The invention discloses an oil tank cleaning robot monitoring system based on a valve controller. The monitoring system includes a robot control unit, a system control unit, a sensing communication unit and a monitoring alarm unit, wherein the robot control unit, the system control unit, the sensing communication unit and the monitoring alarm unit are connected with a valve controller; the robot control unit includes an automatic cleaning mode and a manual cleaning mode, robot walking control, and extending and shrinking control; the system control unit comprises shooting lighting, and start/stop control of a cleaning pump, a hydraulic pump, an inflator pump, a vacuum pump and a filter press pump, and cable coiling and laying control for an umbilical cord coiling and laying device; the sensing communication unit includes a camera, an encoder, a combustible gas concentration detection sensor, an oxygen concentration detection sensor, a liquid level sensor, a pressure sensor and a motorized valve; and the monitoring alarm unit includes an integrated industrial control computer, a monitor and an alarm. Compared with the prior art, the oil tank cleaning robot monitoring system based on a valve controller has the advantages of being convenient to control, being high in intelligent level, being high in reliability of the system, and realizing safety, high efficiency, energy saving and environmental protection for the cleaning work of an oil tank cleaning robot.