The invention provides a measurement method and system for the goods capturing posture of a robot. In the measurement method for the goods capturing posture of the robot provided by the invention, a reference surface generator is arranged in an environment, so that the position of the reference surface is fixed; as the reference surface is fixed in the environment, a fixed overall coordinate is determined; when the robot or a mechanical arm moves, the position of the reference surface is invariable, so that the determined overall coordinate is not changed either, and thus the measurement accuracy can be improved by using the overall coordinate as a reference.