Aiming at the problem of automatic alignment for robot， a decoupled visual servoing control method based on point and line features was proposed. In the method， the points and lines were used as image features， and the interactive matrix of image features was used to decouple attitude control and position control， so as to realize six degrees of freedom alignment. Firstly， the attitude control law was designed according to the lines and their interactive matrix to eliminate the rotational deviation. Then， the position control law was designed according to the points and their interactive matrix to eliminate the positional deviation. Finally， the automatic alignment between the robot end-effector and the target was realized. In the alignment control process， based on the amount of camera motion and the variation of features before and after camera motion， the online estimation of depth was able to be realized. In addition， a monitor was designed to adjust the motion speed of the camera， thereby ensuring that the features were always in the field of view of the camera. The six degrees of freedom alignment of the robot on the Eye-in-Hand platform was completed by the proposed method and the traditional image based visual servoing method， respectively. The proposed method realizes the automatic alignment of the robot in 16 steps， and has the maximum translation error of 3.26 mm and the maximum rotation error of 0.72° of the robot end-effector after alignment. Compared with the comparison method， the proposed method has more efficient control process， faster convergence of control error and less alignment error. Experimental results show that the proposed method can realize fast and high-precision automatic alignment， improving the autonomy and intelligent level of robot operation， and is expected to be appied in the fields of target tracking， picking and positioning， automatic assembly， welding， service robot and so on.