This invention discloses a pneumatically drag-reducing autonomous underground
robot and its control method, belonging to the field of underground
robot technology. It includes a wedge-shaped head, a front shell, a rear shell, an electric
actuator, anchoring units, a pneumatic
system, and a
control system. The wedge-shaped head ejects compressed gas in the forward direction. The wedge-shaped head is fixedly mounted at the front end of the front shell, which is positioned at the front end of the rear shell. The electric
actuator is located within the cavity of the rear shell, driving either the front or rear shell to move. Two anchoring units are located on either side of the front shell to provide anchoring force. The pneumatic
system provides compressed gas to the wedge-shaped head. The
control system controls the operation of the electric
actuator and the gas ejection, enabling the pneumatically drag-reducing autonomous underground
robot to move autonomously in the soil. This invention not only significantly improves exploration efficiency but also effectively reduces reliance on external equipment, lowers labor costs and exploration time, while simultaneously improving the accuracy and real-time performance of exploration data.