Robot joint rotation information detection method and device and computer equipment

The invention relates to a joint rotation information detection method and device of a robot and computer equipment. The method comprises the steps that in the rotating process of a joint to be detected, identification sensing data detected by an identification sensor are obtained in real time; according to the obtained identification sensing data, determining at least two different target identification pieces in the candidate identification pieces, and detecting timestamps of the target identification pieces; and determining rotation information of the to-be-detected joint according to the timestamp and the mounting position of each target identification piece on the to-be-detected joint. By adopting the method, the effect of detecting the joint rotation information on the industrial robot without depending on the data output by the industrial robot can be achieved, the accuracy and objectivity of the detection result are improved, and the method has important significance for improving the quality and reli