The invention relates to a robot original point demarcating method and device, a storage medium and computer equipment. The method comprises the following steps that initial joint coordinates corresponding to each joint axis initial state of a robot are obtained, according to the initial joint coordinates, preset reference points at the terminal of the robot in various different attitude trends and current initial joint coordinates corresponding to the joint axis initial states when the preset reference points are coincide are obtained, according to the current joint coordinates, position coordinates corresponding to each attitude are obtained, distance deviation of the every two position coordinates are calculated, when any distance deviation is higher than a preset value, the initial joint coordinates are updated by using a search algorithm, according to the updated initial joint coordinates, the current joint coordinates are updated, the step that according to the current joint coordinates, position coordinates corresponding to each attitude are obtained is entered, and until each distance deviation is less than the preset value, the corresponding target initial joint coordinates are obtained to be used as an original point of the robot. By means of the robot original point demarcating method, the cost can be reduced, and the efficiency can be improved.