The security of the industrial control system is related to the safety and stability of the national energy and basic industrial facilities, it has gradually become a serious challenge for enterprises and national security. This paper proposes an industrial control network scanning tools based on stateless connection: ICSMap. This tool can scan the global exposure to the public network of industrial equipment very fastly, and get their manufacturers, models and other related information. Experiments show that ICSMap can be used for Modbus, DNP3, S7, BACnet and other protocols of industrial control equipment, and its scanning speed greatly faster than the Nmap.