting the friction coefficient .

[0100] Step 2.4, the actual rotation angular velocity of the drum Calculation of corrected centrifugal force .

[0101] In step 2.5, the steel ball dynamic equation is modified by correcting the tangential force and the centrifugal force.

[0102] The corrected tangential force, corrected centrifugal force, gravity, and normal force are brought into the steel ball dynamics equation to obtain the corrected steel ball dynamics equation.

[0103] In step 2.6, based on the modified steel ball dynamic equation, the display time integration method is used to update the steel ball position and velocity in real time.

[0104] The position update formula is:

[0105] The acceleration .

[0106] The speed update formula is:

[0107] The position and speed of the steel ball are updated in real time through the above formula to present the trajectory of the steel ball.

[0108] Step 3: Map the steel ball operation results to the ball mill augmented reality scene to realize dynamic numerical simulation of the steel ball operation status.

[0109] Specifically, in a Unity project, create a script to receive the steel ball's motion data (position, velocity, etc.) calculated based on the modified steel ball dynamics equations. For example, create a C# script named BallDataReceiver. In Unity's Hierarchy panel, locate the 3D model object representing the steel ball. In the script, use the GameObject.Find method or drag and drop in the Inspector panel to obtain a reference to the steel ball model. In the BallDataReceiver script's Update method, write the logic to map the received steel ball position and velocity data to the steel ball model.

[0110] SS4, the dynamic numerical simulation results of the ball mill operating status are displayed in the ball mill augmented reality scene.

[0111] Users can see the real ball mill through mobile devices or AR glasses, and the virtual model will overlap with the real device to display information such as internal structure, operating status, parameter changes, etc., providing an intuitive operation and diagnostic interface.

[0112] Specifically, in addition to the steel ball operating status data, the operating status data of other components of the ball mill (such as the cylinder rotation speed, liner wear, etc., if there are related simulation calculations) are collected and organized into a unified data structure or class. For example, create a MillSimulationResult class. Create a new C# script named SimulationResultDisplayer to display these simulation results in the augmented reality scene. Mount the script on a suitable GameObject (such as the Canvas object in the scene, used to display text information, etc.). In the calculation module of the dynamic numerical simulation of the ball mill operating status, after obtaining the complete simulation results, create a MillSimulationResult object and pass it to the UpdateSimulationResultDisplay method of the SimulationResultDisplayer script.

[0113] The above describes in detail an embodiment of a ball mill numerical simulation method based on augmented reality technology. Based on the ball mill numerical simulation method based on augmented reality technology described in the above embodiment, an embodiment of the present invention also provides a ball mill numerical simulation device based on augmented reality technology corresponding to this method.

[0114] Figure 2 This is a schematic block diagram of the structure of a ball mill numerical simulation system based on augmented reality technology, provided in an embodiment of the present invention. In this embodiment, the ball mill numerical simulation system 200 based on augmented reality technology can be divided into multiple functional modules according to the functions they perform. A module, as referred to in this invention, is a series of computer program segments that can be executed by at least one processor and can perform a fixed function, and is stored in a memory.

[0115] The three-dimensional digital model construction module 210 is used to construct a three-dimensional digital model of the ball mill based on the design data and operation principle of the ball mill using the Unity3D development platform.

[0116] The reality overlay module 220 is used to install an augmented reality plug-in on the Unity3D development platform, and to overlay the three-dimensional digital model of the ball mill onto the real world through the augmented reality plug-in to obtain an augmented reality scene of the ball mill.

[0117] The digital simulation module 230 is used to obtain the operating data or working parameters of the ball mill, map the operating data or working parameters into the animation parameters of the three-dimensional digital model of the ball mill, and realize the dynamic numerical simulation of the operating state of the ball mill; wherein, the dynamic numerical simulation includes simulating the operating state of the steel ball based on the steel ball dynamic equation.

[0118] The scene display module 240 is used to display the dynamic numerical simulation results of the ball mill operation state in the ball mill augmented reality scene.

[0119] The ball mill numerical simulation device based on augmented reality technology in this embodiment is used to implement the aforementioned ball mill numerical simulation method based on augmented reality technology. Therefore, the specific implementation method of the device can be seen in the embodiment part of the ball mill numerical simulation method based on augmented reality technology in the previous text. Therefore, its specific implementation method can refer to the description of the corresponding embodiments of each part, and will not be elaborated here.

[0120] In addition, since the ball mill numerical simulation device based on augmented reality technology in this embodiment is used to implement the aforementioned ball mill numerical simulation method based on augmented reality technology, its function corresponds to that of the aforementioned method and will not be repeated here.

[0121] Figure 3 The terminal 300 provided in an embodiment of the present invention includes a processor 310, a memory 320, and a communication unit 330. The processor 310 is used to implement a ball mill numerical simulation program based on augmented reality technology stored in the memory 320.

[0122] The terminal 300 includes a processor 310, a memory 320, and a communication unit 330. These components communicate via one or more buses. Those skilled in the art will appreciate that the server structure shown in the figure does not limit the present invention; it may be a bus structure or a star structure, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0123] Memory 320 can be used to store execution instructions of processor 310. Memory 320 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. When the execution instructions in memory 320 are executed by processor 310, terminal 300 can perform some or all of the steps in the above-described method embodiments.

[0124] The processor 310 is the control center of the storage terminal. It uses various interfaces and lines to connect various parts of the entire electronic terminal. It runs or executes software programs and / or modules stored in the memory 320, and calls data stored in the memory to perform various functions of the electronic terminal and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 310 can only include a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0125] The communication unit 330 is configured to establish a communication channel so that the storage terminal can communicate with other terminals, receive user data sent by other terminals, or send user data to other terminals.

[0126] The present invention also provides a computer storage medium, wherein the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0127] A computer storage medium stores a numerical simulation program for a ball mill based on augmented reality technology. Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software combined with a required general-purpose hardware platform. Based on this understanding, the technical solutions in the embodiments of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, among other media capable of storing program code, and includes instructions for causing a computer terminal (which can be a personal computer, a server, a second terminal, a network terminal, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention.

[0128] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0129] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0130] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0131] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A ball mill numerical simulation method based on augmented reality technology, characterized in that: The following steps are involved: Use the Unity3D development platform to build a 3D digital model of the ball mill based on its design data and operating principles; Install an augmented reality plug-in on the Unity3D development platform, and use the augmented reality plug-in to superimpose the 3D digital model of the ball mill on the real world to obtain an augmented reality scene of the ball mill; Acquiring operating data or operating parameters of the ball mill, mapping the operating data or operating parameters into animation parameters of a three-dimensional digital model of the ball mill, and realizing dynamic numerical simulation of the operating state of the ball mill; wherein the dynamic numerical simulation includes simulating the operating state of the steel balls based on the steel ball dynamic equation; The dynamic numerical simulation results of the ball mill operating status are displayed in the ball mill augmented reality scene.

2. The ball mill numerical simulation method based on augmented reality technology according to claim 1, characterized in that: The augmented reality plug-in is used to superimpose the 3D digital model of the ball mill onto the real world to obtain the ball mill augmented reality scene, including: Set up the augmented reality camera; Create a ball mill equipment identification map and generate a ball mill feature point database; Set the physical size of the logo to match the device ratio in the actual scene; Import the model file of the ball mill 3D digital model; Adjust the initial position of the 3D digital model of the ball mill so that it is aligned with the logo in the augmented reality scene.

3. The ball mill numerical simulation method based on augmented reality technology according to claim 2, characterized in that: The method further comprises the following steps: A virtual operation button is created on the display interface of the enhanced on-site scene, and the virtual operation button is associated with the parameter adjustment instruction of the ball mill.

4. The ball mill numerical simulation method based on augmented reality technology according to claim 3, characterized in that: Obtain the working parameters of the ball mill, map the working parameters to the animation parameters of the 3D digital model of the ball mill, and realize the dynamic numerical simulation of the ball mill operation status, including: Listen for virtual operation button events; When a virtual operation button-related event is monitored, the associated parameter adjustment instruction is called; wherein the virtual operation button-related event includes adjusting the operating parameters of the ball mill and adjusting the state control parameters of the ball mill; Execute the parameter adjustment instruction to map the working parameters into the animation parameters of the three-dimensional digital model of the ball mill, and realize the dynamic numerical simulation of the operating status of the ball mill.

5. The ball mill numerical simulation method based on augmented reality technology according to claim 4, characterized in that: Obtain the operating data of the ball mill, map the operating data into the animation parameters of the ball mill's 3D digital model, and realize the dynamic numerical simulation of the ball mill's operating status, including: Receive real-time operating data collected by sensors on the ball mill through the Internet of Things; The real-time collected operating data is analyzed and the numerical values are mapped into the animation parameters of the ball mill's three-dimensional digital model to achieve dynamic numerical simulation of the ball mill's operating status.

6. The ball mill numerical simulation method based on augmented reality technology according to claim 5, characterized in that: The running state of the steel ball is simulated based on the steel ball dynamic equation, including: The dynamic equation of the steel ball in the drum is established based on the discrete element method; Configure the steel ball dynamics equation based on real-time operation data, and obtain the steel ball operation results through the configured steel ball dynamics equation; The steel ball operation results are mapped to the ball mill augmented reality scene to realize the dynamic numerical simulation of the steel ball operation status.

7. The ball mill numerical simulation method based on augmented reality technology according to claim 6, characterized in that: The steel ball dynamic equation established based on the discrete element method in the drum specifically includes: Define the roller geometry, including roller radius ,length , angular velocity ; Define the steel ball parameters, including the steel ball radius ,quality ,density , elastic modulus , Poisson's ratio , friction coefficient ; Detect the distance between the centers of two steel balls Is it less than or equal to If it represents contact between steel balls, then the overlap ; Detect the distance from the center of the steel ball to the drum wall Is it less than If it means that the steel ball is in contact with the drum wall, then the overlap ; When the steel balls are in contact with each other or with the drum wall, the normal force is calculated by the following formula and tangential force , Among them, the equivalent elastic modulus , equivalent radius , Tangential stiffness , equivalent shear modulus , tangential displacement Obtained by integrating the relative sliding velocity; The dynamic equation of the steel ball is expressed as, Among them, gravity , centrifugal force , steel ball moment of inertia ; The steel ball dynamics equation is configured based on the real-time operation data, and the steel ball operation result is obtained through the configured steel ball dynamics equation, specifically including: Real-time running data including real-time running temperature inside the drum and the actual angular velocity of the drum ; The friction coefficient is corrected by the following formula ,in is the temperature influence coefficient, is the reference temperature; Calculate the corrected tangential force by correcting the friction coefficient; The actual angular velocity of the drum Calculate corrected centrifugal force; The dynamic equation of the steel ball is modified by correcting the tangential force and the centrifugal force; Based on the modified steel ball dynamic equation, the display time integration method is used to update the steel ball position and velocity in real time.

8. A ball mill numerical simulation system based on augmented reality technology, characterized in that: include: A 3D digital model construction module is used to construct a 3D digital model of a ball mill based on its design data and operating principles using the Unity3D development platform; A reality overlay module is used to install an augmented reality plug-in on the Unity3D development platform, and to superimpose the 3D digital model of the ball mill onto the real world through the augmented reality plug-in to obtain an augmented reality scene of the ball mill; A digital simulation module is used to obtain the operating data or working parameters of the ball mill, map the operating data or working parameters into the animation parameters of the three-dimensional digital model of the ball mill, and realize dynamic numerical simulation of the operating state of the ball mill; wherein the dynamic numerical simulation includes simulating the operating state of the steel ball based on the steel ball dynamic equation; The scene display module is used to display the dynamic numerical simulation results of the ball mill operation status in the ball mill augmented reality scene.

9. A terminal, characterized in that: include: A memory, used for storing a ball mill numerical simulation program based on augmented reality technology; A processor is used to implement the steps of the ball mill numerical simulation method based on augmented reality technology as claimed in any one of claims 1 to 7 when executing the ball mill numerical simulation program based on augmented reality technology.

10. A computer-readable storage medium, characterized in that The readable storage medium stores a ball mill numerical simulation program based on augmented reality technology, and when the ball mill numerical simulation program based on augmented reality technology is executed by the processor, the steps of the ball mill numerical simulation method based on augmented reality technology as described in any one of claims 1 to 7 are implemented.

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