I. Introduction
With the development of society in recent years, the demand for energy is increasing day by day. Petrochemical industry is both basic and pillar industry in China. It provides great energy convenience for industries, light industry, machineries, textiles and electronics, and occupies a pivotal position in the national economy. However, due to the particularity of its industry and substances, it tends to cause extremely dangerous accidents when storing in the tank farm, such as fire, explosion and other hidden incidents that endanger the safety of people's lives and property. Generally, when the petrochemical tank farm is used for storage, the patrol inspection is carried out manually to ensure its safe storage and production.