The safe operation of large-scale spherical tanks is crucial for public safety and economic development, necessitating regular safety inspections. Due to the high workload and harsh environmental conditions associated with these inspections, there is an urgent need for robotic assistance. This paper focuses on the surface operation scenarios of large-scale spherical tanks. By analyzing the key points and elements of the “human–machine–environment” interaction under operational conditions, some technical methods were proposed based on safety and reliability, while leveraging the respective advantages of human and robotic skills. The proposed design methodologies have been validated through prototype development and practical engineering testing. Testing results demonstrated that effective alignment could be achieved between the human, the machine, and the operational task environment.