Offshore boarding and berthing system automatic butt joint method based on visual guidance

The invention discloses an offshore boarding and berthing system automatic butt joint method based on visual guidance and belongs to the technical field of offshore platform boarding and berthing. Inorder to solve the problems that an operation and maintenance ship cannot be located due to the influence of sea waves, and meanwhile, an operator cannot accurately place a boarding and berthing accommodation ladder on an offshore platform due to the limitation of the sight, vision is used for guidance, the position and the approaching distance of the offshore platform are continuously detected and corrected, and the tail end of the accommodation ladder is safely, stably and accurately placed on the offshore platform through an automatic butt joint control method. A new solution is provided for automatic compensation of a sea wave active compensation boarding and berthing system, the defect of contingency of interference in a hull by the sea waves in the manual control process is overcome,the automatic butt joint