A self-moving soft robot in soil and a control method thereof

Abstract

The application discloses a self-moving soft robot in soil and a control method thereof, and relates to the technical field of soft robots. The self-moving soft robot comprises a head, a steering part, a trunk, a pneumatic system and a control system. The head is used for spraying compressed gas in four directions, i.e. forward, downward, left and right. One end of the steering part is connected with the head, and a plurality of steering chambers are arranged in the steering part, which can be bent at multiple angles. One end of the trunk is connected with the end of the steering part away from the head, and a trunk chamber is arranged in the trunk. The trunk can be axially elongated and shortened, and provides power for the self-moving soft robot in soil. 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 self-moving soft robot in soil moves in soil. The application effectively reduces the resistance of soil to the robot by optimizing the propelling device and the transmission mechanism, and enables the robot to keep stable and continuous movement in different soil.

Description

Technical Field

[0001] This invention relates to the field of soft robot technology, and in particular to a self-moving soft robot in soil and its control method. Background Technology

[0002] Soil investigation is a crucial step in engineering construction, geological disaster prevention, and underground space development. Traditional soil investigation equipment largely relies on external power systems, such as drilling equipment, bulldozers, or survey vehicles. These devices are often bulky and complex to operate, requiring significant manual labor and demanding specific site conditions. Their use is particularly limited in confined spaces or complex terrain environments. Furthermore, traditional investigation methods often rely on ground personnel and equipment to transmit data, hindering efficient and accurate real-time surveying. These issues significantly impact the efficiency and quality of soil investigation.

[0003] Against this backdrop, with the development of artificial intelligence, robotics, and the Internet of Things, the research and development of intelligent soil exploration equipment has become an urgent issue. Compared to traditional equipment, intelligent soil exploration equipment possesses functions such as autonomous operation, real-time data acquisition and analysis, and automatic path planning, enabling it to complete complex exploration tasks without human intervention. This type of equipment is particularly suitable for narrow, dangerous, or complex underground environments, significantly improving the flexibility and efficiency of soil exploration.

[0004] Small, self-propelled underground robots are gradually becoming a research hotspot as an important component of intelligent exploration equipment. These robots can move autonomously in underground environments, using sensors to monitor and collect data on the soil in real time. Due to their small size and self-operating capabilities, underground robots can enter areas inaccessible to traditional equipment. However, current underground robot technology still faces many challenges. One of the biggest technical bottlenecks is how to effectively cope with soil resistance in complex underground environments. The heterogeneity, multiphase nature, and high resistance characteristics of soil make it difficult for existing underground robots to operate continuously and reliably, frequently resulting in movement obstruction, excessive energy consumption, and even equipment damage. Furthermore, existing propulsion technologies and power systems cannot provide sufficient thrust in complex underground environments, preventing underground robots from maintaining stable operation for extended periods.

[0005] Although some preliminary underground robotic devices have been put into use on the market, their performance is far from meeting the needs of actual engineering, especially when facing complex soil conditions and high-resistance underground environments, where existing robots struggle to provide sustained and stable working capabilities. Therefore, overcoming the movement obstacles of underground self-propelled robots in complex soil environments, optimizing propulsion systems, and improving energy efficiency and reliability have become core issues in the current field of soil exploration.

[0006] To address the aforementioned issues, it is imperative to develop a small, self-moving underground robot capable of overcoming soil resistance, autonomous movement, and intelligent data acquisition and analysis. This robot would not only significantly improve the efficiency of soil exploration but also effectively reduce reliance on external equipment, lower labor costs and exploration time, while simultaneously enhancing the accuracy and real-time performance of exploration data. Summary of the Invention

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

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

[0009] The head is used to eject compressed gas in four directions: forward, downward, left, and right.

[0010] A steering unit, one end of which is connected to the head, and the steering unit has multiple steering chambers, allowing it to bend at multiple angles;

[0011] The torso is connected at one end to the end of the steering part away from the head. The torso has a torso chamber inside. The torso can be axially extended and shortened to provide power for the self-moving soft robot in the soil.

[0012] The pneumatic system is used to provide compressed air to the head, steering gear, and torso;

[0013] A control system is used to control the pneumatic system to enable the self-moving soft robot in the soil to move in the soil.

[0014] Furthermore, the head is made by 3D printing, and the head has four through holes: a front through hole, a left through hole, a right through hole, and a bottom through hole.

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

[0016] The steering section inner layer software is a cylinder or cuboid with a wiring hole in the center for wiring.

[0017] The Kevlar fiber of the steering part is spirally wound on the outside of the inner soft layer of the steering part, and the angle between the spiral line and the axis of the inner soft layer of the steering part is 5° to 15°.

[0018] Steering chamber, which is located in the inner layer of the steering part and extends along the axial direction of the inner layer of the steering part, the steering chamber is closed at both ends, and the number of steering chambers is 3 to 6, which are distributed around the wiring hole array;

[0019] The steering unit outer layer soft material wraps around the steering unit inner layer soft material and the steering unit Kevlar fiber;

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

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

[0022] The inner soft layer of the trunk is a tubular body with a circular or square cross-section, and a trunk cavity is provided inside the inner soft layer of the trunk.

[0023] Kevlar fibers for the torso are spirally wound around the outer side of the inner soft layer of the torso, with the spiral line making an angle of 5° to 15° with the axis of the inner soft layer of the torso.

[0024] The outer soft layer of the torso encapsulates the inner soft layer of the torso and the torso Kevlar fibers;

[0025] By inflating or deflating the trunk chambers, the trunk can achieve extension and contraction movements.

[0026] Furthermore, it also includes a cover made by 3D printing. The cover is connected to the end of the torso away from the turning part. The cover has multiple mounting holes, and tracheal connectors are installed in the mounting holes. One of the tracheal connectors is connected to a torso chamber, and the remaining tracheal connectors are connected to four through holes in the head and multiple turning chambers in the turning part through internal hoses. The internal hoses connected to the four through holes in the head are inserted into wiring holes.

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

[0028] Furthermore, the hardware of the control system includes a host computer, a DC power supply, MOSFETs, an Arduino control board, and multiple air pressure sensors. The multiple air pressure sensors are installed one-to-one on multiple external hoses, and the air pressure sensors are located between the two-position three-way solenoid valve and the air hose connector. The DC power supply is electrically connected to the MOSFETs, and the host computer, MOSFETs, two-position three-way solenoid valve, and air pressure sensors are all electrically connected to the Arduino control board.

[0029] This invention also provides a control method for a self-moving soft robot in soil, used to control a self-moving soft robot in soil, comprising the following steps:

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

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

[0032] When forward movement is required, the Arduino control board sends a signal to open the two-position three-way solenoid valves corresponding to the front and lower through holes of the head, spraying gas into the front and lower sides of the head to loosen the soil. At the same time, the two-position three-way solenoid valves corresponding to the torso chambers are opened to inflate and pressurize the torso chambers. After the air pressure sensor corresponding to the torso chambers detects that the preset air pressure value has been reached, the air is released for a certain period of time, and then inflated again. Through intermittent inflation and deflation, the torso can perform extension and contraction movements, thereby driving the self-moving soft robot in the soil to move forward.

[0033] When a left turn is required, the Arduino control board sends a signal to open the two-position three-way solenoid valves corresponding to the 1st to 3rd steering chambers on the right side of the steering part, so that the 1st to 3rd steering chambers on the right side of the steering part are pressurized with air. At the same time, the two-position three-way solenoid valve corresponding to the through hole on the left side of the head is opened to spray gas to the left side of the head, loosening the soil and causing the self-moving soft robot in the soil to bend and turn to the left. The air pressure sensor readings corresponding to the 1st to 3rd steering chambers on the right side of the steering part are monitored to control the angle of the self-moving soft robot in the soil to bend to the left.

[0034] When a right turn is required, the Arduino control board sends a signal to open the two-position three-way solenoid valves corresponding to the first to third steering chambers on the left side of the steering unit, causing the first to third steering chambers on the left side of the steering unit to be pressurized with air. At the same time, the two-position three-way solenoid valve corresponding to the through hole on the right side of the head is opened, and gas is sprayed to the right side of the head to loosen the soil, causing the self-moving soft robot in the soil to bend and turn to the right. The readings of the air pressure sensors corresponding to the first to third steering chambers on the left side of the steering unit are monitored, and the angle of the self-moving soft robot in the soil to bend to the right is controlled.

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

[0036] 1. Effectively Overcoming Soil Resistance: The underground self-moving robot proposed in this invention, through its innovative propulsion system and structural design, can move autonomously in various complex soil environments. Compared to existing underground robots, this invention effectively reduces soil resistance by optimizing the propulsion device and transmission mechanism, enabling it to maintain stable and continuous movement in different soil types. Whether in high-density soil or gravelly soil, the robot of this invention can achieve more efficient propulsion and steering control, solving the problem of robots in existing technologies being easily hindered and unable to operate autonomously for extended periods in complex soil environments.

[0037] 2. Miniaturization and Enhanced Flexibility: Compared to existing large-scale soil exploration equipment, the underground self-moving robot of this invention is small in size and lightweight, enabling it to operate flexibly in confined or complex underground spaces. This design effectively reduces reliance on external large equipment, allowing the robot to perform exploration tasks under special geographical conditions (such as tunnels, pipelines, underground mines, etc.). This not only improves the flexibility of exploration but also reduces the transportation and operating costs of the equipment.

[0038] 3. Simplified Structure and Convenient Maintenance: By simplifying the overall structure and optimizing the internal layout of the robot, this invention reduces the number of vulnerable parts during robot movement, thereby improving the stability and reliability of the system. Unlike the complex maintenance procedures commonly found in existing technologies, the robot of this invention is easy to maintain, significantly reducing maintenance frequency and costs, and extending the service life of the equipment. Attached Figure Description

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

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

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

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

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

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

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

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

[0047] Among them, 200-Self-moving soft robot in soil; 210-Head; 220-Steering part; 230-Tortoise; 240-Cap; 211-Front through hole; 212-Left through hole; 213-Right through hole; 214-Lower through hole; 221-Inner soft layer of steering part; 222-Way hole; 223-Kevlar fiber of steering part; 224-Steering chamber; 225-Outer soft layer of steering part; 231-Inner soft layer of torso; 2 32-Kevlar fiber for the torso; 233-Outer soft layer of the torso; 234-Torso chamber; 241-Mounting hole; 242-Tracheal connector; 251-Air source; 252-Two-position three-way solenoid valve; 253-Diverter plate; 254-External hose; 261-Host computer; 262-DC power supply; 263-MOSFET field-effect switch; 264-Arduino control board; 265-Wire; 266-Pressure sensor. Detailed Implementation

[0048] To achieve the above objectives and effects, the technical means and structure adopted by the present invention will be described in detail with reference to the accompanying drawings, focusing on the features and functions of the preferred embodiments of the present invention.

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

[0050] The head 210 has four holes connected to air tubes, which can spray compressed gas in four directions: forward, down, left, and right. The compressed gas can be air, carbon dioxide, etc.

[0051] The steering part 220 is connected to the head 210 at one end. The steering part 220 is provided with multiple steering chambers 224 and can be bent at multiple angles in various directions.

[0052] The torso 230 is connected at one end to the turning part 220 away from the head 210. The torso 230 can be extended and shortened axially to provide power for the soil-moving soft robot 200.

[0053] The cover 240 is connected to the end of the torso 230 away from the turning part 220. The cover has multiple mounting holes 241 and each is fitted with an air pipe connector 242.

[0054] like Figure 2As shown, the head 210 is made by 3D printing. The head 210 is wedge-shaped with a head angle of 30°, a lower angle of 80°, and an upper angle of 70°. The head 210 has four through holes: a front through hole 211, a left through hole 212, a right through hole 213, and a lower through hole 214. Each of the four through holes is connected to an air pipe connector 242 via an internal flexible tube.

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

[0056] The steering part inner layer software 221 is a cylinder or cuboid with a wiring hole 222 in the center for wiring; the internal flexible tube connected to the four through holes of the head 210 can pass through the wiring hole 222.

[0057] Kevlar fiber 223 for steering part is spirally wound around the outside of the inner soft layer 221 of steering part, and the angle between the spiral line and the axis of the inner soft layer 221 of steering part is 5° to 15°.

[0058] Steering chamber 224, which is located inside the inner layer soft material 221 of the steering part and extends along the axial direction of the inner layer soft material 221 of the steering part, the steering chamber 224 is closed at both ends, and the number of steering chambers 224 is 3 to 6, which are arranged in an array around the wiring hole 222;

[0059] The steering unit outer layer soft material 225 encapsulates the steering unit inner layer soft material 221 and the steering unit Kevlar fiber 223. By applying different air pressures to one or more steering chambers 224, the steering unit 220 can achieve different bending angles.

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

[0061] The inner soft layer of the trunk 231 is a tubular body with a circular or square cross-section and a trunk chamber 234 inside the inner soft layer of the trunk 231.

[0062] Kevlar fiber 232 of the torso is spirally wound around the outside of the inner soft layer 231 of the torso, and the angle between the spiral line and the axis of the inner soft layer 231 of the torso is 5° to 15°.

[0063] The outer soft layer 233 of the torso encloses the inner soft layer 231 of the torso and the Kevlar fiber 232 of the torso.

[0064] like Figure 5 and Figure 6As shown, the cover 240 is 3D printed and is a cylinder or cuboid. The cover has multiple mounting holes 241, each for mounting an air pipe connector 242. In a preferred embodiment, one mounting hole 241 is located at the center of the cover 240, and the remaining mounting holes 241 are arranged 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 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. Multiple air outlets of the flow divider 253 are connected to multiple air pipe connectors 242 of the cover 240 via external hoses. Each external hose 254 is equipped with a two-position three-way solenoid valve 252. The two-position three-way solenoid valve 252 is used to control the filling and releasing of gas, providing driving force for the steering chamber 224 and the torso chamber 234, and providing gas for the head 210. The connection of the external hose 254 is secured with silicone.

[0066] like Figure 8 As shown, the hardware of the control system 260 includes a host computer 261, a DC power supply 262, a MOSFET field-effect switch 263, an Arduino control board 264, and multiple pressure sensors 266. The multiple pressure sensors 266 are respectively installed on multiple external hoses 254. The pressure sensors 266 are 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 MOSFET field-effect switch 263. The host computer 261, the MOSFET field-effect switch 263, the two-position three-way solenoid valve 252, and the pressure sensors 266 are all electrically connected to the Arduino control board 264.

[0067] The present invention also provides a control method for a self-moving soft robot in soil, for controlling a self-moving soft robot 200 in soil, comprising the following steps:

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

[0069] S2, by manipulating the host computer 261 to control the Arduino control board 264 to send signals, so that the soil self-moving soft robot 200 can perform forward or turning movements;

[0070] When forward movement is required, the Arduino control board 264 sends a signal to open the two-position three-way solenoid valves 252 corresponding to the front through-hole 211 and the lower through-hole 214 of the head 210, spraying 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 torso chamber 234 is opened to inflate and pressurize the torso chamber 234. After the air pressure sensor 266 corresponding to the torso chamber 234 detects that the preset air pressure value has been reached, the air is released for a certain period of time and then inflated again. Through intermittent inflation and deflation, the torso 230 can achieve telescopic movement, thereby driving the soil self-moving soft robot 200 to move forward.

[0071] When a left turn is required, the Arduino control board 264 sends a signal to open the two-position three-way solenoid valves 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. 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, loosening the soil and causing the self-moving soft robot 200 in the soil to bend and turn to the left. The readings of the air pressure sensors 266 corresponding to the 1 to 3 steering chambers 224 on the right side of the steering part 220 are monitored to control the angle of the self-moving soft robot 200 in the soil to bend to the left.

[0072] When a right turn is required, the Arduino control board 264 sends a signal to open the two-position three-way solenoid valves 252 corresponding to the first to third steering chambers 224 on the left side of the steering part 220, thereby pressurizing the first to third steering chambers 224 on the left side of the steering part 220. At the same time, the two-position three-way solenoid valve 252 corresponding to the through hole 213 on the right side of the head 210 is opened, and gas is sprayed to the right side of the head 210 to loosen the soil, causing the self-moving soft robot 200 in the soil to bend and turn to the right. The readings of the air pressure sensors 266 corresponding to the first to third steering chambers 224 on the left side of the steering part 220 are monitored, and the angle of the self-moving soft robot 200 in the soil to bend to the right is controlled.

[0073] The above description is only a preferred embodiment of the present invention and not all embodiments. Anyone should know that structural changes made under the guidance of the present invention, and any technical solutions that are the same as or similar to the present invention, are within the protection scope of the present invention.

Claims

1. A self-moving soft robot in soil, characterized in that, The utility model relates to a soil self-motion soft robot (200) which comprises: a head (210) in wedge shape for spraying compressed gas in four directions of forward, downward, left and right respectively; a steering part (220) connected with the head (210) at one end, provided with a plurality of steering chambers (224) inside and capable of bending at multiple angles; the steering part (220) is a fiber-restrained soft pneumatic actuator, comprising: a steering part inner soft body (221) in cylindrical or cuboid shape, provided with a wiring hole (222) in the center for wiring; a steering part Kevlar fiber (223) spirally wound outside the steering part inner soft body (221), with the spiral line and the steering part inner soft body (221) axis included angle being 5-15 degrees; steering chambers (224) located inside the steering part inner soft body (221) and extending along the axial direction of the steering part inner soft body (221), closed at both ends, with the number being 3-6 and arranged in an array around the wiring hole (222); a steering part outer soft body (225) wrapping the steering part inner soft body (221) and the steering part Kevlar fiber (223); different bending angles of the steering part (220) are realized by applying different air pressures to one or more steering chambers (224); a trunk (230) connected with the steering part (220) at one end away from the head (210), provided with a trunk chamber (234) inside, capable of axial extension and shortening and providing power for the soil self-motion soft robot (200); a pneumatic system (250) for providing compressed air for the head (210), the steering part (220) and the trunk (230); a control system (260) for controlling the pneumatic system (250) to make the soil self-motion soft robot (200) move in soil.

2. The self-locating soft robot in soil of claim 1, wherein, The head (210) is made by 3D printing, and the head (210) is provided with four through holes, i.e. a front side through hole (211), a left side through hole (212), a right side through hole (213) and a lower side through hole (214).

3. The self-locating soft robot in soil of claim 2, wherein, The trunk (230) is a fiber-restrained soft pneumatic actuator, comprising: a trunk inner soft body (231) in tubular shape, with the cross section shape being circular or square, provided with a trunk chamber (234) inside; a trunk Kevlar fiber (232) spirally wound outside the trunk inner soft body (231), with the spiral line and the trunk inner soft body (231) axis included angle being 5-15 degrees; a trunk outer soft body (233) wrapping the trunk inner soft body (231) and the trunk Kevlar fiber (232). The torso (230) is made to realize telescopic movement by inflating or deflating the torso cavity (234).

4. The self-locating soft robot in soil of claim 3, wherein, Further comprising a cover (240) made by 3D printing, connected with one end of the torso (230) away from the turning part (220), a plurality of mounting holes (241) are arranged on the cover (240), and a tracheal joint (242) is mounted on each mounting hole (241); one of the tracheal joints (242) is in communication with the torso cavity (234), and the remaining tracheal joints (242) are respectively connected with four through holes of the head (210) and a plurality of turning cavities (224) of the turning part (220) through internal hoses; the internal hoses connected with the four through holes of the head (210) are arranged in the wire hole (222).

5. The self-locating soft robot in soil of claim 4, wherein, The pneumatic system (250) comprises a gas source (251), a flow divider (253), external hoses (254) and two-position three-way electromagnetic valves (252), the gas source (251) is connected with the flow divider (253), a plurality of gas outlets of the flow divider (253) are respectively connected with a plurality of tracheal joints (242) of the cover (240) through external hoses, and one two-position three-way electromagnetic valve (252) is arranged on each external hose (254), and the two-position three-way electromagnetic valve (252) is used for controlling the inflation and deflation of the gas.

6. A self-motile soft robot in soil as claimed in claim 5 wherein, The hardware of the control system (260) comprises a host computer (261), a direct current power supply (262), MOSFET field effect switches (263), an Arduino control board (264) and a plurality of air pressure sensors (266), the plurality of air pressure sensors (266) are respectively and one-to-one mounted on the plurality of external hoses (254), and the air pressure sensor (266) is located between the two-position three-way electromagnetic valve (252) and the tracheal joint (242); the direct current power supply (262) is electrically connected with the MOSFET field effect switch (263), and the host computer (261), the MOSFET field effect switch (263), the two-position three-way electromagnetic valve (252) and the air pressure sensor (266) are electrically connected with the Arduino control board (264).

7. A control method of a self-moving soft robot in soil, characterized by, for controlling the soft robot (200) in soil, comprising the following steps: S1, turn on the host computer (261) and the direct current power supply (262), and complete the preparation work; S2, control the Arduino control board (264) to send signals by operating the host computer (261), so that the soft robot (200) in soil performs forward or turning movement; When it is needed to move forward, the Arduino control board (264) sends a signal to open the two-position three-way electromagnetic valve (252) corresponding to the front side through hole (211) and the lower side through hole (214) of the head (210), to spray gas to the front side and the lower side of the head (210), loosen the soil, and at the same time, open the two-position three-way electromagnetic valve (252) corresponding to the trunk chamber (234), to make the trunk chamber (234) pressurized, and after the air pressure sensor (266) corresponding to the trunk chamber (234) detects that the preset air pressure value is reached, deflate for a period of time, and then re-pressurize, to make the trunk (230) realize the extension and retraction movement, and further drive the soil self-moving soft robot (200) to move forward; When it is needed to turn left, the Arduino control board (264) sends a signal to open the two-position three-way electromagnetic valve (252) corresponding to 1-3 steering chambers (224) on the right side of the steering part (220), to make the 1-3 steering chambers (224) on the right side of the steering part (220) pressurized, and at the same time, open the two-position three-way electromagnetic valve (252) corresponding to the left side through hole (212) of the head (210), to spray gas to the left side of the head (210), loosen the soil, make the soil self-moving soft robot (200) bend and turn left, monitor the reading of the air pressure sensor (266) corresponding to the 1-3 steering chambers (224) on the right side of the steering part (220), and control the angle of the soil self-moving soft robot (200) bending left; When it is needed to turn right, the Arduino control board (264) sends a signal to open the two-position three-way electromagnetic valve (252) corresponding to 1-3 steering chambers (224) on the left side of the steering part (220), to make the 1-3 steering chambers (224) on the left side of the steering part (220) pressurized, and at the same time, open the two-position three-way electromagnetic valve (252) corresponding to the right side through hole (213) of the head (210), to spray gas to the right side of the head (210), loosen the soil, make the soil self-moving soft robot (200) bend and turn right, monitor the reading of the air pressure sensor (266) corresponding to the 1-3 steering chambers (224) on the left side of the steering part (220), and control the angle of the soil self-moving soft robot (200) bending right.

Images