Robot operation pose information measuring method under non-structural environment

The invention discloses a robot operation pose information measuring method under a non-structural environment. The robot operation pose information measuring method under the non-structural environment comprises the steps that a real-time three-dimensional model of a current work space of the robot is created; pose mark plates are arranged on tail end fixtures of mechanical arms of the robot; marking straight line arrows are drawn on the pose mark plates; the pose mark plates are searched according to the color of the pose mark plates, a vector coordinate of the marking straight line arrows is acquired according to three dimensional point cloud outline information of the mark plates, the position and pose of the tail end fixtures of the mechanical arms in a camera coordinate are calculated according to the vector coordinate of the marking straight line arrows; the position and pose of a target object and the tail end fixtures of the mechanical arms, a relative position of an obstacle and the mechanical arms and the corresponding pose of the two mechanical arms are calculated. According to the robot operation pose information measuring method, the corresponding pose information is provided for a mobile robot to realize collisionless autonomous grasp on the target object under the non-structural environment.