Software robot capable of automatically moving in soil and control method thereof

Abstract

The invention discloses an in-soil self-moving soft-bodied robot and a control method thereof, and relates to the technical field of soft-bodied robots. Comprising a head part, a steering part, a trunk, a pneumatic system and a control system, and the head part is used for spraying compressed gas in the front, lower, left and right directions; one end of the steering part is connected with the head part, a plurality of steering cavities are formed in the steering part, and multi-angle bending can be achieved; one end of the trunk is connected with the end, away from the head, of the steering part, a trunk cavity is formed in the trunk, and the trunk can axially extend and retract to provide power for the in-soil self-moving soft robot; the pneumatic system is used for providing compressed air for the head, the steering part and the trunk; the control system is used for controlling the pneumatic system so that the in-soil self-moving soft robot can move in soil. By optimizing the propelling device and the transmission mechanism, the resistance of a soil body to the robot is effectively reduced, so that the robot can stably and continuously move in different soil textures.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robots, and in particular to a self-moving soft robot in soil and a control method thereof. Background Art

[0002] Soil investigation is a key link in engineering construction, geological disaster prevention and control, and underground space development. Traditional soil investigation equipment mostly relies on external power systems, such as drilling equipment, bulldozers, or exploration vehicles. These devices are often large in size and complex to operate. They not only require a lot of manual operation, but also have high requirements for on-site conditions. Especially in space-constrained or complex terrain environments, the use of traditional equipment is subject to many restrictions. In addition, traditional survey methods often require data to be transmitted through ground staff and equipment, making it difficult to achieve efficient and accurate real-time surveys. These problems have greatly affected the efficiency and quality of soil investigation.

[0003] In this context, with the development of artificial intelligence, robotics and the Internet of Things, the research and development of intelligent soil survey equipment has become an urgent problem to be solved. Compared with traditional equipment, intelligent soil survey equipment has functions such as autonomous operation, real-time data collection and analysis, and automatic path planning, and can complete complex survey tasks without human intervention. This equipment is particularly suitable for narrow, dangerous or complex underground environments, and can greatly improve the flexibility and efficiency of soil surveys.

[0004] As an important part of intelligent exploration equipment, small self-moving robots are gradually becoming a research hotspot. Such robots can move autonomously in underground environments and use sensors to monitor the soil in real time and collect data. Due to their small size and self-moving movements, underground robots can enter areas that are difficult for traditional equipment to reach. However, current underground robot technology still faces many challenges. One of the biggest technical bottlenecks is how to effectively deal with soil resistance in complex underground environments. The heterogeneity, multiphase and high resistance characteristics of soil make it difficult for existing underground robots to operate continuously and reliably, and they frequently experience movement obstruction, excessive energy consumption and even equipment damage. In addition, existing propulsion technology and power systems cannot provide sufficient thrust in complex underground environments, resulting in underground robots being unable to maintain stable operation for a long time.

[0005] Although some preliminary underground robot equipment has been put into use on the market, its performance is far from meeting the needs of actual engineering, especially when facing complex soil and high resistance underground environment, existing robots are difficult to provide long-term and stable working capabilities. Therefore, how to overcome the movement obstacles of underground self-motion robots in complex soil environments, optimize the propulsion system, and improve energy efficiency and reliability have become the core issues in the current soil exploration field.

[0006] In order to solve the above problems, it is imperative to develop a small underground self-moving robot that can overcome soil resistance, have autonomous movement and intelligent data collection and analysis functions. This robot can not only significantly improve the efficiency of soil survey, but also effectively reduce the dependence on external equipment, reduce labor costs and survey time, and improve the accuracy and real-time performance of survey data. Summary of the invention

[0007] The main purpose of the present invention is to provide a self-moving soft robot in soil and a control method thereof to solve the above-mentioned problems.

[0008] To achieve the above object, the present invention provides a self-moving soft robot in soil, comprising:

[0009] A head, the head is used to spray compressed gas in four directions: forward, downward, left, and right;

[0010] A steering part, one end of which is connected to the head, and a plurality of steering chambers are provided in the steering part so as to be able to bend at multiple angles;

[0011] A trunk, one end of which is connected to an end of the steering portion away from the head, a trunk chamber is provided inside the trunk, and the trunk can be axially extended and shortened to provide power for the self-moving soft robot in the soil;

[0012] Pneumatic system for supplying compressed air to the head, steering and torso;

[0013] The control system is used to control the pneumatic system so that the soil self-moving soft robot moves in the soil.

[0014] Furthermore, the head is made by 3D printing, and is provided with four through holes, namely, a front through hole, a left through hole, a right through hole and a lower through hole.

[0015] Furthermore, the steering part is a fiber-constrained soft pneumatic actuator, comprising:

[0016] The inner soft body of the steering part is a cylinder or a cuboid, and a wiring hole is provided in the center for wiring;

[0017] The Kevlar fiber of the steering part is spirally wound on the outer side of the inner soft body of the steering part, and the angle between the spiral line and the axis of the inner soft body of the steering part is 5° to 15°;

[0018] A steering chamber, the steering chamber is located in the inner soft body of the steering part and extends along the axial direction of the inner soft body of the steering part, the two ends of the steering chamber are closed, the number of the steering chambers is 3 to 6, and they are distributed around the wiring hole array;

[0019] A steering part outer layer soft body, wherein the steering part outer layer soft body wraps the steering part inner layer soft body and the steering part Kevlar fiber;

[0020] By applying different air pressures to one or more of the steering chambers, the steering portion (220) is made to have different bending angles.

[0021] Furthermore, the trunk is a fiber-constrained soft pneumatic actuator, comprising:

[0022] The trunk inner layer soft body is a tubular body with a circular or square cross-sectional shape, and a trunk chamber is provided inside the trunk inner layer soft body;

[0023] The trunk Kevlar fiber is spirally wound around the outer side of the inner soft body of the trunk, and the angle between the spiral line and the axis of the inner soft body of the trunk is 5° to 15°;

[0024] A trunk outer soft body, the trunk outer soft body wrapping the trunk inner soft body and the trunk Kevlar fiber;

[0025] The trunk is made to achieve telescopic movement by inflating or exhausting the trunk chamber.

[0026] Furthermore, it also includes a cover, which is made of 3D printing, connected to one end of the trunk away from the steering part, and has multiple mounting holes on the cover, on which trachea joints are installed; one of the trachea joints is connected to the trunk chamber, and the remaining trachea joints are respectively connected to the four through holes of the head and the multiple steering chambers of the steering part through internal hoses; the internal hoses connected to the four through holes of the head are passed through the wiring holes.

[0027] Furthermore, the pneumatic system includes an air source, a diverter plate, an external hose and a two-position three-way solenoid valve. The air source is connected to the diverter plate. The multiple air outlets of the diverter plate are respectively connected to the multiple air pipe joints of the cover through the external hose. Each external hose is provided with a two-position three-way solenoid valve, which is used to control the charging and discharging of the gas.

[0028] Furthermore, the hardware of the control system includes a host computer, a DC power supply, a MOSFETs field effect switch, an Arduino control board and multiple air pressure sensors, the multiple air pressure sensors are respectively installed on multiple external hoses in a one-to-one correspondence, and the air pressure sensor is located between the two-position three-way solenoid valve and the air pipe joint; the DC power supply is electrically connected to the MOSFETs field effect switch, and the host computer, the MOSFETs field effect switch, the two-position three-way solenoid valve and the air pressure sensor are all electrically connected to the Arduino control board.

[0029] The present invention also provides a method for controlling a self-moving soft robot in soil, which is used to control a self-moving soft robot in soil, and comprises the following steps:

[0030] S1, turn on the host computer and the DC power supply to complete the preparation work;

[0031] S2, controls the Arduino control board to send signals by manipulating the host computer, so that the self-moving soft robot in the soil performs forward or turning motion;

[0032] When it is necessary to move forward, the Arduino control board sends a signal to open the two-position three-way solenoid valves corresponding to the front through hole and the lower through hole of the head, and spray gas to the front and lower sides of the head to loosen the soil. At the same time, the two-position three-way solenoid valve corresponding to the trunk chamber is opened to inflate and pressurize the trunk chamber. After the air pressure sensor corresponding to the trunk chamber detects that the preset air pressure value has been reached, it deflates for a certain period of time and then inflates again. Through intermittent inflation and deflation, the trunk can achieve telescopic movement, thereby driving the self-moving soft robot in the soil to move forward.

[0033] When it is necessary to turn left, the Arduino control board sends a signal to open the two-position three-way solenoid valve corresponding to the 1 to 3 steering chambers on the right side of the steering part, so that the 1 to 3 steering chambers on the right side of the steering part are inflated and pressurized, and at the same time, the two-position three-way solenoid valve corresponding to the left through hole of the head is opened to spray gas to the left side of the head to loosen the soil, so that the self-moving soft robot in the soil bends and turns left, and the air pressure sensor readings corresponding to the 1 to 3 steering chambers on the right side of the steering part are monitored to control the bending angle of the self-moving soft robot in the soil to the left;

[0034] When it is necessary to turn right, the Arduino control board sends a signal to open the two-position three-way solenoid valve corresponding to the 1 to 3 steering chambers on the left side of the steering part, so that the 1 to 3 steering chambers on the left side of the steering part are inflated and pressurized, and at the same time, the two-position three-way solenoid valve corresponding to the right through hole of the head is opened to spray gas to the right side of the head to loosen the soil, so that the self-moving soft robot in the soil bends and turns right, monitors the air pressure sensor readings corresponding to the 1 to 3 steering chambers on the left side of the steering part, and controls the bending angle of the self-moving soft robot in the soil to the right.

[0035] The present invention has the following beneficial effects:

[0036] 1. Effectively overcome soil resistance: The underground self-moving robot proposed in the present invention can move autonomously in a variety of complex soil environments by adopting an innovative propulsion system and structural design. Compared with existing underground robots, the present invention effectively reduces the resistance of the soil to the robot by optimizing the propulsion device and transmission mechanism, enabling it to maintain stable and continuous movement in different soil types. Whether it is high-density soil or gravel soil, the robot of the present invention can achieve more efficient propulsion and steering control, solving the problem in the prior art that robots are easily obstructed in complex soil environments and difficult to operate autonomously for a long time.

[0037] 2. Equipment miniaturization and improved flexibility: Compared with existing large-scale soil exploration equipment, the underground self-moving robot of the present invention has the characteristics of small size and light weight, and can operate flexibly in narrow or complex underground spaces. This design effectively reduces the dependence on external large-scale equipment, making the robot of the present invention competent for exploration tasks under some special geographical conditions (such as tunnels, pipelines, underground mines, etc.). This not only improves the flexibility of exploration, but also reduces the transportation and operation costs of the equipment.

[0038] 3. Simplified structure and convenient maintenance: The present invention reduces the number of vulnerable parts during the robot's movement by simplifying the overall structure of the robot and optimizing the internal layout, thereby improving the stability and reliability of the system. Unlike the complex maintenance procedures commonly used in the prior art, the robot of the present invention is easy to maintain, which can significantly reduce the maintenance frequency and maintenance costs, and extend the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The figure is a schematic structural diagram of a self-moving soft robot in the soil according to the present invention.

[0040] Figure 2 The figure is a schematic diagram of the head structure of a self-moving soft robot in the soil according to the present invention.

[0041] Figure 3 The figure is a radial cross-sectional view of the steering part of a self-moving soft robot in the soil according to the present invention.

[0042] Figure 4 The figure is a radial cross-sectional view of the trunk of a self-moving soft robot in the soil according to the present invention.

[0043] Figure 5 The figure is an axial cross-sectional view of the cover of a self-moving soft robot in the soil according to the present invention.

[0044] Figure 6 The radial cross-sectional view of the cover of a self-moving soft robot in the soil according to the present invention.

[0045] Figure 7 The figure is a schematic diagram of the pneumatic system of a self-moving soft robot in the soil according to the present invention.

[0046] Figure 8 This is a control principle diagram of a self-moving soft robot in the soil according to the present invention.

[0047] Among them, 200-soil self-moving soft robot; 210-head; 220-steering part; 230-trunk; 240-cover; 211-front through hole; 212-left through hole; 213-right through hole; 214-lower through hole; 221-inner soft body of steering part; 222-wiring hole; 223-Kevlar fiber of steering part; 224-steering chamber; 225-outer soft body of steering part; 231-inner soft body of trunk; 2 32-torso Kevlar fiber; 233-torso outer soft body; 234-torso chamber; 241-mounting hole; 242-air pipe connector; 251-air source; 252-two-position three-way solenoid valve; 253-manifold; 254-external hose; 261-host computer; 262-DC power supply; 263-MOSFETs field effect switch; 264-Arduino control board; 265-wire; 266-air pressure sensor. DETAILED DESCRIPTION

[0048] In order to achieve the above-mentioned purpose and effect, the technical means and structures adopted by the present invention are described in detail with reference to the accompanying drawings for the features and functions of the preferred embodiments of the present invention.

[0049] like Figure 1 As shown, the present invention provides a self-moving soft robot in the soil, comprising:

[0050] The head 210 has four holes connected to the air pipes, and can spray compressed gas in four directions, namely, forward, downward, left, and right. The compressed gas can be air, carbon dioxide, etc.;

[0051] A turning portion 220, one end of which is connected to the head portion 210, and the turning portion 220 is provided with a plurality of turning chambers 224, and can be bent in various directions at multiple angles;

[0052] A trunk 230, one end of which is connected to the end of the steering portion 220 away from the head 210, and the trunk 230 can be axially extended and shortened to provide power for the self-moving soft robot 200 in the soil;

[0053] A cover 240 is connected to an end of the trunk 230 away from the turning portion 220 , and the cover is provided with a plurality of mounting holes 241 and air pipe joints 242 are respectively mounted thereon.

[0054] like Figure 2As shown, the head 210 is made by 3D printing, and the head 210 is wedge-shaped, with an angle of 30 degrees at the head, an angle of 80 degrees at the bottom, and an angle of 70 degrees at the top. The head 210 has a front through hole 211, a left through hole 212, a right through hole 213, and a lower through hole 214, a total of four through holes, and the four through holes are respectively connected to a corresponding air pipe joint 242 through an internal hose.

[0055] like Figure 3 As shown, the steering portion 220 is a fiber-constrained soft pneumatic actuator, comprising:

[0056] The inner soft body 221 of the steering part is a cylinder or a cuboid, and a wiring hole 222 is provided in the center for wiring; the internal hose connected to the four through holes of the head 210 can pass through the wiring hole 222;

[0057] The steering part Kevlar fiber 223 is spirally wound around the outer side of the steering part inner layer soft body 221, and the angle between the spiral line and the axis of the steering part inner layer soft body 221 is 5° to 15°;

[0058] A steering chamber 224, wherein the steering chamber 224 is located in the steering portion inner layer soft body 221 and extends along the axial direction of the steering portion inner layer soft body 221, and both ends of the steering chamber 224 are closed. The number of the steering chambers 224 is 3 to 6 and they are distributed in an array around the wiring holes 222;

[0059] The steering portion outer layer soft body 225 wraps the steering portion inner layer soft body 221 and the steering portion Kevlar fiber 223. By applying different air pressures to one or more steering chambers 224, the steering portion 220 has different bending angles.

[0060] like Figure 4 As shown, the trunk 230 is a fiber-constrained soft pneumatic actuator, comprising:

[0061] The trunk inner layer soft body 231 is a tubular body with a circular or square cross-sectional shape, and has a trunk chamber 234 inside the trunk inner layer soft body 231;

[0062] The trunk Kevlar fiber 232 is spirally wound around the outer side of the trunk inner soft body 231, and the angle between the spiral line and the axis of the trunk inner soft body 231 is 5° to 15°;

[0063] The trunk outer layer soft body 233 wraps the trunk inner layer soft body 231 and the trunk Kevlar fiber 232 .

[0064] like Figure 5 and Figure 6As shown, the cover 240 is made by 3D printing and is a cylinder or a cuboid. The cover is provided with a plurality of mounting holes 241 and is respectively provided with air pipe connectors 242. As a preferred embodiment, one of the mounting holes 241 is located at the center of the cover 240, and the remaining mounting holes 241 are distributed in an array around the central mounting hole 241.

[0065] like Figure 7 As shown, the pneumatic system 250 includes an air source 251, a diverter plate 253, an external hose 254 and a two-position three-way solenoid valve 252. The air source 251 is connected to the diverter plate 253. The multiple air outlets of the diverter plate 253 are respectively connected to the multiple air pipe joints 242 of the cover 240 through external hoses. A two-position three-way solenoid valve 252 is provided on each external hose 254. The two-position three-way solenoid valve 252 is used to control the charging and discharging of gas, provide driving force for the steering chamber 224 and the torso chamber 234, and provide gas for the head 210. The connection of the external hose 254 is fixed with silicone glue.

[0066] like Figure 8 As shown, the hardware of the control system 260 includes a host computer 261, a DC power supply 262, a MOSFETs field effect switch 263, an Arduino control board 264 and a plurality of air pressure sensors 266, wherein the plurality of air pressure sensors 266 are respectively installed on a plurality of external hoses 254 in a one-to-one correspondence, and the air pressure sensor 266 is located between the two-position three-way solenoid valve 252 and the air pipe connector 242; the DC power supply 262 is electrically connected to the MOSFETs field effect switch 263, and the host computer 261, the MOSFETs field effect switch 263, the two-position three-way solenoid valve 252 and the air pressure sensor 266 are all electrically connected to the Arduino control board 264.

[0067] The present invention also provides a method for controlling a self-moving soft robot in soil, which is used to control a self-moving soft robot 200 in soil, and comprises the following steps:

[0068] S1, turn on the host computer 261 and the DC power supply 262 to complete the preparation work;

[0069] S2, controlling the Arduino control board 264 to send a signal by manipulating the host computer 261, so that the self-moving soft robot 200 in the soil performs forward or turning movement;

[0070] When it is necessary to move forward, the Arduino control board 264 sends a signal to open the two-position three-way solenoid valve 252 corresponding to the front through hole 211 and the lower through hole 214 of the head 210, and spray gas to the front and lower sides of the head (210) to loosen the soil. At the same time, the two-position three-way solenoid valve 252 corresponding to the trunk chamber 234 is opened to inflate and pressurize the trunk chamber 234. After the air pressure sensor 266 corresponding to the trunk chamber 234 detects that the preset air pressure value has been reached, it deflates for a certain period of time and then inflates again. Through intermittent inflation and deflation, the trunk 230 can achieve telescopic movement, thereby driving the self-moving soft robot 200 in the soil to move forward;

[0071] When it is necessary to turn left, the Arduino control board 264 sends a signal to open the two-position three-way solenoid valve 252 corresponding to the 1 to 3 steering chambers 224 on the right side of the steering part 220, so that the 1 to 3 steering chambers 224 on the right side of the steering part 220 are inflated and pressurized, and at the same time, the two-position three-way solenoid valve 252 corresponding to the left through hole 212 of the head 210 is opened to spray gas to the left side of the head 210 to loosen the soil, so that the self-moving soft robot 200 in the soil bends and turns left, and the readings of the air pressure sensor 266 corresponding to the 1 to 3 steering chambers 224 on the right side of the steering part 220 are monitored to control the bending angle of the self-moving soft robot 200 in the soil to the left;

[0072] When it is necessary to turn right, the Arduino control board 264 sends a signal to open the two-position three-way solenoid valve 252 corresponding to the 1 to 3 steering chambers 224 on the left side of the steering part 220, so that the 1 to 3 steering chambers 224 on the left side of the steering part 220 are inflated and pressurized, and at the same time, the two-position three-way solenoid valve 252 corresponding to the right through hole 213 of the head 210 is opened to spray gas to the right side of the head 210 to loosen the soil, so that the self-moving soft robot 200 in the soil bends and turns right, and the readings of the air pressure sensor 266 corresponding to the 1 to 3 steering chambers 224 on the left side of the steering part 220 are monitored to control the angle at which the self-moving soft robot 200 in the soil bends to the right.

[0073] The above descriptions are only preferred embodiments of the present invention, not all embodiments. Anyone should be aware that any structural changes made under the inspiration of the present invention, and any technical solutions that are the same or similar to the present invention, belong to the protection scope of the present invention.

Claims

1. A self-moving soft robot in the soil, characterized in that: include: A head (210), the head (210) being used to respectively spray compressed gas in four directions: forward, downward, left, and right; A steering portion (220), one end of which is connected to the head portion (210), and a plurality of steering chambers (224) are provided in the steering portion (220), which can be bent at multiple angles; A trunk (230), one end of the trunk (230) is connected to an end of the steering portion (220) away from the head (210), a trunk chamber (234) is provided inside the trunk (230), and the trunk (230) can be axially extended and shortened to provide power for the self-moving soft robot (200) in the soil; A pneumatic system (250) for providing compressed air to the head (210), the steering portion (220) and the torso (230); The control system (260) is used to control the pneumatic system (250) so as to enable the soil self-moving soft robot (200) to move in the soil.

2. A soil self-moving soft robot as claimed in claim 1, characterized in that: The head (210) is made by 3D printing, and is provided with a total of four through holes, namely, a front through hole (211), a left through hole (212), a right through hole (213), and a lower through hole (214).

3. A self-moving soft robot in the soil as claimed in claim 2, characterized in that: The steering part (220) is a fiber-constrained soft pneumatic actuator, comprising: The inner soft body (221) of the steering part is a cylinder or a cuboid, and a wiring hole (222) is provided in the center for wiring; The steering part Kevlar fiber (223) is spirally wound on the outside of the steering part inner layer soft body (221), and the angle between the spiral line and the axis of the steering part inner layer soft body (221) is 5° to 15°; A steering chamber (224), the steering chamber (224) is located in the steering portion inner layer soft body (221) and extends along the axial direction of the steering portion inner layer soft body (221), the steering chamber (224) is closed at both ends, the number of the steering chambers (224) is 3 to 6, and they are distributed in an array around the wiring holes (222); A steering part outer layer soft body (225), wherein the steering part outer layer soft body (225) wraps the steering part inner layer soft body (221) and the steering part Kevlar fiber (223); By applying different air pressures to one or more of the steering chambers (224), the steering portion (220) is made to have different bending angles.

4. A self-moving soft robot in the soil as claimed in claim 3, characterized in that: The trunk (230) is a fiber-constrained soft pneumatic actuator, comprising: The trunk inner layer soft body (231) is a tubular body with a circular or square cross-sectional shape, and a trunk chamber (234) is provided inside the trunk inner layer soft body (231); The trunk Kevlar fiber (232) is spirally wound on the outside of the trunk inner soft body (231), and the angle between the spiral line and the axis of the trunk inner soft body (231) is 5° to 15°; A trunk outer layer soft body (233), wherein the trunk outer layer soft body (233) wraps the trunk inner layer soft body (231) and the trunk Kevlar fiber (232); By inflating or exhausting the trunk chamber (234), the trunk (230) can achieve telescopic movement.

5. The self-moving soft robot in the soil as claimed in claim 4, characterized in that: The invention also includes a cover (240), wherein the cover (240) is made by 3D printing, and is connected to one end of the trunk (230) away from the steering portion (220). The cover (240) is provided with a plurality of mounting holes (241), and an air pipe joint (242) is installed on the mounting hole (241); one of the air pipe joints (242) is connected to the trunk chamber (234), and the remaining air pipe joints (242) are respectively connected to the four through holes of the head (210) and the plurality of steering chambers (224) of the steering portion (220) through internal hoses; the internal hose connected to the four through holes of the head (210) is passed through the wiring hole (222).

6. The self-moving soft robot in the soil as claimed in claim 5, characterized in that: The pneumatic system (250) comprises an air source (251), a flow divider (253), an external hose (254) and a two-position three-way solenoid valve (252); the air source (251) is connected to the flow divider (253); a plurality of air outlets of the flow divider (253) are respectively connected to a plurality of air pipe joints (242) of the cover (240) via external hoses; each external hose (254) is provided with a two-position three-way solenoid valve (252); the two-position three-way solenoid valve (252) is used to control the charging and discharging of gas.

7. The self-moving soft robot in the soil as claimed in claim 6, characterized in that: The hardware of the control system (260) comprises a host computer (261), a direct current power supply (262), a MOSFETs field effect switch (263), an Arduino control board (264) and a plurality of air pressure sensors (266); the plurality of air pressure sensors (266) are respectively installed on a plurality of external hoses (254) in a one-to-one correspondence; the air pressure sensor (266) is located between a two-position three-way solenoid valve (252) and an air pipe joint (242); the direct current power supply (262) is electrically connected to the MOSFETs field effect switch (263); the host computer (261), the MOSFETs field effect switch (263), the two-position three-way solenoid valve (252) and the air pressure sensor (266) are all electrically connected to the Arduino control board (264).

8. A method for controlling a self-moving soft robot in soil, characterized in that: Used to control the self-moving soft robot (200) in the soil as claimed in claim 7, The following steps are involved: S1, turning on the host computer (261) and the DC power supply (262) to complete the preparation work; S2, controlling the Arduino control board (264) to send a signal by operating the host computer (261) to make the self-moving soft robot (200) in the soil perform forward or turning motion; When it is necessary to move forward, the Arduino control board (264) sends a signal to open the two-position three-way solenoid valve (252) corresponding to the front through hole (211) and the lower through hole (214) of the head (210), and spray gas to the front and lower sides of the head (210) to loosen the soil. At the same time, the two-position three-way solenoid valve (252) corresponding to the trunk chamber (234) is opened to inflate and pressurize the trunk chamber (234). After the air pressure sensor (266) corresponding to the trunk chamber (234) detects that the preset air pressure value has been reached, it deflates for a certain period of time and then inflates again. Through intermittent inflation and deflation, the trunk (230) can achieve telescopic movement, thereby driving the self-moving soft robot (200) in the soil to move forward. When it is necessary to turn left, the Arduino control board (264) sends a signal to open the two-position three-way solenoid valve (252) corresponding to the 1 to 3 steering chambers (224) on the right side of the steering part (220), so that the 1 to 3 steering chambers (224) on the right side of the steering part (220) are inflated and pressurized, and at the same time, the two-position three-way solenoid valve (252) corresponding to the left through hole (212) of the head (210) is opened to spray gas to the left side of the head (210), loosen the soil, and make the self-moving soft robot (200) in the soil bend and turn left, and monitor the reading of the air pressure sensor (266) corresponding to the 1 to 3 steering chambers (224) on the right side of the steering part (220) to control the bending angle of the self-moving soft robot (200) in the soil to the left; When it is necessary to turn right, the Arduino control board (264) sends a signal to open the two-position three-way solenoid valve (252) corresponding to the 1 to 3 steering chambers (224) on the left side of the steering part (220), so that the 1 to 3 steering chambers (224) on the left side of the steering part (220) are inflated and pressurized, and at the same time, the two-position three-way solenoid valve (252) corresponding to the right through hole (213) of the head (210) is opened to spray gas to the right side of the head (210), loosen the soil, and make the self-moving soft robot (200) in the soil bend and turn right, and monitor the readings of the air pressure sensor (266) corresponding to the 1 to 3 steering chambers (224) on the left side of the steering part (220) to control the right bending angle of the self-moving soft robot (200) in the soil.

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