The technology of oil tank inspection robot has developed rapidly,but it lacks reasonable performance evaluation methods.To this end,a comprehensive evaluation index system was constructed for storage tank inspection robots.A comprehensive evaluation method was proposed in which the weights were determined by the order relationship analysis (G1) method and the criteria importance though intercriteria correlation (CRITIC),the efficacy coefficient method and the virtual cloud were introduced to improve the cloud model.The index data set of 7 robots was established.The effectiveness of several evaluation methods was compared with the sum of serial numbers theory and mode theory.The results show that the evaluation method of cloud model is more practical,and the performance of the robots is mostly at the medium level,and there is still much room for improvement.