中文摘要：

详细介绍了国内外在人工清罐、机械清罐、油罐防沉降设备以及机器人清罐方面的发展现状及其工作原理，并对其优缺点进行了分析对比。通过综合分析指出，原油储罐清洗技术将向机械化、自动化、智能化、便捷化、系统化和设备国产化的方向发展。

英文摘要：

This paper introduces the working principles of manual cleaning,mechanical cleaning,preventing sludge settlement equipment and robot cleaning in detail,and compares and analyzes their advantages and disadvantages.Through comprehensive analysis,it is proposed that the crude oil tank cleaning technology will develop towards mechanization,automation,closing,intelligence,facilitation,systematization and localization of equipment.