The invention discloses a shield tunneling segment erector six-freedom-degree full automatic control system. The shield tunneling segment erector six-freedom-degree full automatic control system comprises an imaging device, an image processing device, a computer, a PLC (programmable logic controller), a control chip, an electromagnetic valve, a hydraulic actuator and a sensor. The shield tunneling segment erector six-freedom-degree full automatic control system is high in positioning accuracy, and low in demand for a light source, and even does not need to additionally arrange the light source, and the imaging device is convenient to install, and needs a small installation space, and additionally the shield tunneling segment erector six-freedom-degree full automatic control system can further improve construction speed, and also can reduce total cost of construction.