Workpiece shifting method, device and equipment and storage medium

The invention provides a workpiece shifting method and device, equipment and a storage medium. The workpiece shifting method comprises the steps that a grabbing tool and a to-be-grabbed workpiece are determined; a first image of the to-be-grabbed workpiece is obtained through a visual system, and pose information of the to-be-grabbed workpiece in the first image is determined; according to the pose information of the to-be-grabbed workpiece, a stirring mode is determined; and according to the shifting mode, a mechanical arm is driven to shift the to-be-grabbed workpiece. The posture of the workpiece can be accurately adjusted through shifting, so that the robot can rapidly grab the workpiece, the robot can be suitable for sorting of various stacked workpieces with different sizes and shapes and stacking of special-shaped workpieces and complex workpieces, and the grabbing success rate and the stacking efficiency are improved. 本发明提供了一种工件的拨动方法、装置、设备及存储介质，包括：确定抓取工具以及待抓取工件；通过视觉系统获取所述待抓取工件的第一图像，并确定所述第一图像中待抓取工件的位姿信