When performing special tasks, in order to realize the self-reconfiguration function to adapt to the complex terrain environment, multi-robots must have a safe and efficient autonomous docking and separation system. Therefore, this paper proposes a method to obtain the relative pose information of the robot in real-time based on visual feedback, and control the robot to autonomously dock according to the planned trajectory. Firstly, the docking tailstock of the robot is adjusted to reach a horizontal state, then the marker board captured by the camera is used to calculate the pose information of the robot, and finally the robot is controlled to perform docking operations according to the planned trajectory. The unique separation system can achieve real-time separation and abandon the faulty unit when the multi-robot fails. Experiments verify that the docking success rate of the self-reconfigurable system is as high as 97.3%, which has good robustness.