Positioning method and device and storage medium

The invention provides a positioning method and device and a storage medium, and the method comprises the steps: obtaining an image of a mark point when an execution tail end of a robot clamps a partwith the mark point to a specified position in a fixed visual field of image collection equipment, so as to obtain a first coordinate of the mark point in a first state; when the rotation center of the robot is kept unchanged, the robot rotates; calculating a second coordinate after the mark point rotates along a first specified direction according to a preset angle under the control of the robotand a third coordinate after the mark point rotates along a second specified direction according to the preset angle under the control of the robot according to the moving path of the part clamped bythe robot; and calculating the position of the rotation center of the robot in a robot coordinate system according to the first coordinate, the second coordinate and the third coordinate. Therefore, the problem that the rotatio