中文摘要：

为检测地下深层水平盐穴储气库的形态特征，设计一种采用声纳原理、边运动边测量并将测量信息通过光纤及时返回地面监控主机的探测器控制系统。系统采用图像声纳和磁阻传感器测量盐腔的形态特征及探测器航行角度;以C8051F020单片机为核心的控制器采集、处理信号并发送至地面监控主机显示，同时采用“3机3桨”方式实现探测器的转速和转向控制;系统具有电池电量监测功能，保证了控制系统的供电可靠性。该探测器控制系统克服了现有检测装置测量范围小、无法完全测量水平盐穴储气库形态的缺点，可对地下数千米的充水空间进行实时在线监测，同时为灾害控制及生命财产安全提供有力保障。

英文摘要：

In order to detect the morphological characteristics and size dimension of underground deep-level salt caverns, a detector control system, which can measure and transmit the collected information to ground surveillance system through interface fiber while moving,was designed according to the principle of sonar. Firstly,the morphology of salt cavity and the heading angle of the detector are measured by using of image sonar and magnetic resistance sensor;Then,the controller based on C8051F020 collects and processes infor- mation and send it to the ground surveillance host display, meanwhile a 3-propeller -3-motor mode is adopted to realize speed and steer- ing control of the detector. The system has battery monitoring function so that it ensures reliable power supply to the control system. The control system overcomes some shortcomings that the existing devices have, such as small measuring range and incapability of completely measuring the morphology of level storage, and can complete several-kilometer underground water-filled space real-time online monito- ring so that it provides a guarantee for underground disaster control and safty of life and property.