On-machine milling cutter edge image remote acquisition system and method

Abstract

The present invention discloses a system and method for remotely collecting images of the cutting edge of a disc milling cutter on a machine, and belongs to the field of mechanical automation. The present invention builds a remote visualization platform, regularizes the motion trajectory of a robotic arm through an operating platform interface, and directs the robotic arm in a physical scene to move so as to collect images of the cutting edge of a disc milling cutter blade; the position information of the machine tool spindle and the robotic arm in the physical scene can be transmitted to the platform in the digital space in real time through a cloud database, and mapped out on the platform in the form of animation simulation, and the tool image collection digital platform automatically plans the motion trajectory of a six-degree-of-freedom robotic arm according to the relative position information of the machine tool spindle and the tool specification information, and the six-degree-of-freedom robotic arm moves according to the received motion path instructions so as to collect images of the cutting edge of the blade, and the collected image information is sent to the tool image collection digital platform through a cloud database, thereby realizing a remote digital collection.

Description

Technical Field

[0001] The invention belongs to the field of mechanical automation, and in particular relates to a system and method for remotely collecting images of a milling cutter edge on a machine. Background Art

[0002] With the continuous enhancement of the comprehensiveness of mechanical manufacturing and the development of network technology and mobile terminals, the existing industrial production model is constantly improving, and the proportion of mechanical processing in the manufacturing industry is increasing, making it possible to control machine tools through mobile terminals, which also greatly extends the distance of the control system.

[0003] Machine tools occupy an absolute position in mechanical manufacturing. As the tool for machining parts, the wear and tear of the tool is directly related to the surface quality and dimensional error of the machined parts. If the worn and damaged tool is not replaced in time, it will lead to serious consequences. In order to reduce the impact of the worn and damaged tool on the machining process, it is usually necessary to stop the machine and remove the tool for manual or machine inspection to determine whether the tool needs to be replaced. Disassembling the tool takes a lot of time and manpower.

[0004] Therefore, it is very necessary to invent an intelligent, efficient and cost-reducing on-machine tool edge image remote acquisition system and method. Summary of the invention

[0005] In view of the problem that the existing disc milling cutter wear value measurement requires manual disassembly of the tool for tool wear detection, the present invention proposes an on-machine disc milling cutter edge image remote acquisition system and method, which realizes remote on-machine acquisition and improves the production efficiency of the machine tool.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A remote acquisition system for cutting edge images of a milling cutter on a machine plate includes a physical space, a digital space and a cloud database; the physical space includes a machine tool and a six-degree-of-freedom mechanical arm, and a camera is arranged on the six-degree-of-freedom mechanical arm; the digital space includes a digital platform for tool image acquisition;

[0008] Before the machine tool is processed, the specification information of the machine tool disc milling cutter is uploaded to the cloud database; during the machine tool processing, the position information of the machine tool spindle relative to the last shutdown is transmitted to the cloud database; when the machine tool is stopped and the disc milling cutter needs to be inspected, the tool image acquisition digital platform controls the six-degree-of-freedom robotic arm to move, and the six-degree-of-freedom robotic arm transmits the movement information of each axis of the robotic arm to the cloud database;

[0009] The cloud database processes the collected tool specification information, spindle position information, and robot arm motion information and transmits them to the MySQL database;

[0010] In the digital space, a tool image acquisition digital platform is built, and the disc milling cutter, six-degree-of-freedom robotic arm, and machine tool involved in the processing scene are simulated and modeled; the tool image acquisition digital platform interacts with the cloud database, and the robotic arm motion information and spindle position information are sent to the tool image acquisition digital platform through the cloud database and displayed on the platform in the form of animation simulation to achieve remote digital monitoring; the tool image acquisition digital platform includes a data management module, a robotic arm motion module, and an image acquisition module; the data management module is used to receive and transmit digital information, the robotic arm motion module plans the trajectory of the robotic arm in the physical scene and controls the robotic arm to move to the specified coordinate point, and the image acquisition module collects images taken by the robotic arm camera;

[0011] When it is necessary to collect the image of the cutting edge of the disc milling cutter blade of the machine tool, the robotic arm motion module of the tool image acquisition digital platform plans the motion trajectory of the six-degree-of-freedom robotic arm, transmits the robotic arm motion trajectory to the robotic arm through the MySQL database, and controls the robotic arm to move according to the planned trajectory; when the robotic arm moves to the corresponding position and needs to collect images, the image acquisition module of the tool image acquisition digital platform drives the robotic arm to collect the bottom edge of the disc milling cutter blade through the MySQL database; the collected image information is sent to the tool image acquisition digital platform through the cloud database and displayed in the form of an image on the platform.

[0012] Furthermore, the tool image acquisition digital platform robot arm motion module plans the motion trajectory of the six-degree-of-freedom robot arm including:

[0013] Step 1: The tool image acquisition digital platform obtains the machine tool spindle position information by transmitting data through the cloud database; the position coordinates of the machine tool spindle are established on the machine tool coordinate system. According to the relative position relationship between the robot arm and the machine tool, the position point of the machine tool spindle is transformed with the end of the robot arm's starting axis as the coordinate origin. The platform's robot arm motion module calculates the diameter and length of the disc milling cutter according to the tool specification information, and automatically plans the starting point to which the robot arm needs to move when taking an image;

[0014] Step 2: Determine the number of blades on the disc milling cutter disc through the disc milling cutter specification information read by the platform, divide the position where the robot arm stops and shoots the image of the milling cutter blade edge when it circles the cutter disc, and shoot it through the platform's image acquisition module.

[0015] Furthermore, in the robot arm coordinate system, the starting point of the first axis of the robot arm is taken as the center origin of the coordinate system and is denoted as (X 0 , Y 0 , Z 0 ), the position information of the machine tool spindle is converted into (X 1 ,Y1 ,Z 1 ), the position coordinates of the machine tool spindle are the coordinates of the center point of the machine tool spindle end face;

[0016] According to the established tool model, the distance between the spindle coordinates and the bottom edge of the milling cutter is L, and the distance between the camera carried by the robot and the bottom edge of the tool is l; when the processing stops and the image of the milling cutter blade needs to be collected, the machine tool spindle is rotated to the same angle as the machine tool spindle after the tool change, and the position of blade No. 1 is determined; the radius of the tool is a, the digital number of the blade is Q, and the angle between two adjacent blades is θ. Then, when the robot arm collects the image of blade No. Q, the position coordinates of the end of the robot arm are (X 1 +Lsin(Q-1)θ,Y 1 +Lcos(Q-1)θ,Z 1 -Ll).

[0017] Furthermore, data processing includes data integration and data transformation; data integration is to represent multiple data of different sources, formats, characteristics and properties under the same framework, and data transformation is to convert data into a language that can be read by the MySQL database.

[0018] Furthermore, a digital platform for tool image acquisition was built based on Unity3D software.

[0019] Furthermore, after the tool image is displayed in the form of an image on the platform, the image quality is judged by the human eye, and the image information judged to be qualified is transmitted to the MySQL database for storage.

[0020] A method for remotely collecting images of a milling cutter edge on a machine using the above-mentioned remote collection system for collecting images of a milling cutter edge on a machine comprises the following steps:

[0021] 1) Digitally model the disc milling cutter specification model, machine tool model, and robotic arm model in the physical space, and import the model into the tool image acquisition digital platform;

[0022] 2) The CNC machine tools in the physical space realize data interaction with the tool image acquisition digital platform in the digital space through the cloud database;

[0023] 3) The positional relationship between the robot arm and the machine tool in the physical space corresponds to the tool image acquisition digital platform;

[0024] 4) The placement of the tool is determined by laser marking the key of the machine tool spindle and the key connecting the spindle and the tool handle. When the machine tool automatically changes the tool, the marking position can be automatically aligned. The position information of the machine tool spindle relative to the last stop is transmitted to the tool image acquisition digital platform through the cloud database connected to the machine tool; when the image of the disc milling cutter blade needs to be collected when the processing stops, the machine tool spindle is rotated to the same angle as the machine tool spindle after the tool change;

[0025] 5) Click the automatic planning button of the robot arm on the tool image acquisition digital platform. According to the relative position information of the machine tool spindle and the tool specification information, the platform automatically plans the motion trajectory of the six-degree-of-freedom robot arm, and transmits the planned motion path instructions to the six-degree-of-freedom robot arm through the cloud database. The six-degree-of-freedom robot arm moves according to the received motion path instructions to collect the blade edge image;

[0026] 6) The image acquisition module of the tool image acquisition digital platform drives the robotic arm to acquire the bottom edge of the disc milling cutter blade through the MySQL database, sends the acquired image information to the tool image acquisition digital platform through the cloud database, and judges the image quality. The qualified image information is transmitted to the MySQL database for storage.

[0027] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0028] The present invention proposes a system and method for remotely acquiring images of the cutting edge of a disc milling cutter on a machine, which realizes visual monitoring by transmitting information from the physical space to the digital space in real time, and presenting the information in a visual form in the digital space; and realizes remote acquisition of images of the cutting edge of the disc milling cutter by transmitting instructions from the digital space to the physical space in real time, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a system structure block diagram of the present invention;

[0030] Figure 2 Disc milling cutter blade edge image collected for the digital platform;

[0031] Figure 3 This is a schematic diagram of the physical space robotic arm and camera structure;

[0032] Figure 4 This is a schematic diagram of laser marking alignment;

[0033] Figure 5 is a schematic diagram of the tool model;

[0034] Figure 6 It is the schematic diagram of the disc milling cutter;

[0035] Figure 7This is a schematic diagram of coordinate system transformation;

[0036] Figure 8 It is the overall flow chart of the present invention.

[0037] In the figure: 1-robot arm fixture, 2-six-degree-of-freedom robot arm, 3-camera fixture, 4-camera, 5-light source, 6-tool, 7-machine tool, 8-spindle, 9-tool handle, 10-blade, 11-laser marking. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] The present invention builds a remote visualization platform, which regulates the motion trajectory of the robot arm through the operation platform interface, directs the robot arm in the physical scene to move, and thus collects the image of the cutting edge of the disc milling cutter blade. The position information of the machine tool spindle and the robot arm in the physical scene can be transmitted to the platform in the digital space in real time through the cloud database, and mapped out in the form of animation simulation on the platform. The tool image acquisition digital platform automatically plans the motion trajectory of the six-degree-of-freedom robot arm according to the relative position information of the machine tool spindle and the tool specification information, and transmits the planned motion path instructions to the six-degree-of-freedom robot arm through the cloud database. The six-degree-of-freedom robot arm moves according to the received motion path instructions to collect the image of the cutting edge of the blade, and sends the collected image information to the tool image acquisition digital platform through the cloud database, thereby realizing a remote digital acquisition.

[0040] Figure 1 The system structure block diagram of the present invention. The physical space includes a CNC machine tool and a six-degree-of-freedom robotic arm. The digital space includes a tool image acquisition digital platform. Before the machine tool is processed, the specification and size information of the disc milling cutter is uploaded to the cloud database. During the machine tool processing, the machine tool transmits the position information of the machine tool spindle relative to the last shutdown to the cloud database in real time through the Socket communication protocol. When the machine tool is shut down and the disc milling cutter needs to be inspected, the tool image acquisition digital platform controls the robot arm to move. The six-degree-of-freedom robotic arm transmits the motion information of each axis of the robotic arm to the cloud database.

[0041] The cloud database processes the collected robot arm motion information, tool specification information, and spindle position information. Through data integration, various data from different sources, formats, and characteristics are represented in the same framework. After data transformation, the language code that cannot be read by the MySQL database is converted into a readable language. The above processed information is transmitted to the MySQL database.

[0042] In the digital space, the tool image acquisition digital platform is built based on Unity3D software. First, the disc milling cutter, six-degree-of-freedom robotic arm, and CNC machine tool involved in the processing scene are simulated and modeled 1:1. The tool image acquisition digital platform interacts with the cloud database. The robotic arm motion information and spindle position information are sent to the tool image acquisition digital platform in real time through the cloud database and displayed on the platform in the form of animation simulation, realizing a real-time remote digital monitoring. The tool image acquisition digital platform includes a data management module, a robotic arm motion module, and an image acquisition module. The function of the data management module is to receive and transmit digital information. The robotic arm motion module plans the trajectory of the robotic arm in the physical scene and controls the robotic arm to move to the specified coordinate point. The image captured by the robotic arm is collected by controlling the image acquisition module of the tool image acquisition digital platform. When it is necessary to collect images of the cutting edge of the disc milling cutter blade, click the automatic planning button of the robot arm of the tool image acquisition digital platform in the digital space. The robot arm motion module of the tool image acquisition digital platform automatically plans the motion trajectory of the six-degree-of-freedom robot arm, transmits the robot arm motion trajectory to the robot arm through the MySQL database, and controls the robot arm to move according to the planned trajectory. When the robot arm moves to the corresponding position and needs to collect photos, the image acquisition module of the tool image acquisition digital platform drives the robot arm to collect the bottom edge of the disc milling cutter blade through the MySQL database. The collected image information is sent to the tool image acquisition digital platform through the cloud database and displayed on the platform in the form of photos, such as Figure 2 As shown, the image quality is judged by human eyes, and the image information judged to be qualified is transmitted to the MySQL database for storage.

[0043] like Figure 3 As shown, the robot arm structure includes a robot arm fixture 1, a six-degree-of-freedom robot arm 2, a camera fixture 3, a CCD industrial camera 4, a light source 5, a tool 6, and a machine tool 7. The robot arm fixture 1 is fixed to the six-degree-of-freedom robot arm 2. The camera fixture 3 is installed at the end of the six-degree-of-freedom robot arm 2, and the CCD industrial camera 4 is installed on the camera fixture 3. The light source 5 is placed on the CCD industrial camera 4.

[0044] like Figure 4As shown, the placement of the tool is determined by laser marking 11 on the key of the machine tool spindle 8 and the key connecting the spindle and the tool handle 9, and the blade 10 is numbered clockwise. When the machine tool automatically changes tools and clamps the milling cutter handle, the key fixed on the spindle corresponds to the keyway on the tool handle, and the marking position can be automatically aligned, thereby planning the motion trajectory of the six-degree-of-freedom robot arm.

[0045] Tool image acquisition digital platform robot arm motion module planning the motion trajectory of the six-degree-of-freedom robot can be divided into two steps:

[0046] Step 1: The tool image acquisition digital platform obtains the machine tool spindle position information by transmitting data through the cloud database. The position coordinates of the machine tool spindle are established on the machine tool coordinate system. According to the relative position relationship between the robot arm and the machine tool, the position point of the machine tool spindle is transformed with the end of the robot arm's starting axis as the coordinate origin. The platform's robot arm motion module calculates the diameter and length of the disc milling cutter according to the tool specification information, and automatically plans the starting point to which the robot arm needs to move when taking an image;

[0047] Step 2: Determine the number of blades on the disc milling cutter disc through the disc milling cutter specification information read by the platform, divide the position where the robot arm stops and shoots the image of the milling cutter blade edge when it circles the cutter disc, and shoot through the platform's image acquisition module. If during the processing, according to the processing technology, the disc milling cutter does not clamp all the blades, the blade clamping position information is determined according to the tool specification information and the clockwise number of the blade, and the tool image acquisition digital platform transmits the corresponding motion instructions to the robot arm.

[0048] like Figure 7 As shown in the figure, in the robot arm coordinate system, the starting point of the first axis of the robot arm is taken as the center origin of the coordinate system and is recorded as (X 0 , Y 0 , Z 0 ), the position information of the machine tool spindle is converted into (X 1 ,Y 1 ,Z 1 ), the position coordinates of the machine tool spindle are the coordinates of the center point of the machine tool spindle end face.

[0049] According to the tool model established previously, the distance L between the spindle coordinate and the bottom edge of the milling cutter disc, and the distance l between the industrial camera carried by the robot arm and the bottom edge of the tool for clear imaging are fixed values, such as Figure 5 When the disc milling cutter blade image needs to be collected when the processing stops, the machine tool spindle is rotated according to the program already programmed on the machine tool to the angle consistent with the machine tool spindle after the tool change, and the position of blade No. 1 is determined. Figure 6As shown in the figure, the radius of the tool is a, the number of the blade is Q, and the angle between two adjacent blades is θ. It can be seen that the position coordinates of the end of the robot arm when the robot arm collects the image of blade Q are (X 1 +Lsin(Q-1)θ,Y 1 +Lcos(Q-1)θ,Z 1 -Ll). According to the tool model imported into the tool image acquisition digital platform, the number of blades on the tool disk and the clamping position information can be known. For example, the number of blades that can be clamped on the tool disk is 8, the number of clamped blades is 4, and the corresponding numbers of the clamped blades are No. 1, No. 4, No. 5 and No. 7. When the image is collected for the tool disk with the label No. 4, the position coordinates reached by the end of the robot arm are (X 1 +rsin3θ,Y 1 +rcos3θ,Z 1 -Ll).

[0050] Figure 8 The overall flow chart of the present invention comprises the following steps:

[0051] 1) The CNC machine tools in the physical space realize data interaction with the tool image acquisition digital platform in the digital space through the cloud database.

[0052] 2) The positional relationship between the robot arm and the machine tool in the physical space corresponds to the digital platform for tool image acquisition.

[0053] 3) Click the automatic planning button of the robot arm on the tool image acquisition digital platform. The tool image acquisition digital platform automatically plans the motion trajectory of the six-degree-of-freedom robot arm according to the relative position information of the machine tool spindle and the tool specification information, and transmits the planned motion path instructions to the six-degree-of-freedom robot arm through the cloud database. The six-degree-of-freedom robot arm moves according to the received motion path instructions to collect the blade edge image.

[0054] 4) Collect the blade numbered 1.

[0055] 5) The collected image data is transferred to the cloud database. The collected images are displayed on the platform, and the image quality is judged by the human eye. The qualified image information is transferred to the MySQL database for storage. When the CCD industrial camera carried by the robot arm does not collect the corresponding image or the tool image acquisition digital platform incorrectly plans the movement path of the robot arm, the movement trajectory of the robot arm is replanned, or the position relationship between the robot arm and the CNC machine tool in the physical space is corrected.

[0056] 6) The platform reads the disc milling cutter specification information, determines the number of blades on the disc milling cutter disc, and divides the position where the robot arm stops to take pictures of the milling cutter blade edge when it circles the cutter disc. The robot arm takes pictures of all the cutters. The qualified images are saved in the cloud database.

[0057] 7) When the image captured by the robot arm needs to be read, the image data previously stored in the MySQL database can be directly called.

[0058] In summary, the present invention provides a system and method for remotely collecting images of the cutting edge of a milling cutter on a machine disc, so as to realize remote collection of images of the cutting edge of a milling cutter on a machine disc. The CNC machine tool in the physical space realizes data interaction with the tool image collection digital platform in the digital space through the cloud database. The machine tool transmits the position information of the machine tool spindle to the cloud database, and the six-degree-of-freedom robotic arm transmits the motion information of each axis of the robotic arm to the cloud database. The cloud database processes and transforms the collected robotic arm motion information, tool specification information, and spindle position information and transmits them to the MySQL database. The robotic arm motion information and spindle position information are sent to the tool image collection digital platform in real time through the cloud database. When collecting the blade edge image, click the robotic arm automatic planning button on the tool image collection digital platform, and the robotic arm control module of the tool image collection digital platform automatically plans the trajectory of the six-degree-of-freedom robotic arm, transmits the robotic arm motion trajectory to the robotic arm through the MySQL database as the medium, and controls the robotic arm to move according to the planned trajectory. The image acquisition module of the tool image acquisition digital platform sends the collected image information to the tool image acquisition digital platform through the cloud database and displays it on the platform. The image quality is judged and the qualified image information is transmitted to the MySQL database for storage.

[0059] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0060] It will be easily understood by those skilled in the art that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A remote acquisition system for the image of the milling cutter edge on a machine disc, It is characterized in that It includes physical space, digital space and cloud database; the physical space includes machine tools and six-DOF robotic arms, which are equipped with cameras; the digital space includes a digital platform for tool image acquisition; Before the machine tool is processed, the specification information of the machine tool disc milling cutter is uploaded to the cloud database; during the machine tool processing, the position information of the machine tool spindle relative to the last shutdown is transmitted to the cloud database; when the machine tool is stopped and the disc milling cutter needs to be inspected, the tool image acquisition digital platform controls the six-degree-of-freedom robotic arm to move, and the six-degree-of-freedom robotic arm transmits the movement information of each axis of the robotic arm to the cloud database; The cloud database processes the collected tool specification information, spindle position information, and robot arm motion information and transmits them to the MySQL database; In the digital space, a tool image acquisition digital platform is built, and the disc milling cutter, six-degree-of-freedom robotic arm, and machine tool involved in the processing scene are simulated and modeled; the tool image acquisition digital platform interacts with the cloud database, and the robotic arm motion information and spindle position information are sent to the tool image acquisition digital platform through the cloud database and displayed on the platform in the form of animation simulation to achieve remote digital monitoring; the tool image acquisition digital platform includes a data management module, a robotic arm motion module, and an image acquisition module; The data management module is used to receive and transmit digital information, the robot arm motion module plans the trajectory of the robot arm in the physical scene and controls the robot arm to move to the specified coordinate point, and the image acquisition module collects images taken by the robot arm camera; When it is necessary to collect the image of the cutting edge of the disc milling cutter blade of the machine tool, the robotic arm motion module of the tool image acquisition digital platform plans the motion trajectory of the six-degree-of-freedom robotic arm, transmits the robotic arm motion trajectory to the robotic arm through the MySQL database, and controls the robotic arm to move according to the planned trajectory; when the robotic arm moves to the corresponding position and needs to collect images, the image acquisition module of the tool image acquisition digital platform drives the robotic arm to collect the bottom edge of the disc milling cutter blade through the MySQL database; the collected image information is sent to the tool image acquisition digital platform through the cloud database and displayed in the form of an image on the platform.

2. The on-machine milling cutter edge image remote acquisition system according to claim 1, It is characterized in that The tool image acquisition digital platform robot arm motion module plans the motion trajectory of the six-degree-of-freedom robot arm including: Step 1: The tool image acquisition digital platform obtains the machine tool spindle position information by transmitting data through the cloud database; the position coordinates of the machine tool spindle are established on the machine tool coordinate system. According to the relative position relationship between the robot arm and the machine tool, the position point of the machine tool spindle is transformed with the end of the robot arm's starting axis as the coordinate origin. The platform's robot arm motion module calculates the diameter and length of the disc milling cutter according to the tool specification information, and automatically plans the starting point to which the robot arm needs to move when taking an image; Step 2: Determine the number of blades on the disc milling cutter disc through the disc milling cutter specification information read by the platform, divide the position where the robot arm stops and shoots the image of the milling cutter blade edge when it circles the cutter disc, and shoot it through the platform's image acquisition module.

3. The on-machine milling cutter edge image remote acquisition system according to claim 2, It is characterized in that In the robot arm coordinate system, the starting point of the first axis of the robot arm is the center origin of the coordinate system and is recorded as (X 0 , Y 0 , Z 0 ), the position information of the machine tool spindle is converted into (X 1 ,Y 1 ,Z 1 ), the position coordinates of the machine tool spindle are the coordinates of the center point of the machine tool spindle end face; According to the established tool model, the distance between the spindle coordinates and the bottom edge of the milling cutter is L, and the distance between the camera carried by the robot and the bottom edge of the tool is l; when the processing stops and the image of the milling cutter blade needs to be collected, the machine tool spindle is rotated to the same angle as the machine tool spindle after the tool change, and the position of blade No. 1 is determined; the radius of the tool is a, the digital number of the blade is Q, and the angle between two adjacent blades is θ. Then, when the robot arm collects the image of blade No. Q, the position coordinates of the end of the robot arm are (X 1 +Lsin(Q-1)θ,Y 1 +Lcos(Q-1)θ,Z 1 -Ll).

4. The on-machine milling cutter edge image remote acquisition system according to claim 1, It is characterized in that Data processing includes data integration and data transformation; data integration is to represent multiple data of different sources, formats, characteristics and properties under the same framework, and data transformation is to convert data into a language that can be read by MySQL database.

5. The on-machine milling cutter edge image remote acquisition system according to claim 1, It is characterized in that A digital platform for tool image acquisition is built based on Unity3D software.

6. The on-machine milling cutter edge image remote acquisition system according to claim 1, It is characterized in that After the tool image is displayed on the platform in the form of an image, the image quality is judged by the human eye, and the image information judged to be qualified is transmitted to the MySQL database for storage.

7. A method for remotely collecting images of a milling cutter edge on a machine using the remote collecting system for collecting images of a milling cutter edge on a machine as claimed in any one of claims 1 to 6, It is characterized in that The following steps are involved: 1) Digitally model the disc milling cutter specification model, machine tool model, and robotic arm model in the physical space, and import the model into the tool image acquisition digital platform; 2) The CNC machine tools in the physical space realize data interaction with the tool image acquisition digital platform in the digital space through the cloud database; 3) The positional relationship between the robot arm and the machine tool in the physical space corresponds to the tool image acquisition digital platform; 4) The position information of the machine tool spindle relative to the last stop is transmitted to the tool image acquisition digital platform through the cloud database connected to the machine tool; When the machining stops and the image of the disc milling cutter blade needs to be collected, the machine tool spindle is rotated to the same angle as that after the machine tool spindle tool is changed; 5) According to the relative position information of the machine tool spindle and the tool specification information, the platform automatically plans the motion trajectory of the six-degree-of-freedom robot arm, and transmits the planned motion path instructions to the six-degree-of-freedom robot arm through the cloud database. The six-degree-of-freedom robot arm moves according to the received motion path instructions to collect the blade edge image; 6) The image acquisition module of the tool image acquisition digital platform drives the robotic arm to acquire the bottom edge of the disc milling cutter blade through the MySQL database, sends the acquired image information to the tool image acquisition digital platform through the cloud database, and judges the image quality. The qualified image information is transmitted to the MySQL database for storage.

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