For　the　automatic　docking　problem　of　a　Mecanum-wheeled　omnidirectional　intelligent　wheelchair/bed　system,　a　visual　servo　control　method　which　is　based　on　position　feedback　is　proposed　in　this　paper.　When　it　is　docked　with　the　auxiliary　bed,　the　intelligent　wheelchair　firstly　collects　and　identifies　special　landmark　on　the　auxiliary　bed　through　the　vehicle　vision　system;　Then　the　relative　pose　between　the　wheelchair　and　the　auxiliary　bed　is　determined　according　to　the　transformation　between　the　camera　coordinate　system　and　the　bed　coordinate　system　based　on　an　artificial　landmark;　Finally,　the　intelligent　wheelchair　is　controlled　to　travel　from　the　initial　position　to　the　desired　position　by　position-based　visual　servo　(PBVS)　control　method　and　completes　docking　task　between　the　intelligent　wheelchair　and　the　auxiliary　bed.　The　implementation　of　visual　docking　control　for　the　intelligent　wheelchair　is　based　on　the　Robotic　Operating　System　(ROS)　platform.　Experimental　results　are　presented　to　validate　the　practicality　and　effectiveness　of　the　proposed　method　in　this　paper.　©　2018　IEEE.