Multi-camera robot hand-eye calibration method and device, electronic equipment and storage medium

The invention belongs to the technical field of robot calibration, and discloses a multi-camera robot hand-eye calibration method and device, electronic equipment and a storage medium. The method comprises the steps: obtaining the initial angle data of each environment camera, a tail end camera and a calibration standard part under a robot base coordinate system; acquiring first pose data of the calibration standard part under a camera coordinate system of each camera according to the initial angle data, and acquiring second pose data of the robot tail end under the current robot base coordinate system; calculating relative pose data of each environment camera relative to the tail end camera according to the first pose data; calibrating a pose conversion matrix from the camera coordinate system of the tail end camera to a robot tail end coordinate system; and calculating a pose conversion matrix from the camera coordinate system of each environment camera to the robot base coordinate system according to the p