Abstract: In order to improve the automation degree and operation efficiency of operation process of the mobile operation robot for high voltage transmission line,on the premise of operation space positioning by the electromagnetic sensor,a double closed-loop autonomous localization control method was proposed for the robot manipulator based on BP network and visual servo,and a corresponding autonomous localization double closed-loop control system was also designed. In one of the closed-loop,a BP network was used to solve the inverse kinematics of the manipulator so as to achieve rough localization. The other closed-loop was arranged to achieve the fine localization of the manipulator through the visual servo to obtain a feature parameter. Combining the rough localization and fine localization,the autonomous localization and docking control between the operation object and robot manipulator were achieved. The simulation experiment was arranged to divide the alignment control of the manipulator and the bolt/nut into three direction localization controls in X,Y and Z direction. Results show that,through the adjustment of the control algorithm,the error of the three directions can converge to the ideal value at a faster speed and higher precision,and the algorithm can adapt for different parameter structures of the drainage plate,satisfying the need of the special mobile operation robot control in real-time,stability and adaptability for different structure design requirements. Finally,the effectiveness and the practicality of the proposed method were verified by the experiments of the drainage plate bolts field operation.