Abstract: A method for positioning an in-oil inspection robot for a storage tank bottom plate, an apparatus, a medium and a product are provided. The method includes: selecting those of acoustic signal receivers that generate voltage amplitudes, when receiving an acoustic signal, being greater than a predetermined voltage amplitude as available receivers, calculating a difference between an absolute arrival time corresponding to the available receiver and an absolute arrival time corresponding to an available receiver ranked first to obtain a relative arrival time corresponding to the available receiver; and positioning the in-oil inspection robot for the storage tank bottom plate further according to the relative arrival time.

Abstract: A detection device for high-frequency pseudo-random spread spectrum coded sequence signal of shallow geologic body includes a signal transmitter and a synchronous signal receiver. The signal transmitter includes a first Mono-Chip Computer (MCU), a first Field Programmable Gate Array (FPGA), a power amplifier module, a direct-current (DC) power supply, a first display module, a first Global Position System (GPS) synchronization module, a first communication module, and a first memory module. The synchronous signal receiver includes a preamplifier circuit, a bandpass filter circuit, a program-controlled amplifier circuit, an analog to digital (AD) converter circuit, a second FPGA, a second MCU, a second communication module, a second display module, a second GPS synchronization module, and a second memory module. A method using the detection device is further provided.