Abstract: The accuracy of soft robots spatial sensing technology is related to the recognition accuracy of soft robots external environment and its own pose in an unknown environment. We focus on the field of spatial sensing of soft robots. Firstly, the application fields of soft robots are introduced, and the research value of spatial sensing technologies are summarized by exploring the demand of soft robots for spatial sensing technologs and the technology of getting absolute and relative spatial sensing information in unknown environments. Then, We introduce the spatial sensing signals of soft robots and analyze the improvement of spatial sensing technologies by signal scheduling, 3D printing technologies and deep learning-based algorithms. After that, envisage the structure and sensing technologies of soft robots in the future. Finally, a conclusion of this article is made.