Device and method for leakage detecting of crude oil tank floor

A method for leakage detecting of a crude oil tank floor, wherein the method is implemented by a device for leakage detecting of a crude oil tank floor, the device comprises a control system, a detection robot and a plurality of acoustic signal receivers,

• the plurality of acoustic signal receivers are all configured to be outside a crude oil tank during the leakage detecting;
• the control system is configured to be outside the crude oil tank during the leakage detecting;
• the plurality of acoustic signal receivers are all connected with the control system;
• the detection robot is configured to be in the crude oil tank during the leakage detecting;
• the detection robot comprises a moving mechanism, a positioning sonar and an array leakage detection sensor;
• the positioning sonar and the array leakage detection sensor are both arranged on the moving mechanism;
• the plurality of acoustic signal receivers are used for receiving sonar signals sent by the positioning sonar;
• the array leakage detection sensor comprises a 360-degree rotating platform and a plurality of ultrasonic sensors;
• and the plurality of ultrasonic sensors are all arranged on the 360-degree rotating platform, and the array leakage detection sensor is used for detecting a leakage point of the crude oil tank;
• the method comprises following steps:
• acquiring the sonar signals received by the plurality of acoustic signal receivers and a leakage signals and an alignment direction of the array leakage detection sensor upon detecting the leakage signal from the array leakage detection sensor;
• determining an alignment direction of the array leakage detection sensor upon detecting the leakage signal according to the leakage signal, and coordinates and an orientation of the detection robot upon detecting the leakage signal according to the sonar signals, thereby obtaining a data set comprising the alignment direction of the array leakage detection sensor and coordinates and an orientation of the detection robot;
• controlling the detection robot to move such that the array leakage detection sensor detects at least three leakage signals, thereby obtaining at least three data sets;
• and
• determining a position of the leakage point according to according to the at least three data sets.