In order to achieve automated weld seam inspection of nuclear power facility pipelines and reduce the safety risks of manual operations while improving work efficiency, a robot autonomous operation software system and related algorithms that integrates spraying, wiping, brushing, scrubbing, environmental perception, and scene modeling are proposed. Analyze the working environment and functional requirements of the work robot, select the robotic arm and environmental perception module, develop a 3D modeling and parameter identification plan, and build a welding seam detection operation system; A scene modeling algorithm based on visual and depth information perceived by robots is proposed, which can output detection of the position of the working surface, 3D model, and the range of the working area; An algorithm for job trajectory planning based on 3D reconstruction model and job area range was proposed, and a simulation platform was built to verify the correctness of the motion trajectory; We conducted experiments on pipeline positioning and 3D reconstruction, as well as trajectory planning. The results of the experiments proved that the proposed pipeline positioning method can achieve accurate point cloud data collection and high-precision pipeline parameter identification. The robotic arm can achieve high accuracy and good continuity of movement, meeting the requirements of pipeline weld detection operations.