Multifunctional in-situ test bionic soft robot for geotechnical investigation

Abstract

The invention discloses a multifunctional in-situ testing bionic soft robot for geotechnical investigation. A ground breaking and testing module comprises a ground breaking drill bit, a front section shell, an eccentric regulator, a driving motor, a rotating speed sensor, a torque sensor, a lateral pressure testing device, a seismic wave detection device, a temperature testing and heat transfer testing device, a pore water pressure testing device and a penetration testing device; the middle-section propelling module comprises a middle-section shell, a front flexible shell, a middle-section rigid supporting mechanism, an axial electric telescopic rod I and a radial electric telescopic rod I; the tail section propelling and control module comprises a rear section shell, a rear flexible shell, a rear side rigid supporting mechanism, an axial electric telescopic rod II and a radial electric telescopic rod II; and the rear end ground gripping and stabilizing module comprises a supporting seat body, a radial electric telescopic rod III, a ground gripping force sensor, a flexible mechanical finger, a gravity and attitude sensor, a positioning assembly and a control unit. The robot can synchronously realize in-situ testing of various physical, mechanical and thermophysical parameters of a soil body in the drilling process.

Description

Technical Field

[0001] The present invention belongs to the technical field of geotechnical intelligent exploration, and particularly relates to a multifunctional in-situ testing bionic soft robot for geotechnical exploration. Background Art

[0002] Drilling or exploration is a mechanical engineering technology using deep drilling. By detecting natural resources underground, soil property data can be comprehensively obtained to provide reliable technical support for the exploitation of natural resources. With the continuous progress of technology, the demand for underground environment exploration and in-situ testing is increasing. Traditional drilling or exploration methods often rely on drilling and manual operation, which not only have low efficiency and poor accuracy, but also easily cause disturbance to underground structures and even affect environmental safety. Traditional drilling or exploration methods basically include auger drilling method, washing method, impact method, rotary method, core sampling method, non-core sampling method, rotary impact method, hand drill, vane drill, water jet drill, clay cutting pipe, and so on. The existing drilling devices for geotechnical exploration mainly have the following deficiencies: 1. When the existing drilling devices for geotechnical exploration are in use, they often need to be powered in real time by an external power source to ensure normal drilling operations, thus having certain limitations; 2. The functions of the existing drilling devices for geotechnical exploration are relatively single, usually only capable of sampling operations and unable to synchronously obtain various physical properties. Therefore, it is urgent to improve the existing drilling devices for geotechnical exploration to effectively meet the intelligent exploration requirements at the present stage. Summary of the Invention

[0003] Aiming at the problems existing in the above-mentioned prior art, the present invention provides a multifunctional in-situ testing bionic soft robot for geotechnical exploration. The robot can flexibly adapt to soil layers with different hardnesses and has stable propulsion ability. At the same time, it can synchronously perform in-situ testing of various physical, mechanical, and thermal physical properties of the soil during the drilling process, ensuring the efficiency and accuracy of test data collection.

[0004] To achieve the above object, the present invention provides a multifunctional in-situ testing bionic soft robot for geotechnical exploration, including a soil-breaking and testing module, a front flexible joint, a middle section propulsion module, a rear flexible joint, a tail section propulsion and control module, and a rear end ground gripping and stabilizing module;

[0005] The soil-breaking and testing module includes a soil-breaking drill bit, a front section housing, an eccentric regulator, a driving motor, a rotational speed sensor, a torque sensor, a pressuremeter test device, a seismic wave detection device, a temperature test and heat transfer test device, a pore water pressure test device, and a permeability test device;

[0006] The earth-breaking drill bit is conical, and double spiral grooves are provided on its conical surface; the front section of the housing is located at the rear side of the earth-breaking drill bit, its outer contour is cylindrical, its outer diameter is not greater than the outer diameter of the large-diameter end of the earth-breaking drill bit, and its interior is successively provided with a front annular cavity, a middle annular cavity and a rear annular cavity from front to back. An annular opening communicating with the front annular cavity is provided on the housing of the front section of the housing, and an annular elastic band is encapsulated at the annular opening; the drive motor is fixedly installed in the central area at the front end of the front section of the housing, and its output end is connected to the central axis inside the large-diameter section of the earth-breaking drill bit through an eccentric regulator; the rotational speed sensor and the torque sensor are installed inside the large-diameter section of the earth-breaking drill bit for real-time acquisition of the rotational speed signal and the torque signal of the earth-breaking drill bit;

[0007] The front end of the front flexible joint is fixedly connected to the central area at the rear end of the front section of the housing;

[0008] The pressuremeter device is installed in the front annular cavity and includes an annular airbag, an air box, a micro air pump and a pressuremeter detection sensor; the annular airbag is installed in the peripheral area of the front annular cavity; the air box and the micro air pump are installed in the inner area of the front annular cavity. The micro air pump has the ability to work in both forward and reverse directions. The inlet end of the micro air pump is connected to the air box through an air inlet pipeline, and its outlet end is connected to the air port on the annular airbag through an air outlet pipeline; the pressuremeter detection sensor is installed between the annular airbag and the annular elastic band;

[0009] The seismic wave detection device, temperature test and heat transfer test device, permeability test device, and pore water pressure test device are installed in the rear annular cavity at intervals in sequence; the seismic wave detection device includes a vibration generator and an acceleration sensor; the vibration generator is used to generate seismic waves; the acceleration sensor is used to receive the feedback signal of the seismic waves; the temperature test and heat transfer test device includes heating elements, temperature sensors, and heat flux sensors that are distributed at intervals in sequence; the heating elements are used to perform heating operations on the soil mass; the temperature sensors are used to collect the temperature signals of the soil mass in real time; the heat flux sensors are used to collect the heat flux change signals of the heated soil mass in real time; the permeability test device includes a permeation chamber, a filling chamber, a permeation sensor, a water tank, a micro water pump, and a filling control valve. The permeation chamber and the filling chamber are distributed at intervals and are both installed near the edge of the front housing. The permeation chamber communicates with the outside through a permeation hole opened on the front housing, and the filling chamber communicates with the outside through a filling hole opened on the front housing. At the same time, the filling hole and the permeation hole are distributed at a set distance from each other; the permeation sensor is installed in the permeation chamber and is used to collect the pressure signal of the permeated water in real time; the water tank and the micro water pump are both installed in the filling chamber. The inlet end of the micro water pump is connected to the outlet of the water tank through a water inlet pipeline, and its outlet end is connected to the filling hole through a water outlet pipeline; the filling control valve is connected in series in the middle section of the water outlet pipeline; the pore water pressure test device includes a pore water detection chamber, a semi-permeable membrane, a pore water pressure sensor, a pore water filling pipeline, and a pore water discharge valve; the pore water detection chamber is installed near the edge of the front housing and communicates with the outside through a through hole opened on the front housing; the semi-permeable membrane is installed at the outer end of the pore water detection chamber; the pore water pressure sensor is installed in the pore water detection chamber and is used to collect the pressure signal of the pore water in real time; the pore water filling pipeline is embedded in a groove on the surface of the front housing, its inlet end is connected to the outlet end of the micro water pump, and its outlet end is connected to the through hole; the pore water discharge valve is connected in series in the middle section of the pore water filling pipeline;

[0010] The middle-section propulsion module includes a middle-section housing, a front flexible outer shell, a middle-section rigid support mechanism, a first axial electric telescopic rod, and a first radial electric telescopic rod. The outer contour of the middle-section housing is cylindrical, and its outer diameter is the same as that of the front-section housing. A front central channel that penetrates axially is provided at its axis, and a plurality of front radial channels are evenly circumferentially provided in the middle part thereof. The inner ends of the front radial channels communicate with the front central channel, and their outer ends extend to the outer circular surface of the middle-section housing. The front flexible outer shell wraps around the outside of the middle-section housing. A first front mounting opening is provided at the center corresponding to the front end of the middle-section housing at its front end, and it is sleeved and connected to the outside of the rear end of the front flexible joint through the first front mounting opening. A first rear mounting opening is provided at the center corresponding to the rear end of the middle-section housing at the rear end of the front flexible outer shell. The middle-section rigid support mechanism includes a front central support rod body and front radial support rod bodies. The front central support rod body is fixedly installed in the middle section of the front central channel. A plurality of front radial support rod bodies are correspondingly fixedly inserted into a plurality of front radial channels, and their inner ends are fixedly connected to the front central support rod body, and their outer ends are located in the middle sections of the corresponding front radial channels. The fixed seats of a pair of first axial electric telescopic rods are fixedly connected to both ends of the front central support rod body relatively. The end of the telescopic section of the first axial electric telescopic rod located at the front side is fixedly connected to the center of the rear end of the front flexible joint. A plurality of first radial electric telescopic rods are correspondingly arranged in a plurality of front radial channels, and their fixed seats are correspondingly fixedly connected to the ends of a plurality of front radial support rod bodies, and the ends of their telescopic sections are connected to the middle section of the front flexible outer shell.

[0011] The outer side of the front end of the rear flexible joint is connected to the inner edge of the first rear mounting opening on the front flexible outer shell, and the center of its front end is connected to the end of the telescopic section of the first axial electric telescopic rod located at the rear side.

[0012] The tail section propulsion and control module includes a rear section housing, a rear flexible outer shell, a rear rigid support mechanism, an axial electric telescopic rod II, and a radial electric telescopic rod II; the outer contour of the rear section housing is cylindrical, its outer diameter is consistent with that of the middle section housing, and a rear central channel that penetrates axially is provided at its axis. A plurality of rear radial channels are evenly circumferentially provided in the middle part thereof. The inner ends of the rear radial channels communicate with the rear central channel, and their outer ends extend to the outer circular surface of the rear section housing; the rear flexible outer shell wraps around the outside of the rear section housing. A front mounting port II is provided at the center of the front end corresponding to the front end of the rear section housing, and it is sleeved and connected to the outside of the rear end of the rear flexible joint through the front mounting port II. A rear mounting port II is provided at the center of the rear end of the rear flexible outer shell corresponding to the rear end of the rear section housing; the rear rigid support mechanism includes a rear central support rod body and rear radial support rod bodies. The rear central support rod body is fixedly installed in the middle section of the rear central channel. A plurality of rear radial support rod bodies are correspondingly fixedly inserted into a plurality of rear radial channels, and their inner ends are fixedly connected to the rear central support rod body, and their outer ends are located in the middle sections of the corresponding rear radial channels; the fixed seats of a pair of axial electric telescopic rods II are fixedly connected to both ends of the rear central support rod body relatively. The end of the telescopic section of the axial electric telescopic rod II located on the front side is connected to the center of the rear end of the rear flexible joint; a plurality of radial electric telescopic rods II are correspondingly arranged in a plurality of rear radial channels, and their fixed seats are fixedly connected to the ends of a plurality of rear radial support rod bodies correspondingly, and the ends of their telescopic sections are connected to the middle section of the rear flexible outer shell;

[0013] The rear end gripping and stabilizing module includes a support seat body, a radial electric telescopic rod III, a grip force sensor, a flexible mechanical finger, a gravity and attitude sensor, a positioning component, and a control unit; the support seat body includes a circular mounting plate and a terminal housing; the outer diameter of the circular mounting plate is smaller than the outer diameter of the rear section housing, and the central area of its front end is connected to the rear mounting port II of the rear flexible outer shell. At the same time, it is fixedly connected to the end of the telescopic section of the axial electric telescopic rod II located on the rear side; the outer contour of the terminal housing is cylindrical, and a terminal accommodation cavity is provided inside it. Its outer diameter is smaller than the outer diameter of the circular mounting plate and is coaxially fixedly connected to the rear end face of the circular mounting plate. Four radial mounting channels are evenly circumferentially provided in the middle section of the terminal housing; four radial electric telescopic rods III are correspondingly installed in the four radial mounting channels, and the ends of their telescopic sections extend to the outside of the terminal housing; four grip force sensors are arranged at the inner ends of the four radial mounting channels and are fixedly connected to the fixed ends of the four radial electric telescopic rods III for collecting grip pressure signals in real time; four flexible mechanical fingers are correspondingly sleeved on the outer sides of the ends of the telescopic sections of the four linear electric telescopic rods V. The outer section of the flexible mechanical finger includes a plurality of elastic monomers distributed radially. The plurality of elastic monomers are in a retracted state of being mutually attached under normal conditions, and in a state of being mutually separated and opened after being subjected to an external pressure; the gravity and attitude sensor and the positioning component are both installed in the terminal accommodation cavity;

[0014] The control unit is installed inside the end accommodating cavity and includes a power module, a storage module, a communication module, and a controller; the controller is respectively connected to a rotational speed sensor, a torque sensor, a lateral pressure detection sensor, an acceleration sensor, a temperature sensor, a heat flux sensor, a penetration sensor, a pore water pressure sensor, a grip sensor, a gravity and attitude sensor, a positioning component, a power module, an eccentric regulator, a drive motor, a micro air pump, a vibration generator, a heating element, a micro water pump, a filling control valve, a pore water discharge valve, a first axial electric telescopic rod, a first radial electric telescopic rod, a second axial electric telescopic rod, a second radial electric telescopic rod, a third radial electric telescopic rod, a storage module, and a communication module.

[0015] As a preference, the earth-breaking drill bit is made of tungsten carbide alloy, and its outer surface is coated with a wear-resistant composite material coating.

[0016] As a preference, the annular airbag is made of thermoplastic polyurethane.

[0017] As a preference, both the front flexible housing and the rear flexible housing are made of high-wear-resistant silicone material.

[0018] Furthermore, in order to ensure that the overall weight is lighter and thus more suitable for drilling operations, the front section housing, the middle section housing, the rear section housing, the end housing, the middle section rigid support mechanism, and the rear side rigid support mechanism are all made of aviation-grade lightweight alloy materials.

[0019] As a preference, the positioning component includes an inertial navigation unit, a magnetometer, and a depth pressure sensor. The underground soil layer has uncertainties and diversities, including different hardness, humidity, density, porosity, etc. These factors may all affect the positioning and propulsion of the robot. By providing multiple positioning modules, it can effectively assist the robot in achieving accurate positioning in a complex soil environment. Among them, the inertial navigation unit (IMU) includes an accelerometer and a gyroscope. Through the accelerometer and gyroscope, the moving direction, speed, and displacement information of the robot underground can be monitored in real time. In this way, by combining the test data of the inertial navigation unit with the inclination angle and attitude information, the current position information of the robot can be accurately judged. The magnetometer can assist in judging the traveling azimuth of the robot. The depth pressure sensor can collect the pressure change signals of the surrounding soil in real time. Through the pressure change signals of the surrounding soil, the controller can calculate the depth information where the robot is currently located, which is beneficial to realizing real-time depth correction. In this way, the precise positioning of the robot can be achieved through a multi-sensor fusion algorithm combined with the data monitored by the inertial navigation unit (IMU), the magnetometer, and the depth pressure sensor. The controller can continuously correct the underground position and direction of the robot through the multi-sensor fusion algorithm, and can maintain a stable navigation ability throughout the exploration process. Thereby, the high-precision positioning ability of the robot in a complex underground environment is ensured, which is beneficial to the robot to adjust its attitude in real time during the drilling process, and can continuously correct the position and drilling direction, ensuring the positioning accuracy and drilling efficiency.

[0020] As a preference, the flexible mechanical finger is made of silicone composite rubber.

[0021] As a preference, the number of the elastic monomers is three or four.

[0022] As a preference, both the front flexible joint and the rear flexible joint are made of flexible polymer composite materials.

[0023] As a preference, the power supply module uses a lithium-ion battery pack.

[0024] In the present invention, the earth-breaking drill bit is conical, which can have a high earth-breaking efficiency during drilling. Double helical channels are provided on the conical surface, which can quickly squeeze the soil excavated during drilling to the rear side, and can use the centrifugal force generated during rotation to discharge the soil outward along the direction of the double helical channels, avoiding the situation of reducing the drilling efficiency due to soil blockage. An eccentric regulator is provided between the drive motor and the earth-breaking drill bit, which can conveniently adjust the front end of the earth-breaking drill bit to a predetermined angle deviating from the axis and generate an eccentric torque, so that the earth-breaking drill bit gradually deflects towards the target direction, and thus the drilling angle of the earth-breaking drill bit can be effectively controlled. Therefore, the drilling cutting direction of the earth-breaking drill bit can be conveniently changed. In this way, as long as the eccentric angle of the earth-breaking drill bit is finely adjusted, the drilling direction can be accurately controlled, enabling the robot to have a flexible steering ability, especially suitable for changing the drilling direction in complex soil layers. The drive motor can be a motor with a high torque output ability, so that it can effectively cope with the resistance of the soil layer, and thus ensure that the robot has a high drilling efficiency. By providing a rotational speed sensor and a torque sensor in the earth-breaking drill bit, it is convenient to collect the rotational speed signal and the torque signal in real time, and then it is convenient to sense the changes in rotational speed and torque. In this way, according to the changes in rotational speed and torque, the distribution of rock layers and the operating state of the drill bit can be effectively analyzed. By providing a pressuremeter test device in the front section of the housing, it is convenient to conduct in-situ pressuremeter tests underground. Among them, an annular opening is provided on the housing body, and an annular airbag is installed therein. At the same time, a micro air pump and an air tank are provided in the inner region of the front annular cavity. The micro air pump can be used to extract the gas located in the air tank and pump it into the annular airbag, so that the annular airbag expands. Through the expanded annular airbag, the lateral pressure of the soil can be simulated, and thus the detection process of the lateral pressure of the soil is realized. The degree of expansion of the annular airbag can be controlled by the working time of the micro air pump. During this process, the lateral pressure sensor arranged between the annular airbag and the annular elastic band can collect the external pressure signal during the expansion of the annular airbag in real time, and the pressure change during the expansion of the annular airbag can be effectively sensed. Furthermore, the mechanical parameters of the soil, such as lateral stress, density, etc., can be inverted. Through the mechanical parameters, the compressive strength and deformation characteristics of the soil can also be evaluated, including parameters such as initial pressure, critical plastic pressure, ultimate pressure, etc. By providing a seismic wave detection device in the front section of the housing, it is convenient to conduct seismic wave detection tests. Among them, the vibration generator can be controlled to generate low-frequency vibration signals, so that seismic waves can be effectively simulated. At the same time, multiple acceleration sensors can be used to receive the feedback signals of seismic waves in real time. Therefore, the elastic wave velocity, stiffness and density of the soil can be calculated. Through the seismic wave detection test, parameters such as the shear wave velocity of the soil can be determined, and thus the elastic properties, toughness and density of the underground soil layer can be reflected, which is helpful to evaluate the wave propagation characteristics of the soil.In addition, during the simultaneous implementation of the pressuremeter test and the seismic wave detection test, the characteristics of the soil can be more comprehensively evaluated. Specifically, the shear modulus of the soil can be roughly estimated from the shear wave velocity obtained by seismic wave detection, and then compared and analyzed with the deformation modulus obtained from the pressuremeter test. For different types of soils, there is a certain empirical relationship between the shear modulus and the deformation modulus. If the relationship between the two deviates from the normal range, it indicates that the soil has a special structure or non-uniformity. For example, in a soil layer with a soft interlayer, the local deformation modulus obtained from the pressuremeter test may be relatively low, and the overall shear wave velocity obtained from the seismic wave detection test will also be affected, but the change amplitude may be relatively small. Through combined analysis, the position and characteristics of the soft interlayer can be more accurately determined. By using the difference in the propagation velocity of seismic waves in different strata and the determination of the properties of soils at different depths by the pressuremeter test, it is also helpful to accurately construct the mechanical model of the strata. The interface where the seismic wave velocity suddenly changes is often related to the interface where the mechanical properties of the soil change significantly. The pressuremeter test data can further quantify the differences in the strength and deformation characteristics of the soil at these interfaces, so as to more comprehensively describe the strata structure. By setting up a temperature test and heat transfer test device in the front shell, it is convenient to conduct temperature tests and heat transfer tests. Among them, the surrounding soil can be heated for a short time by using a heating element to carry out a short-term heat transfer test. Synchronously, the temperature signal of the soil can be collected in real time by using a temperature sensor, and then the temperature distribution of the soil can be monitored in real time, which is conducive to measuring the thermal conductivity of the soil. In addition, it is also convenient to collect the heat flux change signal of the soil after heating in real time by using a heat flux sensor, and then the thermal conductivity and heat transfer characteristics of the soil can be effectively evaluated by measuring the heat transfer process, which is conducive to further analyzing the thermal physical properties of the soil. Furthermore, during the simultaneous implementation of the temperature test and heat transfer test and the pore water pressure test, the characteristics of the soil can be more comprehensively evaluated. Specifically, temperature changes will affect the viscosity and density of pore water, and then affect the distribution and dissipation of pore water pressure. When the temperature is relatively high, the viscosity of pore water decreases, which will accelerate the dissipation of pore water pressure. By comparing with the pore water pressure test data under different temperature conditions, the influence degree of temperature on the consolidation characteristics of the soil can be evaluated, and the pressuremeter test results can be corrected for temperature to obtain more accurate soil mechanical parameters. In addition, during the simultaneous implementation of the temperature test and heat transfer test and the seismic wave detection test, the characteristics of the soil can be more comprehensively evaluated. Specifically, temperature changes will cause small changes in the volume of the rock and soil mass, such as affecting its density and elastic modulus. Under long-term temperature monitoring, if it is found that the seismic wave velocity has a slow change and has a certain correlation with the temperature change, the long-term effect of temperature on the microscopic structure and macroscopic mechanical properties of the soil can be analyzed, which can provide reliable data support for studying the thermal-mechanical coupling characteristics of the soil.For example, in permafrost regions, the influence of temperature changes on the mechanical properties of soil is relatively significant. By combining data from temperature tests, seismic wave detection, and pressuremeter tests, etc., the dynamic changes in soil strength and deformation characteristics during the thawing-freezing process of permafrost can be deeply understood. By setting up a pore water pressure test device in the front shell, it is convenient to conduct pore water pressure tests. Among them, through the setting of the pore water discharge valve, the release process of pore water can be conveniently controlled. Installing a semi-permeable membrane at the outer end of the pore water detection chamber allows external water to penetrate into the pore water detection chamber through the semi-permeable membrane, so that the change of soil moisture can be simulated through the semi-permeable membrane in the pore water detection chamber, and the pressure change signal in the pore water can be collected in real time by using a pore water pressure sensor. Furthermore, through the pore water pressure test, the change of pore water pressure in the soil can be obtained. In this way, the groundwater flow, soil permeability, and pore structure can be evaluated based on the pressure change. In addition, the characteristics of the soil can be more comprehensively evaluated during the simultaneous implementation of pressuremeter tests and pore water pressure tests. Specifically, during the pressuremeter test, the properties of the soil can be comprehensively perceived corresponding to the change of pore water pressure. At the initial stage of loading in the pressuremeter test, the pore water pressure may rise slowly. If the pore water pressure rises sharply and approaches the pressuremeter pressure, it indicates that the soil is close to the failure state, the permeability of the soil is low, and the pore water is difficult to dissipate. According to the pressuremeter modulus and the pore water pressure dissipation process, the consolidation characteristics of the soil can be effectively evaluated. For example, if the pore water pressure dissipates quickly and the pressuremeter modulus is large, it indicates that the soil has good consolidation, high permeability, and a strong particle skeleton structure. By setting up a permeability test device in the front shell, it is convenient to conduct permeability tests. Among them, a water tank and a micro water pump are set in the filling chamber. At the same time, the outlet end of the micro water pump is connected to the filling hole through a water outlet pipeline, which is convenient to inject a small amount of water into the surrounding soil. The permeability chamber is connected to the outside through a permeability hole. At the same time, a permeability sensor is set in the permeability chamber, which is convenient to receive external permeated water through the permeability hole, so that the permeability performance of the soil can be easily detected. In this way, by controlling the drainage volume of the micro water pump and combining the permeated water pressure signal collected in real time by the permeability sensor, the permeation response of the soil can be accurately recorded, and then the permeability rate and permeability coefficient of the soil can be obtained, realizing a reliable evaluation of the soil permeability and hydrogeological characteristics. In addition, the characteristics of the soil can be more comprehensively evaluated during the simultaneous implementation of permeability tests and pore water pressure tests. Specifically, according to the dissipation rate of pore water pressure and the permeability coefficient obtained from the permeability test, the accuracy of the permeability test results can be verified, and the change of soil permeability characteristics under different stress states can be further analyzed. For example, during the high-pressure pressuremeter test, the soil structure may be compressed and the permeability coefficient will decrease. By comparing the permeability test results with the pore water pressure dissipation during the pressuremeter loading process, this change relationship can be determined, providing more realistic data support for seepage analysis in engineering.Furthermore, the characteristics of the excavated soil can be more comprehensively evaluated during the simultaneous implementation of the permeability test and the seismic wave detection test. Specifically, for soils with a relatively large permeability coefficient, the particle arrangement is relatively loose, and the seismic wave velocity is relatively low. By establishing an empirical relationship or a theoretical model between the seismic wave velocity and the permeability coefficient, the permeability characteristics of the soil can be preliminarily estimated using the seismic wave detection results, and then corrected and improved in combination with the permeability test data, enabling a preliminary assessment of the permeability of a large area of soil to be quickly and accurately carried out, significantly improving the exploration efficiency. For the middle section propulsion module, a front central channel is provided at the axis of the middle section housing, and a plurality of front radial channels are circumferentially provided in the middle of the middle section housing. Then, the front central support rod body and multiple front radial support rod bodies are fixedly installed in the front central channel and the plurality of front radial channels, which can effectively ensure that the middle section propulsion module has good compressive resistance and can thus be suitable for underground drilling operations. A pair of axial electric telescopic rods is relatively fixedly installed at both ends of the front central support rod body, and the telescopic section ends thereof are respectively connected to the front flexible joint and the rear flexible joint. At the same time, the front flexible outer shell is wrapped outside the middle section housing, and the front mounting opening one and the rear mounting opening two of the front flexible outer shell are respectively connected to the front flexible joint and the rear flexible joint. In this way, the middle section propulsion module can be made to have the ability to expand and contract in the length direction through the telescopic movement of the pair of axial electric telescopic rods; on this basis, a plurality of radial electric telescopic rods are correspondingly connected to the ends of the plurality of rear radial support rod bodies, enabling the middle section propulsion module to have the ability to expand and contract radially through the telescopic movement of the plurality of radial electric telescopic rods. Thus, through the telescopic movement of the plurality of radial electric telescopic rods and the pair of axial electric telescopic rods in cooperation with the drilling process of the earth-breaking drill bit, the propulsion action can be achieved. Through the setting of the front flexible outer shell, it can be ensured that during the expansion and contraction deformation process in the axial and radial directions, the middle section propulsion module has a flexible adaptability and can ensure that the soil does not enter the interior of the middle section housing. For the tail section propulsion and control module, a rear central channel is provided at the axis of the rear section housing, and a plurality of rear radial channels are circumferentially provided in the middle of the rear section housing. Then, the rear central support rod body and multiple rear radial support rod bodies are fixedly installed in the rear central channel and the plurality of rear radial channels, which can effectively ensure that the tail section propulsion and control module has good compressive resistance and can thus be suitable for underground drilling operations.A pair of axial electric telescopic rods II are fixedly installed at both ends of the rear center support rod body relatively, and the telescopic section ends thereof are respectively connected to the rear flexible joint and the support seat body. At the same time, the rear flexible outer shell wraps the outside of the rear section shell, and the front mounting openings II and the rear mounting openings II of the rear flexible outer shell are respectively connected to the rear flexible joint and the support seat body. In this way, the tail section propulsion and control module can have the telescopic deformation ability in the length direction through the telescopic actions of the pair of axial electric telescopic rods II; on this basis, a plurality of radial electric telescopic rods II are correspondingly connected to the ends of a plurality of rear radial support rod bodies, and the tail section propulsion and control module can have the radial telescopic deformation ability through the telescopic actions of the plurality of radial electric telescopic rods II. Thus, through the telescopic actions of the plurality of axial electric telescopic rods II and a pair of radial electric telescopic rods II and in cooperation with the drilling process of the earth-breaking drill bit, the propulsion action can be realized. Through the setting of the rear flexible outer shell, it can ensure that during the telescopic deformation process in the axial direction and the radial direction, the tail section propulsion and control module has a flexible adaptability and can ensure that the soil does not enter the inside of the rear section shell. For the rear end ground gripping and stability module, four radial mounting channels are evenly opened in the circumferential direction of the middle section of the end shell, and four radial electric telescopic rods III are correspondingly fixedly installed in the four radial mounting channels. Then, four flexible mechanical fingers located outside the end shell are correspondingly sleeved on the outer sides of the telescopic sections of the four radial electric telescopic rods III. At the same time, each flexible mechanical finger is composed of a plurality of elastic monomers, and the telescopic actions of the four radial electric telescopic rods III can be used to push or pull the outer extension and retraction actions of the four flexible mechanism fingers. Due to the pressure of the surrounding soil, during the outer extension process, the plurality of elastic monomers in the flexible mechanical finger will be in an open state, and during the retraction process, the plurality of elastic monomers in the flexible mechanical finger will be in a retracted state. In the open state, it can press against the surrounding soil and provide a large ground gripping force, which can effectively prevent the robot from sliding during propulsion and is beneficial to improving the drilling efficiency. By setting a ground gripping force sensor at the inner end of the radial electric telescopic rod III, it is convenient to collect the ground gripping pressure signal in real time. In this way, the ground gripping force size can be sensed in real time to effectively judge the ground gripping effect. At the same time, the telescopic length change of the radial electric telescopic rod III can also be further feedback-controlled by sensing the ground gripping force size to effectively adapt to the situation of insufficient ground gripping force or soft surrounding soil. By setting a gravity and attitude sensor in the end section shell, it is convenient to sense the current tilt angle and attitude information of the robot in real time, and then it is convenient to sense the attitude change of the robot underground in real time. At the same time, it is convenient to adjust the attitude of the robot in real time, ensuring its good stability. During the drilling process, the four radial electric telescopic rods III can be controlled to be at different telescopic lengths according to the tilt angle and attitude information to effectively correct the attitude of the robot.By setting the positioning component, it is easy to realize the precise positioning of the robot underground, and solve the positioning and navigation problems in the complex underground environment. In this way, the rear-end gripping and stabilizing module can not only provide a fixed support to the rear end by providing a larger gripping force to prevent sliding, but also realize the detection of the robot's underground position information positioning, tilt angle and posture. Therefore, it can not only effectively avoid the backward sliding and deviation from the predetermined trajectory during the drilling process, but also facilitate the robot's posture adjustment. The outer section of each flexible mechanical finger is composed of multiple elastic monomers, which can have a larger contact area with the soil when the multiple elastic units are opened, thereby providing greater gripping force, and can effectively reduce the contact area with the soil in the contracted state, thereby effectively reducing the resistance in the forward process. The front flexible joint is used to connect the ground-breaking and testing module and the middle-section propulsion module. At the same time, the rear flexible joint is used to connect the middle-section propulsion module and the tail-section propulsion and control module. This significantly improves the overall flexibility and steering and forward ability of the robot. It can enable the various sections of the robot to have good angle adjustment capabilities, which can help the robot as a whole to achieve efficient underground drilling and propulsion operations through creeping. At the same time, it is helpful to ensure that each section has a good balance during the propulsion process, meeting the robot's steering and propulsion needs in different strata. By providing a controller, it is convenient to conveniently control the actions of the driving motor, eccentric regulator, micro air pump, vibration generator, heating element, micro water pump, filling control valve, pore water discharge valve, axial electric telescopic rod 1, radial electric telescopic rod 1, axial electric telescopic rod 2, radial electric telescopic rod 2, and radial electric telescopic rod 3, thereby realizing automatic control of the speed of the earth-breaking drill bit, the drilling cut-in angle, the action and working time of the driving motor, the action and working time of the micro air pump and micro water pump, the generation of seismic waves, the heating action and heating time of the heating element, the action of the filling control valve and the pore water discharge valve. At the same time, it is convenient to control the completion of the lateral pressure test, seismic wave detection test, temperature test and heat transfer test, permeability test and pore water pressure test test process, and it is convenient to automatically obtain the test data of the relevant experiments, and can analyze the various parameters of the soil body in combination with the measurement data. By providing a storage module, it is convenient to store the test data in real time. By providing a communication module, it is convenient to establish real-time interactive communication between the controller and the external device. In the mid-section propulsion module and the tail-section propulsion and control module, the expansion and contraction sequence of each module is precisely adjusted by the controller, and the steering of the drilling process can be achieved by fine-tuning the eccentric adjuster. At the same time, the grip ability can be provided by the rear-end grip and stability module. During the steering process, the flexible joints allow the robot to rotate flexibly in the soil layer, so that the whole can adapt to complex geological environments and achieve smooth and efficient steering control.

[0025] Based on the movement principle of earthworms or other peristaltic organisms, the robot has formed a bionic propulsion system that can flexibly adapt to soil layers of different hardnesses and has stable propulsion ability. It solves the problems that traditional drilling and propulsion equipment are prone to bit jamming and difficult propulsion when encountering soft soil, clay or porous soil layers. It can flexibly adapt to the hardness changes of various strata and smoothly drill into the ground by itself with minimal damage or disturbance to the underground structure, and is applicable to the hardness and structure of different soil layers. At the same time, the robot can perform precise positioning and navigation without external signal support, which can effectively improve the operation efficiency. The robot integrates a variety of sensors and testing devices, which can be used for in-situ exploration and testing operations in geotechnical engineering. It can synchronously perform in-situ tests of various soil physical, mechanical and thermal property parameters during the drilling process of the robot, such as in-situ pressuremeter test, seismic wave detection test, temperature test, permeability test, etc., and real-time monitor and record various physical, mechanical and thermal property parameters of the soil, such as the physical, mechanical and thermal property parameters of the soil. At the same time, it can transmit relevant data to an external terminal, greatly improving the efficiency and accuracy of data collection. The robot adopts a modular design and can be configured and replaced according to actual needs, increasing the overall adaptability and expandability of the robot. Brief Description of the Drawings

[0026] Figure 1 is a schematic structural diagram of the present invention;

[0027] Figure 2 is Figure 1 a cross-sectional view of part Ⅰ-Ⅰ in

[0028] Figure 3 is Figure 1 a cross-sectional view of part Ⅱ-Ⅱ in

[0029] Figure 4 is Figure 1 a cross-sectional view of part Ⅲ-Ⅲ in

[0030] Figure 5 is a schematic cross-sectional view of the front flexible joint in the present invention;

[0031] Figure 6 is a schematic cross-sectional view of the rear flexible joint in the present invention;

[0032] Figure 7 is a schematic cross-sectional view of the end shell in the present invention;

[0033] Figure 8 is the first drilling state of the robot in the present invention;

[0034] Figure 9 is the second drilling state of the robot in the present invention;

[0035] Figure 10 It is the drilling state three of the robot in the present invention;

[0036] Figure 11 It is the drilling state 4 of the robot in the present invention;

[0037] Figure 12 is the drilling state five of the robot in the present invention;

[0038] Figure 13 It is a principle block diagram of the circuit part in the present invention.

[0039] In the figure: 1, earth-breaking drill bit, 2, front shell, 3, front flexible joint, 4, eccentric regulator, 5, drive motor, 6, double spiral groove, 7, arc notch, 8, annular airbag, 9, vibration generator, 10, acceleration sensor, 11, heating element, 12, temperature sensor, 13, heat flow sensor, 14, penetration chamber, 15, penetration sensor, 16, filling chamber, 17, pore water detection chamber, 18, pore water pressure sensor, 19, semipermeable membrane, 20, middle shell, 21, rear flexible joint, 22, front center support rod body, 23, front radial support rod body, 24, axial electric telescopic rod one, 25, radial electric telescopic rod one, 26, front through-hole, 27, rear shell, 28, Rear through hole for passing the wire, 29. Rear center support rod body, 30. Rear radial support rod body, 31. Axial electric telescopic rod 2, 32. Radial electric telescopic rod 2, 33. Front flexible shell, 34. Rear flexible shell, 35. Circular mounting plate, 36. End shell, 37. Radial electric telescopic rod 3, 38. Grip sensor, 39. Flexible mechanical finger, 40. Positioning assembly, 41. Elastic monomer, 42. Middle section rigid support mechanism, 43. Rear side rigid support mechanism, 44. Front annular cavity, 45. Middle annular cavity, 46. Rear annular cavity, 47. Front line channel, 48. Groundbreaking and testing module, 49. Midsection propulsion module, 50. Tail section propulsion and control module, 51. Rear end grip and stability module, 52. Air box. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] like Figures 1 to 13 As shown, the present invention provides a multifunctional in-situ testing bionic soft robot for geotechnical exploration, comprising a soil breaking and testing module 48, a front flexible joint 3, a middle section propulsion module 49, a rear flexible joint 21, a rear section propulsion and control module 50 and a rear end gripping and stabilizing module 51;

[0042] The soil-breaking and testing module 48 includes a soil-breaking drill bit 1, a front-section housing 2, an eccentric regulator 4, a drive motor 5, a rotational speed sensor, a torque sensor, a pressuremeter testing device, a seismic wave detection device, a temperature testing and heat transfer testing device, a pore water pressure testing device, and a permeability testing device;

[0043] The soil-breaking drill bit 1 is conical, and double spiral channels 6 are formed on its conical surface; the front-section housing 2 is located at the rear side of the soil-breaking drill bit 1, its outer contour is cylindrical, its outer diameter is not greater than the outer diameter of the large-diameter end of the soil-breaking drill bit 1, and its interior is successively provided with a front annular cavity 44, a middle annular cavity 45, and a rear annular cavity 46 from front to back. An annular opening communicating with the front annular cavity is formed on the housing body of the front-section housing 2, and an annular elastic band 7 is encapsulated at the annular opening; the drive motor 5 is fixedly installed in the central area at the front end of the front-section housing 2, and its output end is connected to the central axis inside the large-diameter section of the soil-breaking drill bit 1 through the eccentric regulator 4; the rotational speed sensor and the torque sensor are installed inside the large-diameter section of the soil-breaking drill bit 1 for real-time acquisition of the rotational speed signal and torque signal of the soil-breaking drill bit 1;

[0044] As a preference, the overall length of the soil-breaking and testing module 48 is about 20 cm. Among them, the outer diameter of the large-diameter end of the soil-breaking drill bit 1 is 8 - 10 cm, and the outer diameter of the front-section housing 2 is 8 - 10 cm to ensure the smooth progress of drilling and testing;

[0045] The front end of the front flexible joint 3 is fixedly connected to the central area at the rear end of the front-section housing 2;

[0046] The pressuremeter testing device is installed in the front annular cavity 44, and it includes an annular airbag 8, an air tank 52, a micro air pump, and a pressuremeter detection sensor; the annular airbag 8 is installed in the peripheral area of the front annular cavity; the air tank 52 and the micro air pump are installed in the inner area of the front annular cavity 44. The micro air pump has the ability to work in both forward and reverse directions. The inlet end of the micro air pump is connected to the air tank 52 through an air inlet pipeline, and its outlet end is connected to the air port on the annular airbag 8 through an air outlet pipeline; the pressuremeter detection sensor is installed between the annular airbag 8 and the annular elastic band 7. As a preference, the air tank 52 can be made of flexible material, so that the volume of the air tank 52 has the ability of dynamic adjustment. It can not only ensure that more gas can be stored in the air tank 52, but also facilitate the micro air pump to extract the gas in the air tank 52 and fill it into the annular airbag, so that the annular airbag changes from a contracted state to an expanded state. At the same time, when it is necessary to contract the annular airbag, the micro air pump can work in reverse to extract the gas in the two annular airbags and store it in the air tank 52.

[0047] The seismic wave detection device, temperature test and heat transfer test device, permeability test device, and pore water pressure test device are installed in the rear annular cavity 46 at intervals in sequence; the seismic wave detection device includes a vibration generator 9 and an acceleration sensor 10; the vibration generator 9 is used to generate seismic waves; the acceleration sensor 10 is used to receive the feedback signal of the seismic waves; the temperature test and heat transfer test device includes a heating element 11, a temperature sensor 12, and a heat flux sensor 13 that are distributed at intervals in sequence; the heating element 11 is used to perform heating operations on the soil body; the temperature sensor 12 is used to collect the temperature signal of the soil body in real time; the heat flux sensor 13 is used to collect the heat flux change signal of the heated soil body in real time; the permeability test device includes a permeability chamber 14, a filling chamber 16, a permeability sensor 15, a water tank, a micro water pump, and a filling control valve. The permeability chamber 14 and the filling chamber 16 are distributed at intervals and are both installed near the edge of the front section housing 2. The permeability chamber 14 communicates with the outside through a permeability hole opened on the front section housing 2, and the filling chamber 16 communicates with the outside through a filling hole opened on the front section housing 2. At the same time, the filling hole and the permeability hole are distributed at a set distance from each other; the permeability sensor 15 is installed in the permeability chamber 14 and is used to collect the pressure signal of the permeating water in real time; the water tank and the micro water pump are both installed in the filling chamber 16. The inlet end of the micro water pump is connected to the outlet of the water tank through a water inlet pipeline, and its outlet end is connected to the filling hole through a water outlet pipeline; the filling control valve is connected in series in the middle section of the water outlet pipeline; the pore water pressure test device includes a pore water detection chamber 17, a semi-permeable membrane 19, a pore water pressure sensor 18, a pore water filling pipeline, and a pore water discharge valve; the pore water detection chamber 17 is installed near the edge of the front section housing 2 and communicates with the outside through a through hole opened on the front section housing 2; the semi-permeable membrane 19 is installed at the outer end of the pore water detection chamber 17; the pore water pressure sensor 18 is installed in the pore water detection chamber 17 and is used to collect the pressure signal of the pore water in real time; the pore water filling pipeline is embedded and installed in a groove on the surface of the front section housing 2. Its inlet end is connected to the outlet end of the micro water pump, and its outlet end is connected to the through hole; the pore water discharge valve is connected in series in the middle section of the pore water filling pipeline;

[0048] The middle section propulsion module 49 includes a middle section housing 20, a front flexible outer shell 33, a middle section rigid support mechanism 42, an axial electric telescopic rod 24, and a radial electric telescopic rod 25; as a preference, the length of the middle section propulsion module 49 is about 20 cm, and it can detect the physical, mechanical, and thermal physical properties of the soil body in real time during the drilling process. Its main functions include pressuremeter test, seismic wave detection, temperature test, heat transfer test, pore water pressure test, and permeability test.

[0049] The outer contour of the middle section housing 20 is cylindrical, and its outer diameter is consistent with that of the front section housing 2. An axially penetrating front central channel is provided at its axis, and a plurality of front radial channels are evenly circumferentially provided in the middle part thereof. The inner ends of the front radial channels communicate with the front central channel, and their outer ends extend to the outer circular surface of the middle section housing 20; the front flexible outer shell 33 is wrapped outside the middle section housing 20, and a first front mounting opening is provided at the center corresponding to the front end of the middle section housing 20 at its front end, and is sleeved and connected to the outside of the rear end of the front flexible joint 3 through the first front mounting opening. A first rear mounting opening is provided at the rear end of the front flexible outer shell 33 at the center corresponding to the rear end of the middle section housing 20; the middle section rigid support mechanism 42 includes a front central support rod body 22 and front radial support rod bodies 23. The front central support rod body 22 is fixedly installed in the middle section of the front central channel, and a plurality of front radial support rod bodies 23 are correspondingly fixedly inserted into a plurality of front radial channels, and their inner ends are fixedly connected to the front central support rod body 22, and their outer ends are located in the middle sections of the corresponding front radial channels; the fixed seats of a pair of first axial electric telescopic rods 24 are fixedly connected to both ends of the front central support rod body 22 relatively. The end of the telescopic section of the first axial electric telescopic rod 24 located on the front side is fixedly connected to the center of the rear end of the front flexible joint 3; a plurality of first radial electric telescopic rods 25 are correspondingly arranged in a plurality of front radial channels, and their fixed seats are fixedly connected to the ends of a plurality of front radial support rod bodies 23 correspondingly, and the ends of their telescopic sections are connected to the middle section of the front flexible outer shell 33; by providing a plurality of first radial electric telescopic rods and a pair of first axial electric telescopic rods in the middle section propulsion module, and at the same time, wrapping the front flexible outer shell outside the middle section housing, the middle section propulsion module can have axial telescopic deformation ability and radial telescopic deformation ability.

[0050] The outer side of the front end of the rear flexible joint 21 is connected to the inner edge of the first rear mounting opening on the front flexible outer shell 33, and the center of its front end is connected to the end of the telescopic section of the first axial electric telescopic rod 24 located on the rear side;

[0051] The tail section propulsion and control module 50 includes a rear section housing 27, a rear flexible outer shell 34, a rear rigid support mechanism 43, a second axial electric telescopic rod 31, and a second radial electric telescopic rod 32. The outer contour of the rear section housing 27 is cylindrical, and its outer diameter is the same as that of the middle section housing 20. A rear central channel that penetrates axially is provided at its axis center, and a plurality of rear radial channels are evenly circumferentially provided in the middle part. The inner ends of the rear radial channels communicate with the rear central channel, and their outer ends extend to the outer circular surface of the rear section housing 27. The rear flexible outer shell 34 wraps around the outside of the rear section housing 27. A front mounting opening 2 is provided at the center corresponding to the front end of the rear section housing 27 at its front end, and it is sleeved and connected to the outside of the rear end of the rear flexible joint 21 through the front mounting opening 2. A rear mounting opening 2 is provided at the center corresponding to the rear end of the rear section housing 27 at the rear end of the rear flexible outer shell 34. The rear rigid support mechanism 43 includes a rear central support rod body 29 and rear radial support rod bodies 30. The rear central support rod body 29 is fixedly installed in the middle section of the rear central channel. A plurality of rear radial support rod bodies 30 are correspondingly fixedly inserted into a plurality of rear radial channels, and their inner ends are fixedly connected to the rear central support rod body 29, and their outer ends are located in the middle sections of the corresponding rear radial channels. The fixed seats of a pair of second axial electric telescopic rods 31 are fixedly connected to both ends of the rear central support rod body 29 relatively. The end of the telescopic section of the second axial electric telescopic rod 31 located on the front side is connected to the center of the rear end of the rear flexible joint 21. A plurality of second radial electric telescopic rods 32 are correspondingly arranged in a plurality of rear radial channels, and their fixed seats are fixedly connected to the ends of a plurality of rear radial support rod bodies 30 correspondingly, and the ends of their telescopic sections are connected to the middle section of the rear flexible outer shell 34. By setting a plurality of second radial electric telescopic rods and a pair of second axial electric telescopic rods in the tail section propulsion and control module, and at the same time, wrapping the rear flexible outer shell around the outside of the rear section housing, the tail section propulsion and control module can have axial telescopic deformation ability and radial telescopic deformation ability.

[0052] The rear-end gripping and stabilizing module 51 includes a support base body, a radial electric telescopic rod III 37, a gripping force sensor 38, a flexible mechanical finger 39, a gravity and attitude sensor, a positioning component 40, and a control unit; the support base body includes a circular mounting plate 35 and an end housing 36; the outer diameter of the circular mounting plate 35 is smaller than the outer diameter of the rear-section housing 27, and the central area at its front end is connected to the rear mounting port II of the rear flexible housing 34. At the same time, it is fixedly connected to the end of the telescopic section of the axial electric telescopic rod II 31 located at the rear side; the outer contour of the end housing 36 is cylindrical, and an end accommodating cavity is provided inside it. Its outer diameter is smaller than the outer diameter of the circular mounting plate 35 and is coaxially fixedly connected to the rear end face of the circular mounting plate 35. Four radial mounting channels are evenly opened in the circumferential direction in the middle section of the end housing 36; four radial electric telescopic rods III 37 are correspondingly installed in the four radial mounting channels, and the end of their telescopic sections extends to the outside of the end housing 36; four gripping force sensors 38 are arranged at the inner ends of the four radial mounting channels and are fixedly connected to the fixed ends of the four radial electric telescopic rods III 37 for real-time collection of the ground gripping pressure signal; four flexible mechanical fingers 39 are correspondingly sleeved outside the ends of the telescopic sections of the four radial electric telescopic rods III 37. The outer section of the flexible mechanical finger 39 includes a plurality of elastic monomers 41 distributed radially. The plurality of elastic monomers 41 are in a retracted state of being mutually attached under normal conditions, and in a state of being mutually separated and opened after being subjected to an external pressure; the gravity and attitude sensor and the positioning component 40 are both installed in the end accommodating cavity; four radial electric telescopic rods III are provided in the rear-end gripping and stabilizing module, and four flexible mechanical fingers are sleeved outside the outer ends of the four radial electric telescopic rods III. The rear-end gripping and stabilizing module can have a gripping ability by means of radial expansion and contraction to provide a fixed support function for the tail;

[0053] As a preference, the rear-end gripping and stabilizing module 51 further includes an intelligent power management module. The controller is connected to the intelligent power management module, and the intelligent power management module is connected to the power module. The intelligent power management module can monitor the remaining battery power, load conditions, and energy consumption in the power module in real time, so as to effectively extend the service time of the power module and significantly improve the energy utilization efficiency. The intelligent power management module can also achieve efficient energy distribution by adjusting the power consumption of electrical equipment (such as adjusting the sampling frequency of sensors, optimizing the power output of drive motors, etc.). As a further preference, the rear-end gripping and stabilizing module (51) further includes a charging circuit. The charging circuit is connected to the power module, and the charging circuit supports wired and wireless charging methods. Thus, the robot takes into account efficient energy utilization and a reliable battery management method, ensuring the stability and continuous operation ability of the robot in the complex underground environment.

[0054] The control unit is installed inside the end accommodation cavity and includes a power module, a storage module, a communication module, and a controller. The controller is respectively connected to a rotational speed sensor, a torque sensor, a lateral pressure detection sensor, an acceleration sensor 10, a temperature sensor 12, a heat flux sensor 13, a penetration sensor 15, a pore water pressure sensor 18, a grip sensor 38, a gravity and attitude sensor, a positioning component 40, the power module, an eccentric regulator 4, a drive motor 5, a micro air pump, a vibration generator 9, a heating element 11, a micro water pump, a filling control valve, a pore water discharge valve, an axial electric telescopic rod 1 24, a radial electric telescopic rod 1 25, an axial electric telescopic rod 2 31, a radial electric telescopic rod 2 32, a radial electric telescopic rod 3 37, the storage module, and the communication module.

[0055] As a preference, the communication module is a wireless communication part, which supports data transmission to a ground receiving device or a remote monitoring platform through Bluetooth, Wi-Fi, or other low-power communication technologies, so as to view and analyze underground exploration data in real time, support the robot to have efficient data processing capabilities, and ensure the integrity of the collected data and the reliability of transmission.

[0056] As a preference, the earth-breaking drill bit 1 is made of tungsten carbide alloy, and its outer surface is coated with a wear-resistant composite material coating. Since tungsten carbide alloy has extremely high hardness, wear resistance, and corrosion resistance, it can ensure that the earth-breaking drill bit 1 is more suitable for operations in high-hardness formations and other formations; the coating of the wear-resistant composite material can ensure that the earth-breaking drill bit 1 has high wear resistance and good waterproof performance, and can effectively resist the wear and corrosion of the soil body.

[0057] As a preference, the annular airbag 8 is made of thermoplastic polyurethane. Thermoplastic polyurethane TPU has good wear resistance, ideal fatigue resistance, excellent tear resistance, and high elasticity, and is suitable for repeated expansion and contraction cycle actions.

[0058] As a preference, both the front flexible housing 33 and the rear flexible housing 34 are made of high-wear-resistant silicone material. As a further preference, the thicknesses of the front flexible housing 33 and the rear flexible housing 34 are both about 5 mm, and they have good wear resistance and flexibility, and can effectively cope with soil layers of different hardnesses.

[0059] In order to ensure that the overall weight is lighter and thus more suitable for drilling operations, the front section housing 2, the middle section housing 20, the rear section housing 27, the end housing 36, the middle section rigid support mechanism 42, and the rear side rigid support mechanism 43 are all made of aviation-grade lightweight alloy materials. Since aviation-grade lightweight alloy materials are light in weight and corrosion-resistant, they can reliably support the middle section propulsion module 49 and the tail section propulsion and control module 50, and can effectively ensure the stability and structural strength of each part during long-term use.

[0060] As a preferred embodiment, the positioning component 40 includes an inertial navigation unit, a magnetometer and a depth pressure sensor. The underground soil layer has uncertainty and diversity, including different hardness, humidity, density, porosity, etc., which may affect the positioning and propulsion of the robot. By providing a variety of positioning modules, the robot can be effectively assisted to achieve accurate positioning in a complex soil environment, effectively overcoming the lack of positioning accuracy of traditional single positioning equipment in a complex underground environment. Among them, the inertial navigation unit (IMU) includes an accelerometer and a gyroscope, which can monitor the movement direction, speed and displacement information of the robot underground in real time. In this way, the test data of the inertial navigation unit combined with the inclination angle and posture information can accurately determine the current position information of the robot. The magnetometer can assist in determining the travel direction of the robot. The depth pressure sensor can collect the pressure change signal of the surrounding soil in real time. Through the pressure change signal of the surrounding soil, the controller can calculate the current depth information of the robot, which is conducive to the real-time correction of the depth. In this way, the robot can be accurately positioned through a multi-sensor fusion algorithm combined with the data monitored by the inertial navigation unit (IMU), magnetometer, and depth pressure sensor. The controller can continuously calibrate and correct the robot's underground position and direction through a multi-sensor fusion algorithm, and can maintain stable navigation capabilities throughout the entire survey process, overcoming the interference of the soil layer. This ensures the robot's high-precision positioning capability in complex underground environments, facilitates the robot's real-time posture adjustment during drilling, and can continuously correct the position and drilling direction, ensuring positioning accuracy and drilling efficiency.

[0061] As a preferred embodiment, the flexible mechanical finger 39 is made of silicone composite rubber. Since the silicone composite rubber has high elasticity and high wear resistance, the flexible mechanical finger 39 is more suitable for long-term use and frequent gripping actions in soil environments.

[0062] As a preference, the number of the elastic monomers 41 is three or four, thereby achieving uniform distribution of gripping force, helping to ensure gripping stability and improving support strength.

[0063] As a preference, the front flexible joint 3 and the rear flexible joint 21 are both made of flexible polymer composite materials, thereby enabling the connection portion to have a certain bending strength, thereby providing a stable support in the formation while also having flexible steering capabilities.

[0064] As a preferred embodiment, the power module adopts a lithium-ion battery pack, which can provide long-term stable power support and ensure the long-term stable operation of the robot underground.

[0065] To facilitate the passage of cables, a front wire channel 47 is also provided at the center of the front housing 2. A front wire through-hole 26 is provided in the front flexible joint 3. A middle wire channel is also provided outside the front central channel in the middle housing 20. A rear wire through-hole 28 is provided in the rear flexible joint 21. A rear wire channel is also provided outside the rear central channel in the rear housing 27. Thus, it is convenient for communication cables and power cables to pass smoothly and effective connections of all parts can be achieved.

[0066] Usage method:

[0067] 1. Startup and preparation: Send a startup signal to the controller through an external terminal. After receiving the startup signal, the controller initializes the test parameters;

[0068] 2. Positioning: The controller starts the positioning component 40 and calibrates the position and depth in real time through a multi-sensor fusion algorithm to facilitate real-time adjustment of the attitude and position during subsequent drilling.

[0069] 3. Drilling and propulsion:

[0070] 3.1. The controller synchronously controls a plurality of radial electric telescopic rods three 37 to synchronously extend a set length, thereby pushing a plurality of flexible mechanical fingers 39 to extrude against the surrounding soil, prompting a plurality of elastic monomers 41 in each flexible mechanical finger 39 to open and make full contact with the surrounding soil. At the same time, the controller synchronously controls a plurality of radial electric telescopic rods two 32 to synchronously extend a set length, thereby causing the rear flexible outer shell 34 to expand radially and make full contact with the surrounding soil, so that the tail section propulsion and control module 50 and the rear end gripping and stabilizing module 51 cooperate to jointly play a role of tail fixing and supporting;

[0071] 3.2. The controller controls the driving motor 5 to drive the earth-breaking drill bit 1 to perform efficient earth-breaking operations, and real-time collects the rotation speed signal and torque signal of the earth-breaking drill bit 1 through a rotation speed sensor and a torque sensor and sends them to the controller. The controller obtains rotation speed data and torque data according to the rotation speed signal and torque signal, and monitors the soil layer resistance in real time according to the changes of the rotation speed data and torque data.

[0072] During the drilling operation of the earth-breaking drill bit 1, synchronously control a pair of axial electric telescopic rods one 24 and a pair of axial electric telescopic rods two 31 to slowly extend to follow the drilling process of the earth-breaking drill bit 1 and achieve the propulsion operation of the robot. When reaching the maximum extension state of the pair of axial electric telescopic rods one 24 and the pair of axial electric telescopic rods two 31, control the driving motor 5 to stop operating;

[0073] 3.3. First, control multiple radial electric telescopic rods I (25) to extend synchronously by a set length, so that the front flexible outer shell (33) expands radially and makes full contact with the surrounding soil, thereby enabling the middle section propulsion module (51) to play the role of middle section fixed support; then, control multiple radial electric telescopic rods III (37) to reach the fully retracted state synchronously and control multiple radial electric telescopic rods II (32) to reach the fully retracted state synchronously; then, control a pair of axial electric telescopic rods I (24) and a pair of axial electric telescopic rods II (31) to retract slowly until they reach the fully retracted state;

[0074] 3.4. The controller synchronously controls multiple radial electric telescopic rods III (37) to extend by a set length, thereby pushing multiple flexible mechanical fingers (39) to squeeze against the surrounding soil, prompting multiple elastic monomers (41) in each flexible mechanical finger (39) to open and make full contact with the surrounding soil. At the same time, control multiple radial electric telescopic rods II (32) to extend by a set length synchronously, so that the rear flexible outer shell (34) expands radially and makes full contact with the surrounding soil, thereby enabling the tail section propulsion and control module (50) to cooperate with the rear end ground gripping and stabilizing module (51) to jointly play the role of tail section fixed support;

[0075] Then, the controller synchronously controls the multiple radial electric telescopic rods I (25) to retract slowly until they reach the fully retracted state;

[0076] 3.5. The controller controls the drive motor (5) to drive the earth-breaking drill bit (1) to perform efficient earth-breaking operations, and real-time collects the rotational speed signal and torque signal of the earth-breaking drill bit (1) through the rotational speed sensor and torque sensor, and sends them to the controller. The controller obtains the rotational speed data and torque data based on the rotational speed signal and torque signal, and monitors the soil layer resistance in real time according to the changes in the rotational speed data and torque data.

[0077] During the drilling operation of the earth-breaking drill bit (1), synchronously control a pair of axial electric telescopic rods I (24) and a pair of axial electric telescopic rods II (31) to extend slowly to follow the drilling process of the earth-breaking drill bit (1) and realize the propulsion operation of the robot. When reaching the maximum extension state of a pair of axial electric telescopic rods I (24) and a pair of axial electric telescopic rods II (31), control the drive motor (5) to stop operating;

[0078] 3.6. Repeat 3.3 to 3.5 multiple times to achieve the steady propulsion of the robot in a peristaltic manner until the predetermined operation position is reached. During the drilling process, if it is necessary to adjust the drilling direction, the controller controls the eccentric regulator (4) to adjust the drilling direction of the earth-breaking drill bit (1), and determines the attitude and position of the robot underground based on the data fed back by the positioning component (40).

[0079] During the drilling process, in-situ pressuremeter tests, seismic wave detection tests, temperature tests and heat transfer tests, pore water pressure tests, and permeability tests are carried out as needed. The controller analyzes the test data obtained and stores the test data and analysis result data in the storage module. After the exploration and testing operations are completed, the soft robot is moved to the ground, and a communication connection between the soft robot and an external terminal (industrial computer) is established through wireless communication, and the test data and analysis result data are sent to the external terminal.

[0080] In-situ pressuremeter test: Use a micro air pump to extract and pump the gas in the gas tank into the annular airbag, causing the annular airbag to expand. By the expanded annular airbag, the lateral pressure of the soil body is simulated, and then the detection process of the lateral pressure of the soil body is realized. The expansion degree of the annular airbag is controlled by the working time of the micro air pump. During this process, the lateral pressure sensor arranged between the annular airbag and the annular elastic band is used to collect the lateral pressure signal during the expansion of the annular airbag in real time, and then the pressure change situation during the expansion of the annular airbag is sensed. The controller inversely calculates the mechanical parameters of the soil body, such as lateral stress, density, etc., and evaluates the compressive strength and deformation characteristics of the soil body through the mechanical parameters, including parameters such as initial pressure, critical plastic pressure, and ultimate pressure.

[0081] Seismic wave detection test: Control the vibration generator to generate low-frequency vibration signals to simulate the generation of seismic waves. At the same time, use multiple acceleration sensors to receive the feedback signals of the seismic waves in real time, calculate the elastic wave velocity, stiffness, and density of the soil body according to the feedback signals, and then determine parameters such as the shear wave velocity of the soil body to reflect the elastic properties, toughness, and density of the underground soil layer, and then realize the evaluation of the wave propagation characteristics of the soil body.

[0082] Temperature test and heat transfer test: Use a heating element to perform a short-term heating operation on the surrounding soil body to conduct a short-term heat transfer test. Synchronously, use a temperature sensor to collect the temperature signal of the soil body in real time to monitor the temperature distribution of the soil body in real time. The controller determines the thermal conductivity of the soil body according to the temperature signal. In addition, use a heat flux sensor to collect the heat flux change signal of the soil body after heating in real time. The controller effectively evaluates the thermal conductivity and heat transfer characteristics of the soil body through measuring the heat transfer process, and further analyzes the thermal physical properties of the soil body.

[0083] Pore water pressure test: Control the pore water discharge valve to open, and at the same time, control the micro water pump to start working to realize the release process of pore water. The external water infiltrates into the pore water detection chamber through the semi-permeable membrane to simulate the change of soil moisture. Use a pore water pressure sensor to collect the pressure change signal in the pore water in real time. The controller obtains the change situation of the pore water pressure in the soil body according to the pressure change signal, and then evaluates the groundwater flow, the permeability of the soil body, and the pore structure according to the pressure change situation.

[0084] Permeability test: Control the start and operation of the micro water pump. Meanwhile, receive the external permeating water through the permeation holes, and use the permeation water pressure signal collected in real time by the permeation sensor. The controller accurately records the permeation response of the soil mass based on the permeation water pressure signal, and then obtains the permeation velocity and permeability coefficient of the soil mass, so as to realize a reliable evaluation of the permeability and hydrogeological characteristics of the soil.

[0085] In addition, the characteristics of the soil mass can be more comprehensively evaluated during the simultaneous implementation of the pressuremeter test and the seismic wave detection test. Specifically, the shear modulus of the soil mass can be roughly estimated from the shear wave velocity obtained by the seismic wave detection, and then compared and analyzed with the deformation modulus obtained by the pressuremeter test. For different types of soil masses, there is a certain empirical relationship between the shear modulus and the deformation modulus. If the relationship between the two deviates from the normal range, it indicates that the soil mass has a special structure or non-uniformity. For example, in the soil mass with a soft interlayer, the local deformation modulus obtained by the pressuremeter test may be relatively low, and the overall shear wave velocity obtained by the seismic wave detection test will also be affected, but the change range may be relatively small. Through the combined analysis, the position and characteristics of the soft interlayer can be determined more accurately. Utilizing the difference in the propagation velocity of seismic waves in different strata and the determination of the properties of soil masses at different depths by the pressuremeter test can also help to accurately construct the mechanical model of the strata. The interface where the seismic wave velocity suddenly changes is often related to the interface where the mechanical properties of the soil mass change significantly. The pressuremeter test data can further quantify the differences in the strength and deformation characteristics of the soil mass at these interfaces, so as to more comprehensively describe the strata structure.

[0086] In addition, the characteristics of the soil mass can be more comprehensively evaluated during the simultaneous implementation of the temperature test and heat transfer test and the pore water pressure test. Specifically, the temperature change will affect the viscosity and density of the pore water, and further affect the distribution and dissipation of the pore water pressure. When the temperature is relatively high, the viscosity of the pore water decreases, which will accelerate the dissipation of the pore water pressure. By comparing with the pore water pressure test data under different temperature conditions, the influence degree of temperature on the consolidation characteristics of the soil mass can be evaluated, and the pressuremeter test results can be corrected for temperature to obtain more accurate soil mechanical parameters.

[0087] In addition, the characteristics of the excavated soil can be more comprehensively evaluated during the simultaneous implementation of temperature tests, heat transfer tests, and seismic wave detection tests. Specifically, temperature changes can cause slight changes in the volume of rock and soil masses, such as affecting their density and elastic modulus. Under long-term temperature monitoring, if it is found that the seismic wave velocity changes slowly and has a certain correlation with temperature changes, the long-term effects of temperature on the microscopic structure and macroscopic mechanical properties of the soil can be analyzed, providing reliable data support for studying the thermo-mechanical coupling characteristics of the soil. For example, in frozen soil areas, the influence of temperature changes on the mechanical properties of the soil is relatively significant. By combining data from temperature tests, seismic wave detection, and pressuremeter tests, etc., the dynamic changes in the strength and deformation characteristics of the soil during the melting-freezing process of frozen soil can be deeply understood.

[0088] In addition, the characteristics of the excavated soil can be more comprehensively evaluated during the simultaneous implementation of pressuremeter tests and pore water pressure tests. Specifically, during the pressuremeter test, the properties of the soil can be comprehensively perceived corresponding to the changes in pore water pressure. In the initial stage of loading in the pressuremeter test, the pore water pressure may rise slowly. If the pore water pressure rises sharply and approaches the pressuremeter pressure, it indicates that the soil is approaching the failure state, the permeability of the soil is low, and the pore water is difficult to dissipate. Based on the pressuremeter modulus and the process of pore water pressure dissipation, the consolidation characteristics of the soil can be effectively evaluated. For example, if the pore water pressure dissipates quickly and the pressuremeter modulus is large, it indicates that the soil has good consolidation, high permeability, and a strong particle skeleton structure.

[0089] In addition, the characteristics of the soil can be more comprehensively evaluated during the simultaneous implementation of permeability tests and pore water pressure tests. Specifically, based on the dissipation rate of pore water pressure and the permeability coefficient obtained from the permeability test, the accuracy of the permeability test results can be verified, and the changes in the permeability characteristics of the soil under different stress states can be further analyzed. For example, during the high-pressure pressuremeter test, the soil structure may be compressed, and the permeability coefficient will decrease. By comparing the permeability test results with the dissipation of pore water pressure during the pressuremeter loading process, this change relationship can be determined, providing data support more in line with the actual working conditions for seepage analysis in engineering.

[0090] Furthermore, the characteristics of the excavated soil can be more comprehensively evaluated during the simultaneous implementation of permeability tests and seismic wave detection tests. Specifically, for soils with a relatively large permeability coefficient, their particle arrangement is relatively loose, and the seismic wave velocity is relatively low. By establishing an empirical relationship or theoretical model between the seismic wave velocity and the permeability coefficient, the permeability characteristics of the soil can be preliminarily estimated using the seismic wave detection results, and then corrected and improved in combination with the permeability test data. The permeability of large areas of soil can be quickly and accurately preliminarily evaluated, significantly improving the exploration efficiency.

[0091] The bionic soft robot of the present invention, with its flexible peristaltic propulsion method, precise underground positioning system, multi-functional in-situ testing equipment, and efficient energy management system, can provide new solutions for fields such as geotechnical engineering, underground resource exploration, soil monitoring, infrastructure construction, and post-disaster assessment, and has broad application prospects.

[0092] In terms of geotechnical engineering investigation, the robot of the present invention can penetrate to different depths and complex environments underground for high-precision investigation. In traditional investigations, drilling equipment and sampling equipment mostly rely on manual operation, which has great limitations. However, this bionic robot can self-propel, turn, and perform various in-situ tests, such as the detection of mechanical, physical, and thermophysical properties of soil. Especially under special geological conditions such as soft soil, sandy soil, and mudstone, the robot can flexibly adapt and perform precise investigation tasks. This has important application value for the exploration of mineral resources, the risk assessment of earthquake disasters, and the construction of underground gas storage tanks, etc. Especially in the deep underground where direct contact is impossible, it can greatly reduce the difficulty of manual investigation.

[0093] In the field of underground resource exploration, the bionic soft robot can not only achieve precise drilling and sampling, but also conduct real-time tests on the physical and chemical properties of soil, and even measure the propagation characteristics of seismic waves. This is of great significance for the exploration of underground energy such as oil and gas, groundwater, and mineral resources, and can provide key data in the early stage to help engineers make scientific decisions. In addition, the robot can work flexibly in narrow or complex terrain environments, especially suitable for the investigation work of urban underground pipe networks, tunnels, etc.

[0094] In the field of infrastructure construction, the robot can assist in geological investigation before building construction. Especially in high-density urban environments or busy traffic areas, traditional geological investigation methods are often unable to be carried out due to space limitations. The bionic soft robot can easily penetrate through narrow underground pipelines, tunnels and other areas to monitor the soil layer structure, groundwater level, and potential geological disasters in real time. Through in-situ tests, more accurate soil and groundwater distribution data can be obtained, providing important technical references for building design, foundation reinforcement, settlement analysis, etc.

[0095] In terms of environmental monitoring and post-disaster assessment, the bionic soft robot also has great potential. Especially after natural disasters such as earthquakes, landslides or debris flows and other catastrophic events, the robot can be quickly deployed underground in the disaster area for environmental assessment. Through functions such as seismic wave detection devices and pressure sensors, the robot can evaluate the stability of the soil structure after the disaster and timely provide the key data required for post-disaster recovery work. This real-time data acquisition ability not only improves the efficiency of post-disaster assessment, but also reduces the risks and uncertainties of manual operation.

[0096] In addition, with the continuous development of smart cities and smart buildings, the application of robots in the fields of monitoring, maintenance, and regular inspection of urban underground spaces has become increasingly important. In the intelligent management of underground spaces, this robot can perform periodic monitoring, detect the status of underground facilities such as pipelines, tunnels, and foundations in real time, discover potential safety hazards at an early stage, and provide guarantees for the long-term stable operation of urban infrastructure.

[0097] In terms of potential value, this technology can not only improve the exploration efficiency and reduce labor costs in the field of geotechnical engineering, but also significantly improve the accuracy and reliability of exploration data. Its multi-functional in-situ testing ability can greatly reduce the sampling error in traditional exploration and the interference caused by destructive testing, ensuring that the data truly reflects the soil layer conditions. The characteristic of the robot's autonomous propulsion enables it to operate flexibly in complex underground environments, adapt to different geological conditions, and provide a more feasible and efficient solution for the exploration of various underground resources.

[0098] At the same time, based on the technology of this invention, its application in other industries can be further expanded in the future, such as underground pollution monitoring in the field of environmental protection, underground water level monitoring and soil analysis in agriculture, and underground detection in the military. Its efficient and accurate underground working ability will continuously promote the upgrading and development of multiple industries in the application of future technologies.

[0099] In short, this bionic soft robot will greatly promote technological innovation in the fields of underground exploration, resource detection, environmental monitoring, etc., reduce the limitations of manual operations, reduce environmental disturbances, and at the same time improve operation efficiency and accuracy, with broad market prospects and huge potential value.

Claims

1. A multifunctional in-situ testing bionic soft robot for geotechnical exploration, comprising a soil breaking and testing module (48), characterized in that: It also includes a front flexible joint (3), a middle section propulsion module (49), a rear flexible joint (21), a rear section propulsion and control module (50) and a rear end gripping and stabilizing module (51); The ground-breaking and testing module (48) comprises a ground-breaking drill bit (1), a front section housing (2), an eccentric regulator (4), a drive motor (5), a rotation speed sensor, a torque sensor, a lateral pressure test device, a seismic wave detection device, a temperature test and heat transfer test device, a pore water pressure test device and a permeability test device; The earth-breaking drill bit (1) is in the shape of a cone, and a double spiral groove (6) is provided on its cone surface; the front section housing (2) is located at the rear side of the earth-breaking drill bit (1), and its outer contour is in the shape of a cylinder, and its outer diameter is not greater than the outer diameter of the large diameter end of the earth-breaking drill bit (1), and its interior is provided with a front annular cavity (44), a middle annular cavity (45) and a rear annular cavity (46) from front to back, and an annular opening communicating with the front annular cavity is provided on the shell body of the front section housing (2), and an annular elastic band (7) is encapsulated at the annular opening; the drive motor (5) is fixedly mounted in the central area of ​​the front end of the front section housing (2), and its output end is connected to the central axis inside the large diameter section of the earth-breaking drill bit (1) through an eccentric regulator (4); the speed sensor and the torque sensor are mounted inside the large diameter section of the earth-breaking drill bit (1), and are used to collect the speed signal and torque signal of the earth-breaking drill bit (1) in real time; The front end of the front flexible joint (3) is fixedly connected to the rear end center area of ​​the front section housing (2); The lateral pressure test device is installed in the front annular cavity (44), and comprises an annular airbag (8), an air box (52), a micro air pump, and a lateral pressure detection sensor; the annular airbag (8) is installed in the peripheral area of ​​the front annular cavity; the air box (52) and the micro air pump are installed in the inner area of ​​the front annular cavity (44); the micro air pump has forward and reverse working capabilities; the inlet end of the micro air pump is connected to the air box (52) through an air inlet pipeline, and the outlet end is connected to the air port on the annular airbag (8) through an air outlet pipeline; the lateral pressure detection sensor is installed between the annular airbag (8) and the annular elastic band (7); The seismic wave detection device, the temperature test and heat transfer test device, the permeability test device and the pore water pressure test device are sequentially installed in the rear annular cavity (46) at intervals; the seismic wave detection device comprises a vibration generator (9) and an acceleration sensor (10); the vibration generator (9) is used to generate seismic waves; the acceleration sensor (10) is used to receive feedback signals of seismic waves; the temperature test and heat transfer test device comprises a heating element (11), a temperature sensor (12) and a heat flow sensor (13) which are sequentially installed at intervals; the heating element (11) is used to heat the soil; the The temperature sensor (12) is used to collect the temperature signal of the soil in real time; the heat flow sensor (13) is used to collect the heat flow change signal of the soil after heating in real time; the permeability test device comprises a permeability chamber (14), a filling chamber (16), a permeability sensor (15), a water tank, a micro water pump and a filling control valve, the permeability chamber (14) and the filling chamber (16) are distributed at intervals and are both installed at a position close to the edge of the front shell (2); the permeability chamber (14) is connected to the outside through a permeation hole opened on the front shell (2); the filling chamber (16) is connected to the outside through a filling hole opened on the front shell (2). The injection hole is connected to the outside, and the injection hole is spaced apart from the infiltration hole at a set distance; the infiltration sensor (15) is installed in the infiltration chamber (14) for collecting the pressure signal of the infiltrated water in real time; the water tank and the micro water pump are both installed in the injection chamber (16), the inlet end of the micro water pump is connected to the water outlet of the water tank through the water inlet pipeline, and the outlet end is connected to the injection hole through the water outlet pipeline; the injection control valve is connected in series to the middle section of the water outlet pipeline; the pore water pressure testing device comprises a pore water detection chamber (17), a semipermeable membrane (19), a pore water pressure sensor (18), a pore water injection pipeline and a pore water injection control valve ... water discharge valve; the pore water detection chamber (17) is installed at a position close to the edge of the front section shell (2) and is connected to the outside through a through hole provided on the front section shell (2); the semi-permeable membrane (19) is installed at the outer end of the pore water detection chamber (17); the pore water pressure sensor (18) is installed in the pore water detection chamber (17) and is used to collect the pore water pressure signal in real time; the pore water filling pipeline is embedded in a groove on the surface of the front section shell (2), its inlet end is connected to the outlet end of the micro water pump, and its outlet end is connected to the through hole; the pore water discharge valve is connected in series to the middle section of the pore water filling pipeline; The middle section propulsion module (49) comprises a middle section shell (20), a front flexible shell (33), a middle section rigid support mechanism (42), an axial electric telescopic rod (24) and a radial electric telescopic rod (25); the outer contour of the middle section shell (20) is cylindrical, and its outer diameter is consistent with the outer diameter of the front section shell (2); an axially penetrating front center channel is opened at its axis, and a plurality of front radial channels are evenly opened in the middle circumference, the inner ends of the front radial channels are connected to the front center channels, and the outer ends extend to the outer circumferential surface of the middle section shell (20); the front flexible shell (33) is wrapped around the outside of the middle section shell (20), and its front end is opened at the center of the front end of the corresponding middle section shell (20), and is connected to the outside of the rear end of the front flexible joint (3) through the front installation port, and the rear end of the front flexible shell (33) is opened at the center of the rear end of the corresponding middle section shell (20) The middle section rigid support mechanism (42) comprises a front center support rod body (22) and a front radial support rod body (23), wherein the front center support rod body (22) is fixedly installed in the middle section of the front center channel, and a plurality of front radial support rod bodies (23) are correspondingly fixedly inserted in a plurality of front radial channels, and their inner ends are fixedly connected to the front center support rod body (22), and their outer ends are located in the middle section of the corresponding front radial channels; a pair of axial electric telescopic rods (24) have fixed seats relatively fixedly connected to the two ends of the front center support rod body (22), and the end of the telescopic section of the axial electric telescopic rod (24) located on the front side is fixedly connected to the rear end center of the front flexible joint (3); a plurality of radial electric telescopic rods (25) are correspondingly arranged in a plurality of front radial channels, and their fixed seats are correspondingly fixedly connected to the ends of the plurality of front radial support rod bodies (23), and the ends of their telescopic sections are connected to the middle section of the front flexible shell (33); The front end outer side of the rear flexible joint (21) is connected to the inner edge of the rear mounting opening 1 on the front flexible housing (33), and the front end center is connected to the end of the telescopic section of the axial electric telescopic rod 1 (24) located at the rear side; The tail section propulsion and control module (50) comprises a rear section shell (27), a rear flexible shell (34), a rear side rigid support mechanism (43), an axial electric telescopic rod 2 (31) and a radial electric telescopic rod 2 (32); the outer contour of the rear section shell (27) is cylindrical, and its outer diameter is consistent with the outer diameter of the middle section shell (20); an axially penetrating rear center channel is opened at its axis, and a plurality of rear radial channels are evenly opened in the middle circumference, the inner end of the rear radial channel is connected to the rear center channel, and the outer end thereof extends to the outer circumferential surface of the rear section shell (27); the rear flexible shell (34) is wrapped around the outside of the rear section shell (27), and its front end is on the corresponding rear section shell A front mounting opening 2 is provided at the center of the front end of the body (27), and is connected to the outer side of the rear end of the rear flexible joint (21) through the front mounting opening 2. The rear end of the rear flexible shell (34) is provided with a rear mounting opening 2 at the center of the rear end of the corresponding rear section shell (27); the rear side rigid support mechanism (43) comprises a rear center support rod body (29) and a rear radial support rod body (30), the rear center support rod body (29) is fixedly installed in the middle section of the rear center channel, and a plurality of rear radial support rod bodies (30) are fixedly inserted in a plurality of rear radial channels, and their inner ends are fixedly connected to the rear center support rod body (29), and their outer ends are located in the middle section of the corresponding rear radial channels; The fixing seats of a pair of axial electric telescopic rods (31) are relatively fixedly connected to the two ends of the rear center support rod body (29), and the end of the telescopic section of the axial electric telescopic rod (31) located on the front side is connected to the rear end center of the rear flexible joint (21); a plurality of radial electric telescopic rods (32) are correspondingly arranged in a plurality of rear radial channels, and their fixing seats are correspondingly fixedly connected to the ends of a plurality of rear radial support rod bodies (30), and the ends of their telescopic sections are connected to the middle section of the rear flexible shell (34); The rear end gripping and stabilizing module (51) comprises a support seat, a radial electric telescopic rod three (37), a gripping force sensor (38), a flexible mechanical finger (39), a gravity and posture sensor, a positioning assembly (40) and a control unit; the support seat comprises a circular mounting plate (35) and a terminal shell (36); the outer diameter of the circular mounting plate (35) is smaller than the outer diameter of the rear section shell (27), and the central area of ​​the front end is connected to the rear mounting port two of the rear flexible shell (34), and at the same time, is fixedly connected to the end of the telescopic section of the axial electric telescopic rod two (31) located on the rear side; the outer contour of the terminal shell (36) is cylindrical, and a terminal accommodating cavity is arranged inside it, and the outer diameter of the terminal shell (36) is smaller than the outer diameter of the circular mounting plate (35), and is coaxially fixedly connected to the rear end surface of the circular mounting plate (35), and the middle section of the terminal shell (36) is evenly opened in the circumferential direction. Four radial installation channels are provided; four radial electric telescopic rods (37) are correspondingly installed in the four radial installation channels, and the ends of the telescopic sections thereof extend to the outside of the terminal shell (36); four gripping force sensors (38) are arranged at the inner ends of the four radial installation channels and connected to the fixed ends of the four radial electric telescopic rods (37) for real-time acquisition of gripping pressure signals; four flexible mechanical fingers (39) are correspondingly mounted on the outer ends of the telescopic sections of the four radial electric telescopic rods (37), and the outer sections of the flexible mechanical fingers (39) include a plurality of elastic monomers (41) distributed radially, and the plurality of elastic monomers (41) are in a retracted state of being mutually fitted under normal conditions, and after being subjected to external pressure, the plurality of elastic monomers (41) are in an open state of being mutually separated; the gravity and posture sensor and the positioning assembly (40) are both installed in the terminal accommodation cavity; The control unit is installed inside the terminal accommodation cavity, and comprises a power module, a storage module, a communication module and a controller; the controller is respectively connected with a rotation speed sensor, a torque sensor, a lateral pressure detection sensor, an acceleration sensor (10), a temperature sensor (12), a heat flow sensor (13), a permeability sensor (15), a pore water pressure sensor (18), a grip sensor (38), a gravity and posture sensor, a positioning component (40), a power module, an eccentric regulator (4), a drive motor (5), a micro air pump, a vibration generator (9), a heating element (11), a micro water pump, a filling control valve, a pore water discharge valve, an axial electric telescopic rod 1 (24), a radial electric telescopic rod 1 (25), an axial electric telescopic rod 2 (31), a radial electric telescopic rod 2 (32), a radial electric telescopic rod 3 (37), the storage module and the communication module.

2. The multifunctional in-situ testing bionic soft robot for geotechnical exploration according to claim 1, characterized in that: The earth-breaking drill bit (1) is made of carbide wrought iron, and its outer surface is coated with a wear-resistant composite material coating layer.

3. The multifunctional in-situ testing bionic soft robot for geotechnical exploration according to claim 2, characterized in that: The annular airbag (8) is made of thermoplastic polyurethane.

4. The multifunctional in-situ testing bionic soft robot for geotechnical investigation according to claim 3, characterized in that: The front flexible shell (33) and the rear flexible shell (34) are both made of highly wear-resistant silicone material.

5. The multifunctional in-situ testing bionic soft robot for geotechnical investigation according to claim 4, characterized in that: The front section housing (2), the middle section housing (20), the rear section housing (27), the terminal housing (36), the middle section rigid support mechanism (42) and the rear side rigid support mechanism (43) are all made of aviation-grade light alloy material.

6. The multifunctional in-situ testing bionic soft robot for geotechnical investigation according to claim 5, characterized in that: The positioning assembly (40) comprises an inertial navigation unit, a magnetometer and a depth pressure sensor.

7. The multifunctional in-situ testing bionic soft robot for geotechnical investigation according to claim 6, characterized in that: The flexible mechanical finger (39) is made of silicone composite rubber.

8. The multifunctional in-situ testing bionic soft robot for geotechnical investigation according to claim 7, characterized in that: The number of the elastic monomers (41) is three or four.

9. The multifunctional in-situ testing bionic soft robot for geotechnical investigation according to claim 8, characterized in that: The front flexible joint (3) and the rear flexible joint (21) are both made of flexible polymer composite materials.

10. The multifunctional in-situ testing bionic soft robot for geotechnical investigation according to claim 9, characterized in that: The power module adopts a lithium-ion battery pack.

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