Tea leaf grading picking method, device, equipment and medium

The invention relates to a tea leaf grading picking method, device and equipment and a medium. The method comprises the steps that images of tea leaves to be picked in a tea garden are obtained; performing target detection on the to-be-picked tea leaf image based on a pre-trained tea leaf target detection model, and determining a tea leaf target detection frame in the to-be-picked tea leaf image; key point detection is carried out on the tea leaf target detection frame based on a pre-trained tea leaf picking point detection model, types of tea leaves in the to-be-picked tea leaf image and corresponding tea leaf coordinate information are determined, and the types of the tea leaves comprise one or more of single-bud tea leaves, one-bud one-leaf tea leaves and one-bud two-leaf tea leaves; the picking robot determines picking points corresponding to the single-bud tea leaves, the one-bud-one-leaf tea leaves and the one-bud-two-leaf tea leaves according to the types of the tea leaves and the corresponding coordin