Device and method for detecting topography of deep underground horizontal rock-salt cavern

A device for detecting a topography of a deep underground horizontal rock-salt cavern, comprising a detector and a ground monitoring system, wherein the ground monitoring system is connected to and communicated with the detector through an optical fiber cable;

• the ground monitoring system comprises a ground center console and a monitor, the ground center console is provided with a video interface, and the ground center console is connected to the monitor via the video interface;
• the detector comprises a cabin, a propulsion system, a battery pack, a control system, a sonar detector, a positioning system and an obstacle avoidance system;
• the propulsion system comprises a horizontal three-dimensional vector propeller and a vertical propeller installed on the cabin;
• the battery pack and the control system are installed inside the cabin, and the battery pack supplies power to the propulsion system, the control system, the sonar detector, the positioning system and the obstacle avoidance system;
• the sonar detector is installed at a front end of the cabin;
• the positioning system comprises a gyroscope, a depthometer and a Doppler velocimeter, the gyroscope and the depthometer are arranged inside the cabin, and the Doppler velocimeter is arranged at a bottom of the cabin;
• the obstacle avoidance system comprises infrared distance sensors installed at the front end of the cabin;
• and the propulsion system, the sonar detector, the positioning system and the obstacle avoidance system are respectively connected to the control system via signals.