CN107187568A - A kind of move in mud robot under water of imitative earthworm - Google Patents

Abstract

The invention discloses an underwater mud-arching robot imitating an earthworm, which comprises a mud-arching head mechanism, a first forward steering mechanism, a first support mechanism, a second forward steering mechanism, a second support mechanism, a tail bin and a communication unit connected in sequence. The first ball hinge in the first forward steering mechanism is connected to the front end cover in the mud head mechanism; the first universal joint hinge in the first forward steering mechanism is connected to the first connecting plate in the first support mechanism; The second ball hinge in the second forward steering mechanism is connected with the rear end of the first support mechanism; the second universal joint hinge in the second forward steering mechanism is connected with the second connecting plate in the second support mechanism; the second support The rear end of the mechanism is connected to the tail bin, and the communication unit is electrically connected to the mud head mechanism, the first forward steering mechanism, the first support mechanism, the second forward steering mechanism, the second support mechanism and the tail bin. The robot has the advantages of simple structure, good flexibility, low cost, long working time, high efficiency and fast movement speed.

Description

An underwater arching mud robot imitating an earthworm

technical field

The invention relates to underwater robot technology, in particular to an underwater mud-arching robot imitating an earthworm.

Background technique

With the continuous improvement of bionic technology, bionic robots have been widely used in various fields in the world. In order to improve the performance of robots, researchers use sensors, microcomputers, and wireless control technologies to assist in the operation of robots. Bionics is a technical science that studies the special structure and movement texture of organisms, provides new design concepts and working methods for science and technology, and provides new ideas for the development and direction of future robots.

Earthworms belong to annelids and have no bones in their bodies. The muscles of earthworms belong to oblique muscles, which are developed and flexible in movement. This oblique muscles have a positive effect on retaining mucus on the body surface. Earthworms move forward relying on the cooperation of longitudinal muscles, circular muscles and bristles. When the earthworm moves forward, the circular muscles at the front end of the body contract, and the longitudinal muscles relax. This section of the body becomes thinner and longer. The bristles at the back are inserted into the soil and the body moves forward; then the setae at the front are inserted into the soil and remain still. , the bristles at the back retract, the longitudinal muscles contract, and the circular muscles relax. This section of the body segment becomes thicker and shorter, and the body segments at the front of the body shorten and move forward one by one. In this way, the cycle continues, and the earthworm Can move forward slowly.

The bionic earthworm robot is a relatively new research object in the field of bionic robots at present. The motion mechanism of earthworms provides a new design idea for underwater mud-arching robots. By using the unique mud-arching method of earthworms, bionic its shape structure and movement texture According to the analysis, a robot that can wriggle and crawl in the underwater mud like an earthworm can be designed to replace human beings to complete some tasks that cannot be completed in harsh environments. The bionic underwater arching mud robot designed based on the mechanism of earthworm movement is of great significance to aquaculture, underwater archaeology, underwater exploration, measurement of underwater pollution, rescue of shipwreck accidents, and surveying and mapping of seabed maps.

At present, most bionic underwater robots are mainly used for underwater operations, and there is no robot for underwater mud arching.

Contents of the invention

The object of the present invention is to provide an underwater mud-bending robot that imitates an earthworm in view of the deficiencies in the prior art. This robot has the characteristics of simple structure, good flexibility, low cost, long working time, high efficiency and fast movement speed.

Realize the objective technical scheme of the present invention is:

An earthworm-like underwater mud-arching robot, comprising a mud-arching head mechanism connected in sequence, a first forward steering mechanism, a first support mechanism, a second forward steering mechanism, a second support mechanism, a tail bin and a communication unit, the The first ball hinge in the first forward steering mechanism is connected with the front end cover in the mud head mechanism; the first universal joint hinge in the first forward steering mechanism is connected with the first connecting plate in the first support mechanism; the second The second ball hinge in the forward steering mechanism is connected with the rear end of the first support mechanism; the second universal joint hinge in the second forward steering mechanism is connected with the second connecting plate in the second support mechanism; The rear end is connected to the tail bin, and the communication unit is electrically connected to the mud head mechanism, the first forward steering mechanism, the first support mechanism, the second forward steering mechanism, the second support mechanism and the tail bin.

The mud head mechanism includes

Conical arching mud head, the tapered arching mud head is a cavity, and the rear end of the cavity is provided with a first groove;

A rotating platform, the rotating platform is provided with a fixed outer ring of the rotating platform and a movable inner ring of the rotating platform;

a steering gear fixing plate, the steering gear fixing plate is provided with a steering gear;

The front end cover, the inner front end of the front end cover is provided with a second groove;

The conical arching mud head, rotating platform, steering gear fixing plate, and front end cover are assembled sequentially, the inner ring is connected with the conical arching mud head through a power transmission rod, the rear end of the power transmission rod is installed on the front face of the inner ring, and the power transmission The front end of the rod is placed in the first groove, the steering gear is installed in the center of the rear end of the steering gear fixing plate and embedded in the second groove, and the output shaft of the steering gear is connected with the power transmission rod.

The first forward steering mechanism includes 4 ball hinges, 4 cylinders and 4 universal joint hinges connected in sequence to form 4 first forward steering units consisting of a ball hinge, a cylinder and a universal joint hinge, Three of the first forward steering units are active parts, and the other first forward steering unit is a driven part. The driven part is arranged at the center of the rear end face of the front cover, and the three active parts are equidistant from the driven part. Distributed on the rear end face of the front end cover and the angle formed by every two active parts is 120°, and each cylinder is provided with a displacement sensor.

The first supporting mechanism includes a first supporting mechanism inner cavity, a first connecting plate is arranged at the front end of the first supporting mechanism inner cavity, and a first supporting air bag is arranged outside the first supporting mechanism inner cavity.

The second forward steering mechanism includes 4 ball hinges, 4 cylinders and 4 universal joint hinges connected in sequence to form 4 second forward steering units consisting of a ball hinge, a cylinder and a universal joint hinge, Three of the second forward steering units are active parts, and the other second forward steering unit is a driven part. The driven part is arranged at the center of the rear end face of the inner cavity of the first support mechanism, and the three active parts are driven by the driven part. The centers are evenly distributed on the rear end surface of the inner cavity of the first support mechanism, and the angle formed by every two active parts is 120°, and each cylinder is provided with a displacement sensor.

The second supporting mechanism includes a second supporting mechanism inner chamber, a second connecting plate is arranged at the front end of the second supporting mechanism inner chamber, and a second supporting airbag 12 is arranged outside the second supporting mechanism inner chamber.

The tail compartment is a cavity, and an opening cover is arranged on the cavity, and the setting of the opening cover is to facilitate the installation of the communication unit.

The communication unit includes an electrically connected nine-axis sensor, a timing program controller, a single-chip microcomputer, and a depth pressure sensor connected to the single-chip microcomputer, a miniature camera, a first pressure sensor, a second pressure sensor, a first displacement sensor and a second displacement sensor , the nine-axis sensor, timing program controller and single-chip microcomputer are installed in the cavity of the tail chamber; the depth pressure sensor and the micro camera are installed in the inner cavity of the conical arch mud head; the first pressure sensor is installed in the inside of the first support air bag, the second Two pressure sensors are installed inside the second support airbag; the first displacement sensor is installed on the first cylinder in the first forward steering mechanism, the second displacement sensor is installed on the second cylinder in the second forward steering mechanism, and the cone Spare sensors can be added to the cavity of the arch mud head as required.

There are at least four first displacement sensors, which are respectively mounted on corresponding first cylinders in the first forward steering mechanism.

There are at least four second displacement sensors, which are respectively installed on the corresponding second cylinders in the second forward steering mechanism.

The steering gear in the mud arch mechanism uses the rotating platform to transmit power to the power transmission rod and the tapered mud head, thereby driving the tapered mud head to rotate, so as to discharge obstacles and achieve the purpose of advancing.

The first forward steering mechanism is radially provided with a first protective cover, and the second forward steering mechanism is radially provided with a second protective cover. The function of the protective cover is to prevent mud and water from entering the inside of the robot.

The robot changes the parameters of the timing program controller through the peripheral control platform and cooperates with the displacement sensor to drive the cylinder rod of the cylinder in the forward steering mechanism to extend different distances, and then drives the three ball hinges of the active part to rotate at a certain angle. So as to achieve the purpose of turning.

The tail bin is provided with cables and air pipes, and the cables are externally connected to the computer control system and power supply on the control platform; the air pipe is connected to the gas supply station on the control platform, and the nine-axis sensor installed in the tail bin can be obtained on the control platform. The information locates the robot and grasps the real-time motion status of the robot.

When the robot encounters an obstacle, the peripheral control platform controls the robot in reverse, which can make the earthworm-like underwater arching mud robot move backward first, and then change the forward direction to avoid obstacles the goal of.

This kind of bionic robot designed using the principle of bionics can crawl forward in the soil like an earthworm, and can realize forward, backward and flexible steering functions.

This robot utilizes the timing program controller 21 installed in the tail storehouse to control the amount of expansion and contraction of the cylinder in the forward steering mechanism, thereby changing the direction of motion of the robot.

This kind of robot uses air pressure as the driving force, which has low cost of use, can realize long-distance transmission, and will not pollute the environment after leakage; this kind of robot can work in harsh environments, has fast action response time, and is easy to maintain.

This robot has the characteristics of simple structure, good flexibility, low cost, long working time, high efficiency and fast movement speed.

Description of drawings

Fig. 1 is the structural representation of embodiment;

Fig. 2 is the A-A sectional view of Fig. 1;

Fig. 3 is a B-B sectional view of the arch mud head in Fig. 1;

Fig. 4 is the C-C sectional view of rotating platform shown in Fig. 2;

Fig. 5 is a half-sectional view of the arching mud head mechanism in Fig. 1;

Fig. 6 is a schematic diagram of the principle of crawling forward of the arch-mud robot of the embodiment.

In the figure, 1. Tapered arch mud head 2. Rotating platform 3. Steering gear fixing plate 4. Front end cover 5. First forward steering mechanism 6. First connecting plate 7. First support mechanism inner cavity 8. First support Airbag 9. The second forward steering mechanism 10. The second connecting plate 11. The inner cavity of the second supporting mechanism 12. The second supporting airbag 13. Tail compartment 14. Opening cover 15. Cable 16. Air pipe 17. Computer 18. Air supply Station 19. Single-chip microcomputer 20. Nine-axis sensor 21. Timing program controller 22. Second pressure sensor 23. Second universal joint hinge 24. Second cylinder 25. Second displacement sensor 26. Second ball hinge 27. First Pressure sensor 28. The first universal joint hinge 29. The first cylinder 30. The first displacement sensor 31. The first ball hinge 32. The second groove 33. Steering gear 34. The outer ring of the rotating platform 35. The inner ring of the rotating platform 36 . Power transmission rod 37. Depth pressure sensor 38. Micro camera 39. Backup sensor 40. Second protective cover 41. First protective cover 42. First groove 43. Output shaft.

detailed description

The content of the present invention will be further elaborated below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited thereto.

Example:

Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, an underwater mud-arching robot imitating an earthworm includes a mud-arching head mechanism connected in sequence, a first forward steering mechanism 5, a first support mechanism 8, a first Two forward steering mechanisms 9, the second support mechanism 12, the tail storehouse 13 and the communication unit, the first ball hinge 31 in the first forward steering mechanism 5 is connected with the front end cover 4 in the arch mud head mechanism; the first forward steering The first universal joint hinge 28 in the mechanism 5 is connected with the first connecting plate 6 in the first support mechanism 8; the second ball hinge 26 in the second forward steering mechanism 9 is connected with the rear end of the first support mechanism 8; The second universal joint hinge 23 in the second forward steering mechanism 9 is connected with the second connecting plate 10 in the second support mechanism 12; the rear end of the second support mechanism 12 is connected with the tail storehouse 13, the communication unit and the arching mud head mechanism , the first forward steering mechanism 5, the first support mechanism 8, the second forward steering mechanism 9, the second support mechanism 12 and the tail compartment 13 are electrically connected, and the rear end of the tail compartment 13 is also connected to a computer through a cable 15 in this example 17, connected to a gas supply station 18 through a gas pipe 16.

The mud head mechanism includes

Conical arching mud head 1, the conical arching mud head 1 is a cavity, and the rear end of the cavity is provided with a first groove 42;

Rotary platform 2, said rotary platform 2 is provided with fixed rotary platform outer ring 34 and movable rotary platform inner ring 35;

A steering gear fixing plate 3, the steering gear fixing plate 3 is provided with a steering gear 33;

The front end cover 4, the inner front end of the front end cover 4 is provided with a second groove 32;

The conical arching mud head 1, rotating platform 2, steering gear fixing plate 3, and front end cover 4 are sequentially assembled, the inner ring 35 is connected with the conical arching mud head 1 through a power transmission rod 36, and the rear end of the power transmission rod 36 is installed On the front end of the inner ring 35, the front end of the power transmission rod 36 is placed in the first groove 42, the steering gear 33 is installed in the center of the rear end of the steering gear fixing plate 3 and embedded in the second groove 32, the output shaft of the steering gear 33 43 is connected with the power transmission rod 36.

Specifically, the first group of forward steering mechanism 5 drives the arching mud head mechanism to reciprocate back and forth, and a hole with the same size as the diameter of the tapered arching mud head 1 is punched out. When the arching mud head mechanism encounters obstacles and cannot move forward, it can The rotary platform 2 is used to drive the conical arch mud head 1 to rotate, so as to discharge obstacles and achieve the purpose of advancing.

The first forward steering mechanism 5 includes 4 ball hinges, 4 cylinders and 4 universal joint hinges connected in sequence to form 4 first forward steering units consisting of a ball hinge, a cylinder and a universal joint hinge , wherein the three first forward steering units are active parts, and the other first forward steering unit is a driven part, the driven part is arranged at the center of the rear end face of the front end cover 4, and the three active parts are centered on the driven part, etc. The distance is evenly distributed on the rear end surface of the front end cover 4 and the angle formed by every two active parts is 120°, and each cylinder is provided with a displacement sensor.

Specifically, the air supply station 18 on the control platform supplies air to the cylinder 29 in the first group of forward steering mechanism 5 through the air pipe 16, and after the cylinder rod stretches out, the first ball hinge 31 and the mud head mechanism are pushed forward, and then After the cylinder rod is retracted, the first ball hinge 31 and the arch mud head mechanism are driven back to their original positions; For the purpose of drilling holes forward, when the mud head mechanism needs to turn, the timing program controller 21 installed in the tail bin 13 and the first displacement sensor 30 on the first cylinder 29 can be used to cooperate with each other to drive the first forward. The cylinder rods of the three cylinders of the active part in the steering mechanism 5 stretch out different distances, and then drive the four ball hinges to rotate at a certain angle, so as to achieve the purpose of steering.

The first supporting mechanism includes a first supporting mechanism inner chamber 7 , a first connecting plate 6 is arranged at the front end of the first supporting mechanism inner chamber 7 , and a first supporting airbag 8 is arranged outside the first supporting mechanism inner chamber 7 .

Specifically, the air supply station 18 on the control platform is used to supply air to the first support air bag 8 through the air pipe 16, so that the first support air bag 8 is radially expanded to provide support for the extension and retraction of the first forward steering mechanism 5 , the first support airbag 8 is too inflated to affect its service life, and it is too low to provide better support for the first forward steering mechanism 5. Therefore, the first pressure sensor installed in the inner cavity 7 of the first support mechanism can be used 27 to control the air pressure of the first support air bag 8.

The second forward steering mechanism 9 includes 4 ball hinges, 4 cylinders and 4 universal joint hinges connected in sequence to form 4 second forward steering units consisting of a ball hinge, a cylinder and a universal joint hinge , wherein three second forward steering units are active parts, and the other second forward steering unit is a driven part. The components are centered and equidistantly distributed on the rear end surface of the inner cavity 7 of the first support mechanism, and the angle formed by every two active components is 120°, and each cylinder is provided with a displacement sensor.

Specifically, the air supply station 18 on the control platform supplies air to the second cylinder 24 in the second forward steering mechanism 9 through the air pipe 16, and the cylinder rod stretches out to push the second ball hinge 26 and the mud head mechanism, and the first forward The steering mechanism 5 and the first support mechanism move forward, and the second forward steering mechanism 9 relies on the continuous extension and retraction of the cylinder rod to drive the arch mud head mechanism to move back and forth, so as to achieve the purpose of punching holes forward. When the mud head mechanism needs to turn, the timing program controller 21 installed in the tail compartment 13 can be used to cooperate with the first displacement sensor 30 on the first cylinder 29 to drive the cylinders of the three cylinders of the active part in the second forward steering mechanism 9 The rod extends out different distances, and then drives the four ball hinges to rotate at a certain angle, so as to achieve the purpose of steering.

The second support mechanism includes a second support mechanism inner cavity 11 , a second connecting plate 10 is arranged at the front end of the second support mechanism inner cavity 11 , and a second support airbag 12 is arranged outside the second support mechanism inner cavity 11 .

Specifically, the air supply station 18 on the control platform is used to supply air to the second support air bag 12 through the air pipe 16, so that the second support air bag 12 is radially expanded, and the extension and retraction of the second forward steering mechanism 9 provide support force , the second support airbag 12 is too inflated to affect its service life, and if it is too low, it cannot provide better support force for the second forward steering mechanism 9. Therefore, the second pressure sensor installed in the inner cavity 11 of the second support mechanism can be used 22 to control the air pressure of the second support air bag 12.

The tail compartment 13 is a cavity, and the cavity is provided with an opening cover 14. The setting of the opening cover 14 is to facilitate the installation of the communication unit.

The communication unit includes an electrically connected nine-axis sensor 20, a timing program controller 21, a single-chip microcomputer 19, and a depth pressure sensor 37 connected to the single-chip microcomputer, a miniature camera 38, a first pressure sensor 27, a second pressure sensor 22, a first Displacement sensor 30 and the second displacement sensor 25, nine-axis sensor 20, timing program controller 21 and single-chip microcomputer 19 are installed in the tail chamber cavity 13; In the cavity; the first pressure sensor 27 is installed in the inside of the first support airbag 8, and the second pressure sensor 22 is installed in the inside of the second support airbag 12; the first displacement sensor 30 is installed in the first cylinder in the first forward steering mechanism 29, the second displacement sensor 25 is installed on the second cylinder 24 in the second forward steering mechanism, and an auxiliary sensor 39 can be added as required in the conical arch mud head 1 inner cavity.

Specifically, by installing the nine-axis sensor 20 in the communication unit, the position and motion posture of the robot are grasped; the depth pressure sensor 37 can understand the specific depth of the robot; ; The first pressure sensor 27 and the second pressure sensor 22 can control the air pressure in the first support air bag 8 and the second support air bag 12; the timing program controller 21 cooperates with the first displacement sensor 30 and the second displacement sensor 25 to drive the forward steering The cylinder rod of the cylinder in the mechanism stretches out different distances, and then drives the four ball hinges to rotate at a certain angle, so as to achieve the purpose of steering; the single-chip microcomputer 19 transmits the collected signals to the control platform, and uses the computer to control and monitor the movement of the robot. sports.

There are at least four first displacement sensors 30, which are respectively installed on the corresponding first cylinders 29 in the first forward steering mechanism.

There are at least four second displacement sensors 25, which are respectively installed on the corresponding second cylinders 24 in the second forward steering mechanism.

As shown in Figure 6, the motion principle of the earthworm-like underwater mud-arching robot in this example is specifically explained:

In the figure, 1 a is the most original state of the robot; b is the two sets of supporting mechanisms of the robot expand and support the mud wall;

2 c is the cooperative action of the arching mud head mechanism and the forward steering mechanism. The first forward steering mechanism 5 moves back and forth to flush the soil in front out of a hole with a length of 25 mm, which is the distance that the first forward steering mechanism 5 protrudes;

3 When the first forward steering mechanism 5 is stretched out by 25mm, the first set of support mechanism exhausts, then the first forward steering mechanism 5 retracts, the second forward steering mechanism 9 stretches out, and pushes the first forward steering mechanism 5 to move forward by 25mm , that is, stage d;

4 After the second forward steering mechanism 9 stretches out, the first group of support mechanisms will inflate and support the mud wall, and the second support mechanism will exhaust;

5. After the exhaust of the second support mechanism is completed, the second forward steering mechanism 9 is retracted, and the second group of support mechanisms are inflated and supported to support the mud wall, that is, stage e;

6 After e stage, the bionic robot returns to the initial state f. In this way, the whole process of the overall creep of the bionic robot is completed, and the whole robot moves forward by a step, and so on, so as to realize the continuous forward creep of the robot.

If the above-mentioned peristaltic principle of the robot is used to reversely control the robot, the underwater arch mud robot imitating the earthworm can be made to move backwards, and then change the forward direction in order to avoid obstacles.

Claims (10)

1. A kind of earthworm-like underwater arching mud robot is characterized in that, comprises the arch mud head mechanism of sequential connection, the first forward steering mechanism, the first support mechanism, the second forward steering mechanism, the second support mechanism, and tail warehouse and the communication unit, the first ball hinge in the first forward steering mechanism is connected to the front end cover in the mud head mechanism; the first universal joint hinge in the first forward steering mechanism is connected to the first universal joint hinge in the first support mechanism The connecting plate is connected; the second ball hinge in the second forward steering mechanism is connected with the rear end of the first supporting mechanism; the second universal joint hinge in the second forward steering mechanism is connected with the second connecting plate in the second supporting mechanism The rear end of the second support mechanism is connected to the tail warehouse, and the communication unit is electrically connected to the arch mud head mechanism, the first forward steering mechanism, the first support mechanism, the second forward steering mechanism, the second support mechanism and the tail warehouse. 2. the underwater arch mud robot of imitation earthworm according to claim 1, is characterized in that, described arch mud head mechanism comprises Conical arching mud head, the tapered arching mud head is a cavity, and the rear end of the cavity is provided with a first groove; A rotating platform, the rotating platform is provided with a fixed outer ring of the rotating platform and a movable inner ring of the rotating platform; a steering gear fixing plate, the steering gear fixing plate is provided with a steering gear; The front end cover, the inner front end of the front end cover is provided with a second groove; The conical arching mud head, rotating platform, steering gear fixing plate, and front end cover are assembled sequentially, the inner ring is connected with the conical arching mud head through a power transmission rod, the rear end of the power transmission rod is installed on the front face of the inner ring, and the power transmission The front end of the rod is placed in the first groove, the steering gear is installed in the center of the rear end of the steering gear fixing plate and embedded in the second groove, and the output shaft of the steering gear is connected with the power transmission rod. 3. the underwater arch mud robot imitating earthworm according to claim 1, is characterized in that, described first forward steering mechanism comprises 4 ball hinges connected in sequence, 4 cylinders and 4 universal joint hinges to form 4 A first forward steering unit consisting of a ball hinge, a cylinder and a universal joint hinge, of which three first forward steering units are active parts, and the other first forward steering unit is a follower, and the follower Set in the center of the rear end face of the front end cover, the three active parts are evenly distributed on the rear end face of the front end cover with the follower as the center, and the angle formed by every two active parts is 120°, and each cylinder is equipped with Motion detector. 4. The earthworm-like underwater mud-arching robot according to claim 1, wherein the first group of supporting mechanisms comprises a first supporting mechanism inner cavity, and the front end of the first supporting mechanism inner cavity is provided with a first The connecting plate, the first supporting airbag is arranged outside the inner cavity of the first supporting mechanism. 5. The underwater arching mud robot imitating earthworms according to claim 1, characterized in that, said second forward steering mechanism comprises 4 ball hinges, 4 cylinders and 4 universal joint hinges connected in sequence to form 4 A second forward steering unit consisting of a ball hinge, a cylinder and a universal joint hinge, among which three second forward steering units are active parts, and the other second forward steering unit is a follower, and the follower Set at the center of the rear end face of the inner cavity 7, the three active parts are evenly distributed on the rear end face of the inner cavity of the first support mechanism with the follower as the center, and the angle formed by every two active parts is 120°. A displacement sensor is installed on each cylinder. 6. The earthworm-like underwater mud-arching robot according to claim 1, characterized in that, the second group of supporting mechanisms comprises a second supporting mechanism inner cavity, and the front end of the second supporting mechanism inner cavity is provided with a second The connection plate, the second supporting airbag is arranged outside the inner cavity of the second supporting mechanism. 7. The earthworm-like underwater mud-arching robot according to claim 1, characterized in that, the tail chamber is a cavity, and the cavity is provided with an opening cover. 8. the underwater arch mud robot of imitation earthworm according to claim 1, is characterized in that, described communication unit comprises the nine-axis sensor of electrical connection, timing program controller, single-chip microcomputer and the depth pressure sensor that is connected with single-chip microcomputer respectively, The miniature camera, the first pressure sensor, the second pressure sensor, the first displacement sensor and the second displacement sensor, the nine-axis sensor, the timing program controller and the single-chip microcomputer are installed in the cavity of the tail chamber; the depth pressure sensor and the miniature camera are installed in the cone In the cavity of the arch mud head; the first pressure sensor is installed in the inside of the first support air bag, and the second pressure sensor is installed in the inside of the second support air bag; the first displacement sensor is installed in the first cylinder in the first forward steering mechanism On the top, the second displacement sensor is installed on the second cylinder in the second forward steering mechanism, and a spare sensor can be added in the inner cavity of the conical arch mud head as required. 9. The earthworm-like underwater mud-arching robot according to claim 8, characterized in that there are at least four first displacement sensors, which are respectively installed on corresponding first cylinders in the first forward steering mechanism. 10. The earthworm-like underwater mud-arching robot according to claim 8, characterized in that there are at least four second displacement sensors installed on corresponding second cylinders in the second forward steering mechanism.