Robot following precision testing method, system and device and storage medium

Abstract

The invention discloses a robot following precision testing method, system and device and a storage medium, and the method comprises the steps: calibrating a conveying belt, and determining a conversion relation between a coordinate system of a photoelectric sensor and a coordinate system of the conveying belt; based on the conversion relation between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, acquiring reference position data when the calibration object passes through the photoelectric sensor and acquiring position data of the mechanical arm when a calibration needle at the tail end of the mechanical arm passes through the photoelectric sensor; on the basis of the reference position data and the mechanical arm position data, a following error is obtained through calculation; and evaluating the following precision based on the average value and the standard deviation of the following errors. The photoelectric sensors are used for replacing expensive laser trackers, the cost of follow-up precision testing is greatly reduced, meanwhile, the multiple photoelectric sensors are adopted to form an array, continuous and multi-point monitoring of follow-up actions of the six-axis robot is achieved, and the coverage range and precision of testing are improved.

Description

Technical Field

[0001] The present application relates to the field of precision testing technology, and in particular to a robot following precision testing method, system, device and storage medium. Background Art

[0002] In automated production lines, robots are core equipment, and their performance is directly related to production efficiency, product quality, and the stability of the entire production line. In particular, in application scenarios where robots are required to accurately follow moving calibration objects on conveyor belts, the robot's following accuracy is particularly important. However, traditional following accuracy testing methods often rely on high-precision measuring equipment, such as laser trackers, which are not only costly but also complex to operate, limiting their widespread application in automated production lines. Summary of the invention

[0003] The main purpose of this application is to overcome the shortcomings and deficiencies of the prior art and to provide a robot following accuracy test method, system, device and storage medium. By using photoelectric sensors instead of expensive laser trackers, the cost of following accuracy testing is greatly reduced. At the same time, an array of multiple photoelectric sensors is used to achieve continuous, multi-point monitoring of the following motion of the six-axis robot, thereby improving the coverage and accuracy of the test.

[0004] In order to achieve the above objectives, this application adopts the following technical solutions:

[0005] In a first aspect, the present application provides a robot following accuracy testing method, comprising the following steps:

[0006] Calibrate the conveyor belt to determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt;

[0007] Based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, the reference position data when the calibration object passes through the photoelectric sensor and the position data of the robot arm when the calibration needle at the end of the robot arm passes through the photoelectric sensor are obtained;

[0008] Calculating a following error based on the reference position data and the robot arm position data;

[0009] Based on the mean value and standard deviation of the following errors, the following accuracy is evaluated.

[0010] As a preferred technical solution, the photoelectric sensor includes a plurality of;

[0011] Wherein, a plurality of photoelectric sensors are fixed at equal intervals within the effective tracking distance of the conveyor belt.

[0012] As a preferred technical solution, the conveyor belt is calibrated to determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, including:

[0013] Run the conveyor belt at a preset speed, move a calibration object of known size along the conveyor belt, and pass through each photoelectric sensor in turn;

[0014] Record the time point when the calibration object passes through each sensor and the position information detected by the sensor;

[0015] The conversion relationship between the sensor coordinate system and the conveyor belt coordinate system is calculated based on the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor.

[0016] As a preferred technical solution, the step of obtaining the reference position data when the calibration object passes through the photoelectric sensor includes:

[0017] When the calibration object passes through the photoelectric sensor, the position data of the calibration object in the photoelectric sensor coordinate system is obtained;

[0018] Based on the conversion relationship between the coordinate system of the photoelectric sensor and the conveyor belt coordinate system, converting the position data of the calibration object in the photoelectric sensor coordinate system into first position data in the conveyor belt coordinate system;

[0019] The first position data converted into the conveyor belt coordinate system is used as the reference data of the calibration object.

[0020] As a preferred technical solution, the method of obtaining the position data of the robot arm when the calibration needle at the end of the robot arm passes through the photoelectric sensor includes:

[0021] When the calibration needle at the end of the robot arm passes through each photoelectric sensor, the position data of the calibration needle at the end of the robot arm in the photoelectric sensor coordinate system is obtained;

[0022] Based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, the position data of the calibration needle at the end of the robot arm in the photoelectric sensor coordinate system is converted into second position data in the conveyor belt coordinate system;

[0023] The second position data converted into the conveyor belt coordinate system is used as the position data of the robot arm.

[0024] As a preferred technical solution, the following error is calculated based on the reference position data and the robot position data, including:

[0025] Based on the time point of the reference position data, matching the robot arm position data corresponding to the time point of the reference position data;

[0026] The difference between the reference position data and the robot position data at each time point is calculated to obtain a following error.

[0027] In a second aspect, the present application provides a robot following accuracy test system, which is applied to the robot following accuracy test method, and includes a calibration module, a position data acquisition module, an error calculation module and an evaluation module;

[0028] The calibration module is used to calibrate the conveyor belt and determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt;

[0029] The position data acquisition module is used to acquire the reference position data when the calibration object passes through the photoelectric sensor and the position data of the mechanical arm when the calibration needle at the end of the mechanical arm passes through the photoelectric sensor based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt;

[0030] The error calculation module is used to calculate the following error based on the reference position data and the robot position data;

[0031] The evaluation module is used to evaluate the following accuracy based on the average value and standard deviation of the following error.

[0032] As a preferred technical solution, the calibration module is specifically used for:

[0033] Run the conveyor belt at a preset speed, move a calibration object of known size along the conveyor belt, and pass through each photoelectric sensor in turn;

[0034] Record the time point when the calibration object passes through each sensor and the position information detected by the sensor;

[0035] The conversion relationship between the sensor coordinate system and the conveyor belt coordinate system is calculated based on the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor.

[0036] In a third aspect, the present application provides an electronic device, the electronic device comprising:

[0037] at least one processor; and a memory communicatively coupled to the at least one processor;

[0038] The memory stores computer program instructions that can be executed by the at least one processor, and the computer program instructions are executed by the at least one processor so that the at least one processor can execute the robot following accuracy testing method.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium storing a program, which, when executed by a processor, implements the robot following accuracy testing method.

[0040] In summary, compared with the prior art, the effective effects brought about by the technical solution provided by this application include at least:

[0041] This application proposes a robot following accuracy test method, which determines the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt when the conveyor belt is calibrated; based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, obtains the reference position data when the calibration object passes through the photoelectric sensor and obtains the position data of the robot arm when the calibration needle at the end of the robot arm passes through the photoelectric sensor; based on the reference position data and the robot arm position data, calculates the following error; based on the average value and standard deviation of the following error, evaluates the following accuracy. At the same time, by using photoelectric sensors instead of expensive laser trackers, the cost of following accuracy testing is greatly reduced. At the same time, multiple photoelectric sensors are used to form an array to achieve continuous and multi-point monitoring of the following action of the six-axis robot, which improves the coverage and accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. 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 creative work.

[0043] Figure 1 A flowchart of a robot following accuracy testing method provided by one embodiment of the present application;

[0044] Figure 2 A block diagram of a robot following accuracy testing system provided for one embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0046] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0047] Example:

[0048] See also Figure 1 In one embodiment of the present application, a robot following accuracy testing method is provided, comprising the following steps:

[0049] S1. Calibrate the conveyor belt to determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt.

[0050] Furthermore, before calibrating the conveyor belt, it is necessary to fix multiple photoelectric sensors at equal intervals within the effective tracking distance of the conveyor belt. For example, if the total length of the conveyor belt is 800 mm, a photoelectric sensor is fixed every 100 mm to form a sensor array.

[0051] Furthermore, the main purpose of the calibration process is to establish a correspondence between the position of the photoelectric sensor and the number of encoder turns in the conveyor belt (conveyor belt coordinate system). The encoder is usually connected to the conveyor belt drive shaft or a rotating component that is synchronized with the conveyor belt movement. When the conveyor belt moves, this rotating component will rotate with it, thereby driving the encoder to rotate. For each revolution of the encoder, a certain number of pulse signals will be output. Therefore, by recording the real-time revolution value of the encoder, it is possible to know how many length units corresponding to the number of encoder revolutions the conveyor belt has moved.

[0052] Furthermore, the conveyor belt is calibrated to determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt. The specific steps include:

[0053] S11, running the conveyor belt at a preset speed, moving a calibration object of known size along the conveyor belt, and passing through each photoelectric sensor in turn;

[0054] S12, recording the time point when the calibration object passes through each sensor and the position information detected by the sensor;

[0055] S13. Calculate the conversion relationship between the sensor coordinate system and the conveyor belt coordinate system according to the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor.

[0056] The conversion relationship includes a rotation matrix and a translation vector, which are used to convert points in the sensor coordinate system into points in the conveyor coordinate system. Mathematical methods (such as the least squares method) can be used to optimize the calculation of the conversion relationship to improve accuracy. In addition, this embodiment also includes using different calibration tools or changing the position of the calibration tool, repeating the above calibration process to verify the accuracy and stability of the conversion relationship. If significant errors or inconsistencies are found in the conversion relationship, recheck the installation position of the sensor, the accuracy of the calibration tool, and the accuracy of data acquisition, and make necessary adjustments.

[0057] S2. Based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, obtain the reference position data when the calibration object passes through the photoelectric sensor and obtain the position data of the robotic arm when the calibration needle at the end of the robotic arm passes through the photoelectric sensor.

[0058] Further, the reference position data when the calibration object passes through the photoelectric sensor is obtained, that is, when the calibration object passes through the photoelectric sensor, the real-time circle value of the encoder is recorded as the reference position data, and the steps include:

[0059] S21.1. When the calibration object passes through the photoelectric sensor, the position data of the calibration object in the photoelectric sensor coordinate system is obtained;

[0060] Among them, the position data of the calibration object in the photoelectric sensor coordinate system is obtained based on the number of turns of the encoder in the conveyor belt;

[0061] Specifically, when the calibration object passes through the photoelectric sensor, the encoder in the conveyor belt will record its real-time number of rotations. This number of rotations is then used as the reference data to determine the position of the calibration object on the conveyor belt; the relationship between the number of encoder rotations and the position is established based on the characteristics and working principle of the encoder; the encoder is a sensor that can measure the rotation angle or linear displacement. It converts the rotation or displacement into a countable pulse signal through an internal photoelectric or magnetoelectric conversion device; the number of these pulse signals is proportional to the number of rotations or linear displacement of the encoder. Therefore, by recording the real-time number of rotations of the encoder, we can know how many length units corresponding to the number of encoder rotations the conveyor belt has moved, and we can also know the position data of the calibration object in the photoelectric sensor coordinate system.

[0062] S21.2, based on the conversion relationship between the coordinate system of the photoelectric sensor and the conveyor belt coordinate system, converting the position data of the calibration object in the photoelectric sensor coordinate system into first position data in the conveyor belt coordinate system;

[0063] S21.3. Use the first position data converted into the conveyor belt coordinate system as reference data of the calibration object.

[0064] The step of obtaining the position data of the robot arm when the calibration needle at the end of the robot arm passes through the photoelectric sensor comprises:

[0065] S22.1. When the calibration needle at the end of the robot arm passes through each photoelectric sensor, the position data of the calibration needle at the end of the robot arm in the photoelectric sensor coordinate system is obtained;

[0066] Among them, the position data of the calibration needle at the end of the robotic arm in the photoelectric sensor coordinate system can be obtained through the real-time number of circles of the robotic arm encoder.

[0067] S22.2, based on the conversion relationship between the coordinate system of the photoelectric sensor and the conveyor belt coordinate system, converting the position data of the calibration needle at the end of the robot arm in the photoelectric sensor coordinate system into second position data in the conveyor belt coordinate system;

[0068] S22.3. The second position data converted into the conveyor belt coordinate system is used as the position data of the robot arm.

[0069] S3. Calculate a following error based on the reference position data and the robot arm position data.

[0070] Furthermore, the following error is the difference between the robot position data and the reference position data of the calibration object.

[0071] Specifically, based on the time point of the reference position data, the robot arm position data corresponding to the time point of the reference position data is matched;

[0072] The difference between the reference position data and the robot position data at each time point is calculated to obtain a following error.

[0073] S4. Evaluate the following accuracy based on the average value and standard deviation of the following error.

[0074] Furthermore, through multiple tests, the following error of each photoelectric sensor position of the robot arm following the calibration object on the conveyor belt in each test is recorded. All recorded following error values ​​are added together and then divided by the number of tests to obtain the average following error value.

[0075] The standard deviation is a statistic that measures the dispersion of data and is used to evaluate the fluctuation of following error. The formula for calculating the standard deviation is:

[0076]

[0077] Where n is the number of tests, E is the following error, is the average value of the following error.

[0078] In summary, a robot following accuracy test method proposed in this application utilizes photoelectric sensors to replace traditional high-precision measuring equipment such as laser trackers. Photoelectric sensors are not only low-cost and easy to deploy on a large scale, but also easy to operate and have low maintenance costs, which greatly reduces the cost of following accuracy testing. In addition, by fixing multiple photoelectric sensors at equal intervals on the conveyor belt, a continuous, multi-point monitoring system is formed, which not only expands the coverage of the test and can more comprehensively capture the dynamic performance of the robot during the following process; but also further improves the accuracy and reliability of the test through the analysis of multi-point data; compared with single-point measurement, the application of photoelectric sensor arrays significantly improves the accuracy and comprehensiveness of precision testing.

[0079] It should be noted that, for the sake of convenience of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously.

[0080] Based on the same idea as the robot following accuracy test method in the above embodiment, the present application also provides a robot following accuracy test system, which can be used to perform the above robot following accuracy test method. For ease of explanation, the structural diagram of an embodiment of a robot following accuracy test system only shows the parts related to the embodiment of the present application. Those skilled in the art can understand that the illustrated structure does not constitute a limitation on the device, and may include more or fewer components than shown in the diagram, or combine certain components, or arrange the components differently.

[0081] See also Figure 2 In another embodiment of the present application, a robot following accuracy testing system is provided, the system comprising a calibration module 101, a position data acquisition module 102, an error calculation module 103 and an evaluation module 104;

[0082] The calibration module 101 is used to calibrate the conveyor belt and determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt;

[0083] The position data acquisition module 102 is used to acquire the reference position data when the calibration object passes through the photoelectric sensor and the position data of the robot arm when the calibration needle at the end of the robot arm passes through the photoelectric sensor based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt;

[0084] The error calculation module 103 is used to calculate the following error based on the reference position data and the robot position data;

[0085] The evaluation module 104 is used to evaluate the following accuracy based on the average value and standard deviation of the following error.

[0086] As a preferred technical solution, the calibration module is specifically used for:

[0087] Run the conveyor belt at a preset speed, move a calibration object of known size along the conveyor belt, and pass through each photoelectric sensor in turn;

[0088] Record the time point when the calibration object passes through each sensor and the position information detected by the sensor;

[0089] The conversion relationship between the sensor coordinate system and the conveyor belt coordinate system is calculated based on the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor.

[0090] It should be noted that a robot following accuracy testing system of the present application corresponds one-to-one to a robot following accuracy testing method of the present application. The technical features and beneficial effects described in the embodiment of the above-mentioned robot following accuracy testing method are applicable to the embodiment of a robot following accuracy testing system. For specific contents, please refer to the description in the embodiment of the method of the present application. It will not be repeated here. This is hereby declared.

[0091] In addition, in the implementation of a robot following accuracy test system in the above embodiment, the logical division of each program module is only an example. In actual applications, the above functions can be assigned to different program modules as needed, for example, for the configuration requirements of the corresponding hardware or the convenience of software implementation. That is, the internal structure of the robot following accuracy test system is divided into different program modules to complete all or part of the functions described above.

[0092] In another embodiment, an electronic device for implementing a robot following accuracy testing method is provided, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; when the processor executes the computer program, a robot following accuracy testing method of any embodiment of the present application is implemented.

[0093] Exemplarily, in this embodiment, the computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present application. The one or more module elements may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the device.

[0094] The device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The device may include, but is not limited to, a processor and a memory.

[0095] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the device, and various interfaces and lines are used to connect various parts of the entire device.

[0096] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; in addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0097] Accordingly, the present application also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a robot following accuracy testing method as described in any one of the above embodiments.

[0098] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0099] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above embodiments are preferred implementation modes of the present application, but the implementation modes of the present application are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present application should be equivalent replacement methods and are included in the protection scope of the present application.

Claims

1. A robot following accuracy testing method, characterized in that: The steps include: Calibrate the conveyor belt to determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt; Based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, the reference position data when the calibration object passes through the photoelectric sensor and the position data of the robot arm when the calibration needle at the end of the robot arm passes through the photoelectric sensor are obtained; Calculating a following error based on the reference position data and the robot arm position data; Based on the mean value and standard deviation of the following errors, the following accuracy is evaluated.

2. According to claim 1, a robot following accuracy testing method is characterized in that: The photoelectric sensor comprises a plurality of; Wherein, a plurality of photoelectric sensors are fixed at equal intervals within the effective tracking distance of the conveyor belt.

3. According to claim 1, a robot following accuracy testing method is characterized in that: The conveyor belt is calibrated to determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, including: Run the conveyor belt at a preset speed, move a calibration object of known size along the conveyor belt, and pass through each photoelectric sensor in turn; Record the time point when the calibration object passes through each sensor and the position information detected by the sensor; The conversion relationship between the sensor coordinate system and the conveyor belt coordinate system is calculated based on the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor.

4. A robot following accuracy testing method according to claim 1, characterized in that: The step of obtaining the reference position data when the calibration object passes through the photoelectric sensor includes: When the calibration object passes through the photoelectric sensor, the position data of the calibration object in the photoelectric sensor coordinate system is obtained; Based on the conversion relationship between the coordinate system of the photoelectric sensor and the conveyor belt coordinate system, converting the position data of the calibration object in the photoelectric sensor coordinate system into first position data in the conveyor belt coordinate system; The first position data converted into the conveyor belt coordinate system is used as the reference data of the calibration object.

5. A robot following accuracy testing method according to claim 1, characterized in that: The obtaining of the position data of the robot arm when the calibration needle at the end of the robot arm passes through the photoelectric sensor includes: When the calibration needle at the end of the robot arm passes through each photoelectric sensor, the position data of the calibration needle at the end of the robot arm in the photoelectric sensor coordinate system is obtained; Based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, the position data of the calibration needle at the end of the robot arm in the photoelectric sensor coordinate system is converted into second position data in the conveyor belt coordinate system; The second position data converted into the conveyor belt coordinate system is used as the position data of the robot arm.

6. A robot following accuracy testing method according to claim 1, characterized in that: The calculating the following error based on the reference position data and the robot position data includes: Based on the time point of the reference position data, matching the robot arm position data corresponding to the time point of the reference position data; The difference between the reference position data and the robot position data at each time point is calculated to obtain a following error.

7. A robot following accuracy test system, characterized in that: A robot following accuracy testing method applied to any one of claims 1 to 6, comprising a calibration module, a position data acquisition module, an error calculation module and an evaluation module; The calibration module is used to calibrate the conveyor belt and determine the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt; The position data acquisition module is used to acquire the reference position data when the calibration object passes through the photoelectric sensor and the position data of the mechanical arm when the calibration needle at the end of the mechanical arm passes through the photoelectric sensor based on the conversion relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt; The error calculation module is used to calculate the following error based on the reference position data and the robot position data; The evaluation module is used to evaluate the following accuracy based on the average value and standard deviation of the following error.

8. A robot following accuracy testing system according to claim 7, characterized in that: The calibration module is specifically used for: Run the conveyor belt at a preset speed, move a calibration object of known size along the conveyor belt, and pass through each photoelectric sensor in turn; Record the time point when the calibration object passes through each sensor and the position information detected by the sensor; The conversion relationship between the sensor coordinate system and the conveyor belt coordinate system is calculated based on the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores computer program instructions that can be executed by the at least one processor, and the computer program instructions are executed by the at least one processor so that the at least one processor can execute a robot following accuracy testing method as described in any one of claims 1-6.

10. A computer-readable storage medium storing a program, characterized in that: When the program is executed by a processor, a robot following accuracy testing method as described in any one of claims 1 to 6 is implemented.

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