Workpiece grabbing method, device and equipment and storage medium

The invention provides a workpiece grabbing method, device and equipment and a storage medium, and the method comprises the steps that a first image sent by a visual system is received, and the first image comprises two or more workpieces; obtaining pose information of the workpiece in the first image; determining the grabbing priority according to the pose information of the workpieces in the first image to obtain a workpiece grabbing sequence table; and according to the workpiece grabbing sequence table, a workpiece grabbing task is executed. According to the method, the image of the workpiece to be grabbed can be obtained through the visual system, and the dynamic grabbing priority is formulated based on the pose information of the workpiece in the image, so that the grabbing efficiency of the workpiece can be effectively improved. 本发明提供了一种工件的抓取方法、装置、设备及存储介质，包括：接收视觉系统发送的第一图像，所述第一图像中包含有两个及以上工件；获取第一图像中工件的位姿信息；根据第一图像中工件的位姿信息确定抓取的优先级，得到工件抓取序列表；根据工件抓取序列表，执行工件的抓取任务。本发明能够通过视觉系统获取待抓取的工件图像，基于图像中工件的位姿信息，制定动态的抓取优先级，从