Multi-type connector integrated automatic docking system based on monocular vision six-degree-of-freedom auxiliary pose self-adaption method

The invention provides a multi-type connector integrated automatic docking system based on a monocular vision six-degree-of-freedom auxiliary pose self-adaption method. According to the system, after a supply end zero returning mechanism returns to zero, six-degree-of-freedom passive self-adaptive adjustment can be performed on a supply end substrate according to the pose of a receiving end; the visual camera shoots a target arranged on the receiving end, image data are transmitted to the industrial personal computer through the gigabit Ethernet, the industrial personal computer calculates the relative pose of the receiving end and the supply end substrate through a visual algorithm, and then whether the receiving end under the current pose can complete butt joint within the self-adaptive range of the supply end substrate or not is judged. And finally, automatic butt joint is completed through coupling movement of the supply end executing mechanism and the supply end zero returning mechanism. 本发明提供基于单目视觉六自由度辅