The invention discloses a flexible robot posture measurement method and relates to the field of robot vision measurement. According to the flexible robot posture measurement method, the initial posture information is obtained, extended kalman filtering is performed on measured data, so that the relative posture information of a flexible robot and a charging head is obtained, and the expected speedof the tail end of a mechanical arm is calculated according to the relative posture information, and then motions of all joints of the flexible robot are planned, so that precise aligning to the charging head is performed; and by means of introducing of the flexible robot, the working space of a charging robot is enlarged and the movement flexibility of the charging robot is improved, furthermore, the multiple-freedom-degree redundancy of the flexible robot is quite suitable for an unstructured measurement environment, and influence of past-time historical cumulative measurement data on the subsequent motion process of the flexible robot is added to the measurement result through the extended kalman filtering, the corrected posture information after compensation is obtained, the flexiblerobot posture measurement method and a device have high calculation accuracy, addition of the hardware cost is not needed, the posture information can be obtained just needing one camera, the measuring system cost is reduced, and the posture measurement accuracy is improved.