Kernel Panic and continuous beeping when restarting
The first step would be to check out About Mac computer startup tones and identify which one of these startup tones is the one you're experiencing with your Mid-2010 MBP.

Please do not guess. If your startup tone does not match exactly one of the ones listed, please comment back and say so and describe which one it is closest to and what the difference is. Unfortunately, not all of the possible startup tones are listed on that page.