Workpiece grabbing method, device, computer equipment and storage medium

The invention discloses a workpiece grabbing method. The workpiece grabbing method comprises the steps that S1, original point clouds of a workpiece are obtained; S2, the original point clouds of the workpiece are segmented and identified to obtain initial workpiece information; S3, the preliminary workpiece information is identified one by one to obtain workpiece information; S4, a first sequence is obtained, a first grabbing planning module polls the workpiece point clouds according to the first sequence for grabbing planning judgment, the first grasping planning module comprises at least two types of cylindrical surface grabbing postures, included angles in all the kinds of cylindrical surface grabbing postures are set to be different, if the workpiece point clouds corresponding to the cylindrical surface grabbing postures passes grabbing planning, outputting outwards is carried out, and if all the workpiece point clouds corresponding to the cylindrical surface grabbing postures do not pass grabbing planni