A robot following accuracy testing method, system, device and storage medium

Abstract

This application discloses a method, system, device, and storage medium for testing robot following accuracy. The method includes: calibrating a conveyor belt to determine the transformation relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt; based on the transformation relationship 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 the photoelectric sensor and acquiring robot arm position data when the calibration pin at the end of the robot arm passes the photoelectric sensor; calculating the following error based on the reference position data and the robot arm position data; and evaluating the following accuracy based on the average value and standard deviation of the following error. By using photoelectric sensors instead of expensive laser trackers, the cost of following accuracy testing is significantly reduced. Furthermore, by using multiple photoelectric sensors in an array, continuous, multi-point monitoring of the following motion of a six-axis robot is achieved, improving the coverage and accuracy of the test.

Description

Technical Field

[0001] This application relates to the field of accuracy testing technology, and in particular to a method, system, device and storage medium for testing the accuracy of robot following. Background Technology

[0002] In automated production lines, robots are core equipment, and their performance directly affects production efficiency, product quality, and the overall stability of the production line. Especially in applications requiring robots to accurately follow moving calibration objects on conveyor belts, the robot's following accuracy is paramount. However, traditional methods for testing following accuracy often rely on high-precision measuring equipment, such as laser trackers. These devices are not only expensive 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 provide a robot following accuracy testing 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, by using an array of multiple photoelectric sensors, continuous and multi-point monitoring of the following motion of a six-axis robot can be achieved, improving the coverage and accuracy of the test.

[0004] To achieve the above objectives, this application adopts the following technical solution:

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

[0006] The conveyor belt is calibrated to determine the transformation relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt;

[0007] Based on the transformation 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 robotic arm when the calibration needle at the end of the robotic arm passes through the photoelectric sensor are obtained.

[0008] Based on the reference position data and the robotic arm position data, the following error is calculated;

[0009] The tracking accuracy is evaluated based on the mean and standard deviation of the tracking error.

[0010] As a preferred technical solution, the photoelectric sensor includes multiple components;

[0011] Among them, multiple photoelectric sensors are fixed at equal intervals within the effective tracking distance of the conveyor belt.

[0012] As a preferred technical solution, the calibration of the conveyor belt to determine the transformation relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt includes:

[0013] The conveyor belt runs at a preset speed, and a calibration object of known size is moved along the conveyor belt, passing through each photoelectric sensor in sequence;

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

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

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

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

[0018] Based on the transformation relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, the position data of the calibration object in the coordinate system of the photoelectric sensor is converted into the first position data in the coordinate system of the conveyor belt.

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

[0020] As a preferred technical solution, the step of acquiring the robotic arm position data when the calibration needle at the end of the robotic arm passes the photoelectric sensor includes:

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

[0022] Based on the transformation 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 robotic arm in the coordinate system of the photoelectric sensor is converted into the second position data in the coordinate system of the conveyor belt.

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

[0024] As a preferred technical solution, the step of calculating the following error based on the reference position data and the robotic arm position data includes:

[0025] Based on the time point of the reference position data, match 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 robotic arm position data at each time point is calculated to obtain the following error.

[0027] Secondly, this application provides a robot following accuracy testing system, applied to the robot following accuracy testing method, including 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 transformation 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 reference position data when the calibration object passes through the photoelectric sensor and robotic arm position data when the calibration needle at the end of the robotic arm passes through the photoelectric sensor, based on the transformation 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 robotic arm 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] The conveyor belt runs at a preset speed, and a calibration object of known size is moved along the conveyor belt, passing through each photoelectric sensor in sequence;

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

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

[0036] Thirdly, this application provides an electronic device, the electronic device comprising:

[0037] At least one processor; and a memory communicatively connected to said at least one processor;

[0038] The memory stores computer program instructions that can be executed by the at least one processor, which are then executed by the at least one processor to enable the at least one processor to perform the robot following accuracy testing method.

[0039] Fourthly, this application provides a computer-readable storage medium storing a program, which, when executed by a processor, implements the robot following accuracy testing method described above.

[0040] In summary, compared with the prior art, the effective effects of the technical solution provided in this application include at least the following:

[0041] This application proposes a method for testing robot following accuracy. The method involves calibrating a conveyor belt to determine the transformation relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt. Based on this transformation relationship, reference position data is acquired when the calibration object passes the photoelectric sensor, and robot arm position data is acquired when the calibration pin at the end of the robot arm passes the photoelectric sensor. Following error is calculated based on the reference position data and the robot arm position data. Following accuracy is evaluated based on the average value and standard deviation of the following error. Furthermore, by using photoelectric sensors instead of expensive laser trackers, the cost of following accuracy testing is significantly reduced. Additionally, by employing an array of multiple photoelectric sensors, continuous, multi-point monitoring of the six-axis robot's following motion is achieved, improving the test coverage and accuracy. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart illustrating a robot following accuracy testing method provided in one embodiment of this application;

[0044] Figure 2 This is a block diagram of a robot following accuracy testing system provided in one embodiment of this application. Detailed Implementation

[0045] 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 with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

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

[0047] Example:

[0048] Please see Figure 1 One embodiment of this application provides a method for testing robot following accuracy, comprising the following steps:

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

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

[0051] Furthermore, the main purpose of the calibration process is to establish the correspondence between the position of the photoelectric sensor and the number of encoder revolutions in the conveyor belt (conveyor belt coordinate system). The encoder is typically connected to the conveyor belt drive shaft or a rotating component synchronized with the conveyor belt's movement. As the conveyor belt moves, this rotating component rotates, which in turn drives the encoder to rotate. Each revolution of the encoder outputs a certain number of pulse signals. Therefore, by recording the real-time number of encoder revolutions, it is possible to determine how many units of length the conveyor belt has moved corresponding to the number of encoder revolutions.

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

[0053] S11. Run the conveyor belt at a preset speed and move the calibration object of known size along the conveyor belt, passing it through each photoelectric sensor in sequence;

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

[0055] S13. Based on the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor, calculate the transformation relationship between the sensor coordinate system and the conveyor belt coordinate system.

[0056] The transformation relationship includes a rotation matrix and a translation vector, used to convert points in the sensor coordinate system to points in the conveyor belt coordinate system. Mathematical methods (such as the least squares method) can be used to optimize the calculation of the transformation relationship to improve accuracy. Furthermore, this embodiment includes repeating the above calibration process using different calibration tools or changing the position of the calibration tools to verify the accuracy and stability of the transformation relationship. If significant errors or inconsistencies are found in the transformation relationship, the sensor's installation position, the accuracy of the calibration tools, and the accuracy of data acquisition are re-examined, and necessary adjustments are made.

[0057] S2. Based on the transformation 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] Furthermore, the reference position data is obtained when the calibration object passes the photoelectric sensor. That is, when the calibration object passes the photoelectric sensor, the real-time rotation value of the encoder is recorded and used as the reference position data. The steps include:

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

[0060] The position data of the calibration object in the photoelectric sensor coordinate system is obtained based on the number of revolutions of the encoder in the conveyor belt;

[0061] Specifically, as the calibration object passes the photoelectric sensor, the encoder in the conveyor belt records its real-time rotation count. This rotation count is then used as reference data to determine the calibration object's position on the conveyor belt. The relationship between the encoder's rotation count and position is established based on the encoder's characteristics and operating principle. An encoder is a sensor that measures rotational angle or linear displacement. It converts rotation or displacement into countable pulse signals through an internal photoelectric or magnetoelectric conversion device. The number of these pulse signals is proportional to the encoder's rotation count or linear displacement. Therefore, by recording the encoder's real-time rotation count, we can determine how many units of length the conveyor belt has moved (corresponding to encoder rotation counts), and thus the calibration object's position in the photoelectric sensor coordinate system.

[0062] S21.2 Based on the transformation relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, the position data of the calibration object in the coordinate system of the photoelectric sensor is converted into the first position data in the coordinate system of the conveyor belt.

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

[0064] The steps for obtaining the position data of the robotic arm when the calibration needle at the end of the robotic arm passes the photoelectric sensor include:

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

[0066] The position data of the calibration pin at the end of the robotic arm in the photoelectric sensor coordinate system can be obtained by the real-time rotation count of the robotic arm encoder.

[0067] S22.2 Based on the transformation 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 robotic arm in the coordinate system of the photoelectric sensor is converted into the second position data in the coordinate system of the conveyor belt.

[0068] S22.3. Convert the data into second position data in the conveyor belt coordinate system as the position data of the robotic arm.

[0069] S3. Based on the reference position data and the robotic arm position data, the following error is calculated.

[0070] Furthermore, the following error is the difference between the robotic arm position data and the reference position data of the calibrated 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 robotic arm position data at each time point is calculated to obtain the 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 the robotic arm following the position of each photoelectric sensor on the calibration object on the conveyor belt was recorded in each test. All recorded following error values ​​were added together and then divided by the number of tests to obtain the average following error.

[0075] Standard deviation is a statistic that measures the dispersion of data and is used to assess the volatility of following error; the formula for calculating standard deviation is:

[0076]

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

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

[0079] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously.

[0080] Based on the same idea as the robot following accuracy testing method in the above embodiments, this application also provides a robot following accuracy testing system, which can be used to execute the above-described robot following accuracy testing method. For ease of explanation, the schematic diagram of an embodiment of the robot following accuracy testing system only shows the parts related to the embodiments of this application. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0081] Please see Figure 2 In another embodiment of this application, a robot following accuracy testing system is provided, which includes 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 transformation 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 reference position data when the calibration object passes through the photoelectric sensor and robotic arm position data when the calibration needle at the end of the robotic arm passes through the photoelectric sensor, based on the transformation 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 robotic arm 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] The conveyor belt runs at a preset speed, and a calibration object of known size is moved along the conveyor belt, passing through each photoelectric sensor in sequence;

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

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

[0090] It should be noted that the robot following accuracy testing system of this application corresponds one-to-one with the robot following accuracy testing method of this application. The technical features and beneficial effects described in the above embodiments of the robot following accuracy testing method are also applicable to the embodiments of the robot following accuracy testing system. For details, please refer to the description in the embodiments of the method of this application, which will not be repeated here.

[0091] Furthermore, in the above embodiment of a robot following accuracy testing system, the logical division of each program module is merely an example. In actual applications, the above functions can be assigned to different program modules as needed, for example, for the sake of corresponding hardware configuration requirements or the convenience of software implementation. That is, the internal structure of the robot following accuracy testing system can be 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, including 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, it implements a robot following accuracy testing method according to any embodiment of this application.

[0093] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete this application. The one or more module units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the device.

[0094] The device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The device may include, but is not limited to, a processor and memory.

[0095] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the device, connecting various parts of the device via various interfaces and lines.

[0096] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc. In addition, the memory may include high-speed random access memory and non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

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

[0098] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0099] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments of this application, but the implementation of this application is not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of this application shall be considered equivalent substitutions and shall be included within the protection scope of this application.

Claims

1. A method for testing the accuracy of robot following, characterized in that, Includes the following steps: The conveyor belt is calibrated to determine the transformation relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt; Based on the transformation 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 robotic arm when the calibration needle at the end of the robotic arm passes through the photoelectric sensor are obtained. Based on the reference position data and the robotic arm position data, the following error is calculated; The tracking accuracy is evaluated based on the mean and standard deviation of the tracking error.

2. The robot following accuracy testing method according to claim 1, characterized in that, The photoelectric sensor includes multiple sensors; Among them, multiple photoelectric sensors are fixed at equal intervals within the effective tracking distance of the conveyor belt.

3. The robot following accuracy testing method according to claim 1, characterized in that, The calibration of the conveyor belt, determining the transformation relationship between the coordinate system of the photoelectric sensor and the coordinate system of the conveyor belt, includes: The conveyor belt runs at a preset speed, and a calibration object of known size is moved along the conveyor belt, passing through each photoelectric sensor in sequence; Record the time point at which the calibration object passes each sensor and the position information detected by the sensor; Based on the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor, the transformation relationship between the sensor coordinate system and the conveyor belt coordinate system is calculated.

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

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

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

7. A robot following accuracy testing system, characterized in that, A robot following accuracy testing method applicable to any one of claims 1-6 includes 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 transformation 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 reference position data when the calibration object passes through the photoelectric sensor and robotic arm position data when the calibration needle at the end of the robotic arm passes through the photoelectric sensor, based on the transformation 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 robotic arm 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. The robot following accuracy testing system according to claim 7, characterized in that, The calibration module is specifically used for: The conveyor belt runs at a preset speed, and a calibration object of known size is moved along the conveyor belt, passing through each photoelectric sensor in sequence; Record the time point at which the calibration object passes each sensor and the position information detected by the sensor; Based on the known position of the calibration object in the conveyor belt coordinate system and the position information detected by the sensor, the transformation relationship between the sensor coordinate system and the conveyor belt coordinate system is calculated.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores computer program instructions that can be executed by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform 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 the processor, it implements the robot following accuracy testing method according to any one of claims 1-6.

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