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In the process of using fully autonomous intelligent robots to detect and track target objects, in order to improve the servo control effect of the host components on the robot, an uncalibrated image visual servo control method was designed. Firstly, based on the uncalibrated estimation results of the robot trajectory, the pose points of the target object are measured, and the detection and tracking conditions of the target object in the uncalibrated image of the robot are derived. Connect the visual servo controller as needed, calculate the servo selection criteria for image visual features by solving the inner product of robot uncalibrated motion, and achieve servo selection for robot uncalibrated image visual features. Then, a Jacobian matrix is defined in the uncalibrated image, and according to the principle of image visual segmentation, servo matching of robot image corners is completed. Then, by determining the range of reinforcement control parameters, visual servo control of the uncalibrated image is achieved. According to the experiment, the application of this method can solve the problem of intelligent robots difficult to move to the calibration area, providing a guarantee for improving the effectiveness of servo control command execution.