In view of the difficulties of the grinding production line such as error-prone manual identification, low cleaning efficiency and harsh grinding environment, the intelligent grinding equipment for civil air defense doors is developed based on the principle of machine vision combined with dual manipulators. The vision system is mainly composed of a vision controller VC3300 and two 5 million pixel cameras. By recognizing the vertex coordinates of the civil air defense doors through the visual system, a mapping relationship between the coordinate system to be grinded and the vertex coordinate system is established, which solves the problems of difficult identification of plug welding hole and submerged arc welding positions, difficulty in efficient data collaboration, and difficulty in achieving high-precision grinding. The experimental results show that the proposed system can effectively guarantee high positioning accuracy and precision. Compared to manual operation, the overall process of robot grinding increases the speed by 33.3%, and the average height of the welded joints after grinding is 0.115mm, which meets the needs of actual industrial production, and has good practical value.