The invention discloses a robot holder servo secondary alignment method and device. The method coprises the following steps of through a homography matrix image projection mode, extracting a preset logarithm of pairing feature points from a plurality of groups of pairing feature points obtained by SIFT feature matching; establishing a homography matrix according to the extracted pairing feature points; projecting coordinate values through the homography matrix, so that the translation pixel deviation of the real-time image and the reference image is calculated. The problem that an existing substation inspection robot usually adopts a feature point matching mode to carry out secondary alignment is solved. The technical problems that the secondary alignment method of the substation equipmentinspection robot is large in calculated amount and low in alignment efficiency due to the fact that the average pixel deviation needs to be solved according to the translation pixel deviation of eachpair of paired feature points and then secondary alignment is carried out according to the average pixel deviation are solved.