To guarantee the wheel-arm inspection robot auto-docks with the recharge stand of the solar charging station correctly and reliably, an auto-recharging docking control way is presented, which is based on position relation coarse positioning, visual servo precise positioning and pressure sensor joint feedback. By perceiving the slope information of the place where the robot stands, the charging plug in the pressing mechanism of the robot is moved near the recharge stand in the central bottom of the pensile C type plate. According to the distance between the central seamed edge of the docks in the image space and the central line in the imaging area, the variety of the image features is shown. Charging precise positioning servo control law is designed by adopting variable universe fuzzy control method. The docking state is fed back according to the signal variety of the pressure straingauge sensor under the positive and negative electrodes. The auto-recharging docking control way has been tested in the imitate and real routines, which proves that the method is correct, reliable and effective, and also can satisfy the docking demands of auto-recharging.