Automatic robotic arm system and coordinating method for robotic arm and computer vision thereof

An automatic robotic arm system, comprising:

• a robotic arm, used to move in a 3D space;
• an image capturing device, arranged outside of a flange axis of the robotic arm and used to capture images;
• an optical ranging device, arranged on the robotic arm and used to measure a target distance, wherein a ranging axis of the optical ranging device is parallel to or overlaps the flange axis;
• an optical path structure, comprising a beam-splitting mirror used to guide a visible light to the image capturing device and guide a ranging light to the optical ranging device;
• and
• a control device, connected to the robotic arm, the image capturing device, and the optical ranging device;
• wherein the control device is configured in a calibration mode to control the robotic arm to pose a plurality of calibration postures in an effective capturing zone of the image capturing device based on the target distance, control the image capturing device to capture a plurality of calibration images for the calibration postures, compute a transformation relation between a visual space of the image capturing device and a mechanical space of the robotic arm based on the calibration postures and the calibration images;
• wherein the control device is configured in an operation mode to control the image capturing device to capture an operation image, and determine a mechanical space coordinate for performing operation based on the operation image and the transformation relation, and control the robotic arm to move to the mechanical space coordinate.