WORKPIECE GRABBING METHOD AND APPARATUS, AND COMPUTER DEVICE AND STORAGE MEDIUM

A workpiece grabbing method, comprising: S1, acquiring an original workpiece point cloud; S2, segmenting and identifying the original workpiece point cloud, so as to acquire preliminary workpiece information; S3, identifying the preliminary workpiece information piece by piece, so as to acquire workpiece information; S4, acquiring a first rank, and polling workpiece point clouds via a first grabbing plan module according to the first rank, so as to perform grabbing plan determination, wherein the first grabbing plan module comprises at least two types of cylinder face grabbing postures, and an included angle in each type of cylinder face grabbing posture is set to be different, and if a workpiece point cloud corresponding to a cylinder face grabbing posture passes a grabbing plan, performing outputting to the outside, and if none of the workpiece point clouds passes the grabbing plan, entering step S5; and S5, acquiring a second rank, polling the preliminary workpiece point cloud via a second grabbing plan mo