A rotor-driven deformable air-ground omnidirectional mobile robot and a method of movement

Abstract

A rotor-driven variable shape air-ground omnidirectional motion robot and a motion method, the robot comprising a body, arms, rotor wheel assemblies, rotor wheel assembly tilting posture adjusting execution mechanisms, a control box and a battery; the rotor wheel assembly tilting posture adjusting execution mechanisms are installed inside the body; four arms are evenly distributed along the circumference of the body, the root of each arm is connected with the rotor wheel assembly tilting posture adjusting execution mechanisms, and the head of each arm is provided with a rotor wheel assembly; the control box is installed on the top of the body, and the battery is installed on the bottom of the body. The motion method comprises an air flight mode, a ground driving mode and a steep slope and vertical surface climbing mode. The present application has the traditional air flight mode, and also has the ground driving mode and the steep slope and vertical surface climbing mode, and realizes air-ground omnidirectional motion in multiple motion modes. Compared with the traditional single air cruise with high energy consumption, the ground driving mode with low energy consumption can be replaced, and the maximum range of the robot is effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle technology, and in particular relates to a rotor-driven deformable air-ground omnidirectional motion robot and its motion method. Background Technology

[0002] Quadrotor robots are a type of unmanned aerial vehicle. With six degrees of freedom, they can achieve stable hovering and flight in various directions, giving them significant advantages in areas such as pesticide spraying and material delivery.

[0003] However, traditional quadcopter robots only have an aerial flight mode. Due to the limited range of motion, the application scenarios of quadcopter robots are restricted. Furthermore, the high energy consumption of quadcopter robots during cruising further limits their maximum range. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a rotor-driven deformable air-ground omnidirectional motion robot and motion method. It has the same air flight mode as traditional quadcopter robots, as well as ground driving mode and steep slope and vertical surface climbing mode. It achieves omnidirectional air-ground motion in multiple motion modes. Compared with the high energy consumption of traditional single air cruise, it can be replaced by low energy consumption ground driving mode, which effectively improves the robot's maximum range.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a rotor-driven deformable air-ground omnidirectional motion robot, comprising a fuselage, arms, rotor wheel assemblies, a rotor wheel assembly tilting and attitude adjustment mechanism, a control box, and a battery; the rotor wheel assembly tilting and attitude adjustment mechanism is installed inside the fuselage; the number of arms is four, and the four arms are evenly distributed along the circumference of the fuselage, with the root of each arm connected to the rotor wheel assembly tilting and attitude adjustment mechanism, and a rotor wheel assembly installed at the head of each arm; the control box is installed on the top of the fuselage, and the rotor wheel assemblies and the rotor wheel assembly tilting and attitude adjustment mechanism are electrically connected to the control box; the battery is installed at the bottom of the fuselage; the rotor wheel assemblies, the rotor wheel assembly tilting and attitude adjustment mechanism, and the control box are all powered by the battery.

[0006] The rotor assembly tilting and attitude adjustment mechanism includes a servo motor, a transmission disk, a transverse transmission shaft, a transverse transmission block, a transverse transmission rod, a longitudinal transmission shaft, a longitudinal transmission block, and a longitudinal transmission rod. The servo motor is fixedly mounted on the fuselage, with its power output shaft facing downwards. The transmission disk is horizontally fixed to the power output shaft of the servo motor. The transverse and longitudinal transmission shafts are arranged in a cross shape and located below the transmission disk. Both the transverse and longitudinal transmission shafts are rotatably connected to the fuselage via bearing seats. The transverse transmission block is fixedly mounted on the transverse transmission shaft, and the lower end of the transverse transmission rod is hinged. The longitudinal drive shaft is fixedly mounted on the horizontal drive block; the lower end of the longitudinal drive rod is hinged to the longitudinal drive block; the transmission disc is provided with a horizontal drive hole slot and a longitudinal drive hole slot respectively, and the horizontal drive hole slot and the longitudinal drive hole slot are distributed at a 90° phase; the upper end of the horizontal drive rod passes through the horizontal drive hole slot; the upper end of the longitudinal drive rod passes through the longitudinal drive hole slot; each of the two ends of the horizontal drive shaft is fixedly connected to a machine arm; each of the two ends of the longitudinal drive shaft is fixedly connected to a machine arm.

[0007] The rotor assembly includes a brushless motor, bidirectional rotor blades, a motor adapter, a caster wheel, a spoke bracket, and a hub sleeve. The brushless motor is fixedly mounted on the motor adapter, which is fixedly connected to the head of the arm. The bidirectional rotor blades are mounted on the motor shaft of the brushless motor. The rim of the caster wheel is coaxially fitted around the bidirectional rotor blades. The rim of the caster wheel is fixedly connected to the hub sleeve via the spoke bracket. The hub sleeve is coaxially distributed with the rim of the caster wheel. The hub sleeve is fitted onto the motor adapter via bearings and has only rotational freedom relative to the motor adapter.

[0008] The motion method of the rotor-driven deformable air-ground omnidirectional motion robot is divided into air flight mode, ground driving mode, and steep slope and vertical surface climbing mode.

[0009] In flight mode, all four rotor wheel assemblies are horizontally distributed with respect to the ground. The thrust generated by the rotor wheel assemblies is directed towards the ground, and the robot takes off and flies under the reaction force of the thrust.

[0010] In ground driving mode, all four rotor wheel assemblies are perpendicular to the ground;

[0011] When the robot needs to move in a straight line, the two rotor wheel assemblies parallel to the direction of travel are not activated, while the two rotor wheel assemblies perpendicular to the direction of travel are activated simultaneously, and the thrust generated by the two rotor wheel assemblies is in the same direction; when the thrust is backward, the robot moves forward under the reaction force of the thrust; when the thrust is forward, the robot moves backward under the reaction force of the thrust.

[0012] When the robot needs to turn in place, only the two rotor wheel assemblies at both ends of the transverse drive shaft are activated, or only the two rotor wheel assemblies at both ends of the longitudinal drive shaft are activated and the thrust generated by the two rotor wheel assemblies is in opposite directions. The robot turns in place under the reaction force of the thrust.

[0013] When the robot needs to turn while moving in a straight line, based on the robot's straight-line movement mode, one of the two rotor wheel assemblies perpendicular to the direction of movement is activated individually. If the activated rotor wheel assembly is located at the front of the direction of movement, the robot turns right when the thrust generated by the rotor wheel assembly is to the left, and turns left when the thrust generated by the rotor wheel assembly is to the right. If the activated rotor wheel assembly is located at the rear of the direction of movement, the robot turns left when the thrust generated by the rotor wheel assembly is to the left, and turns right when the thrust generated by the rotor wheel assembly is to the right.

[0014] In steep slope and vertical climbing modes, all four rotor wheel assemblies are tilted relative to the ground;

[0015] Before climbing a steep slope or standing upright, the robot first travels to the intersection of the ground and the steep slope or upright surface. The downward thrust generated by the two tilting rotor assemblies at the front is further decomposed into a rearward component and a downward component. Under the reaction force of the downward component, the two tilting rotor assemblies at the front will lift and move along the steep slope or upright surface. Similarly, the downward thrust generated by the two tilting rotor assemblies at the rear is also decomposed into a rearward component and a downward component. Under the reaction force of the rearward component, the two tilting rotor assemblies at the rear will move towards the steep slope or upright surface.

[0016] Once the robot is in contact with a steep slope or vertical surface, the four tilting rotor wheel assemblies synchronously change their rotation direction and continue to generate a downward thrust. This thrust is also decomposed into a backward component and a downward component. Under the reaction force of the backward component, the robot presses firmly against the steep slope or vertical surface, and under the reaction force of the downward component, the robot moves upward against the steep slope or vertical surface.

[0017] The beneficial effects of this invention are:

[0018] The rotor-driven deformable air-ground omnidirectional motion robot and motion method of the present invention have the same air flight mode as traditional quadcopter robots, as well as ground driving mode and steep slope and vertical surface climbing mode. It realizes omnidirectional air-ground motion in multiple motion modes. Compared with the high energy consumption of traditional single air cruise, it can be replaced by low energy consumption ground driving mode, which effectively improves the robot's maximum range. Attached Figure Description

[0019] Figure 1This is a structural schematic diagram (view 1) of the rotor-driven deformable air-ground omnidirectional motion robot (air flight mode) of the present invention;

[0020] Figure 2 This is a structural schematic diagram (view 2) of the rotor-driven deformable air-ground omnidirectional motion robot (air flight mode) of the present invention;

[0021] Figure 3 This is a structural schematic diagram (view 3) of the rotor-driven deformable air-ground omnidirectional motion robot (air flight mode) of the present invention;

[0022] Figure 4 This is a structural schematic diagram (view 1) of the rotor-driven deformable air-ground omnidirectional motion robot of the present invention (ground driving mode);

[0023] Figure 5 This is a schematic diagram of the rotor-driven deformable air-ground omnidirectional motion robot (ground driving mode) of the present invention (view 2);

[0024] Figure 6 This is a structural schematic diagram (view 3) of the rotor-driven deformable air-ground omnidirectional motion robot (ground driving mode) of the present invention;

[0025] Figure 7 This is a structural schematic diagram (view 1) of the rotor-driven deformable all-around aerial and ground motion robot (steep slope and vertical surface climbing mode) of the present invention.

[0026] Figure 8 This is a structural schematic diagram (view 2) of the rotor-driven deformable all-around aerial and ground motion robot (steep slope and vertical surface climbing mode) of the present invention.

[0027] Figure 9 This is a structural schematic diagram (view 3) of the rotor-driven deformable all-around aerial and ground motion robot (steep slope and vertical surface climbing mode) of the present invention.

[0028] Figure 10 This is a schematic diagram of the combined structure of the fuselage (partial), rotor wheel assembly tilting and attitude adjustment actuator, and arm of the present invention.

[0029] Figure 11 This is a schematic diagram of the combined structure of the fuselage (partial) and rotor wheel assembly tilting and attitude adjustment mechanism of the present invention;

[0030] Figure 12 This is a schematic diagram of the rotor wheel assembly of the present invention;

[0031] Figure 13 This is a schematic diagram of the mode switching process of the rotor-driven deformable all-around aerial and ground motion robot of the present invention.

[0032] In the diagram, 1—fuselage, 2—arm, 3—rotor assembly, 4—rotor assembly tilt and attitude adjustment mechanism, 5—control box, 6—battery, 7—servo motor, 8—transmission disc, 9—lateral drive shaft, 10—lateral drive block, 11—lateral drive rod, 12—longitudinal drive shaft, 13—longitudinal drive block, 14—longitudinal drive rod, 15—lateral drive slot, 16—longitudinal drive slot, 17—brushless motor, 18—bidirectional rotor blade, 19—motor adapter, 20—caster, 21—spoke bracket, 22—hub sleeve. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1-13 As shown, a rotor-driven deformable omnidirectional aerial and ground motion robot includes a body 1, arms 2, rotor wheel assemblies 3, rotor wheel assembly tilting and attitude adjustment mechanism 4, control box 5, and battery 6. The rotor wheel assembly tilting and attitude adjustment mechanism 4 is installed inside the body 1. There are four arms 2, which are evenly distributed around the circumference of the body 1. The root of each arm 2 is connected to the rotor wheel assembly tilting and attitude adjustment mechanism 4, and a rotor wheel assembly 3 is installed at the head of each arm 2. The control box 5 is installed on the top of the body 1, and the rotor wheel assembly 3 and the rotor wheel assembly tilting and attitude adjustment mechanism 4 are electrically connected to the control box 5. The battery 6 is installed at the bottom of the body 1. The rotor wheel assembly 3, the rotor wheel assembly tilting and attitude adjustment mechanism 4, and the control box 5 are all powered by the battery 6.

[0035] The rotor assembly tilting and attitude adjustment mechanism 4 includes a servo motor 7, a transmission disk 8, a transverse transmission shaft 9, a transverse transmission block 10, a transverse transmission rod 11, a longitudinal transmission shaft 12, a longitudinal transmission block 13, and a longitudinal transmission rod 14. The servo motor 7 is fixedly mounted on the fuselage 1, with its power output shaft facing downwards. The transmission disk 8 is horizontally fixed to the power output shaft of the servo motor 7. The transverse transmission shaft 9 and the longitudinal transmission shaft 12 are arranged in a cross shape and located below the transmission disk 8. Both the transverse transmission shaft 9 and the longitudinal transmission shaft 12 are rotatably connected to the fuselage 1 via bearing seats. The transverse transmission block 10 is fixedly mounted on the transverse transmission shaft 9, and the lower end of the transverse transmission rod 11 is hinged. The longitudinal drive shaft 14 is connected to the horizontal drive block 10; the vertical drive block 13 is fixedly installed on the longitudinal drive shaft 12, and the lower end of the longitudinal drive rod 14 is hinged to the longitudinal drive block 13; the transmission disk 8 is provided with a horizontal drive hole 15 and a longitudinal drive hole 16, which are distributed at a 90° phase; the upper end of the horizontal drive rod 11 passes through the horizontal drive hole 15; the upper end of the longitudinal drive rod 14 passes through the longitudinal drive hole 16; each of the two ends of the horizontal drive shaft 9 is fixedly connected to a machine arm 2; each of the two ends of the longitudinal drive shaft 12 is fixedly connected to a machine arm 2.

[0036] The rotor assembly 3 includes a brushless motor 17, a bidirectional rotor blade 18, a motor adapter 19, a caster wheel 20, a spoke bracket 21, and a hub sleeve 22. The brushless motor 17 is fixedly mounted on the motor adapter 19, which is fixedly connected to the head of the arm 2. The bidirectional rotor blade 18 is mounted on the motor shaft of the brushless motor 17. The rim of the caster wheel 20 is coaxially fitted around the bidirectional rotor blade 18. The rim of the caster wheel 20 is fixedly connected to the hub sleeve 22 via the spoke bracket 21. The hub sleeve 22 is coaxially distributed with the rim of the caster wheel 20. The hub sleeve 22 is fitted onto the motor adapter 19 via bearings. The hub sleeve 22 has only rotational freedom relative to the motor adapter 19.

[0037] The motion method of the rotor-driven deformable air-ground omnidirectional motion robot is divided into air flight mode, ground driving mode, and steep slope and vertical surface climbing mode.

[0038] In flight mode, all four rotor wheel assemblies 3 are horizontally distributed with respect to the ground. The thrust generated by the rotor wheel assemblies 3 is directed towards the ground, and the robot takes off and flies under the reaction force of the thrust.

[0039] In ground driving mode, all four rotor wheel assemblies 3 are vertically distributed with respect to the ground;

[0040] When the robot needs to move in a straight line, the two rotor wheel assemblies 3 parallel to the direction of travel are not activated, while the two rotor wheel assemblies 3 perpendicular to the direction of travel are activated simultaneously, and the thrust generated by the two rotor wheel assemblies 3 is in the same direction; when the thrust is backward, the robot moves forward under the reaction force of the thrust; when the thrust is forward, the robot moves backward under the reaction force of the thrust.

[0041] When the robot needs to turn in place, only the two rotor wheel assemblies 3 at both ends of the transverse drive shaft 9 are activated, or only the two rotor wheel assemblies 3 at both ends of the longitudinal drive shaft 12 are activated and the thrust generated by the two rotor wheel assemblies 3 is in opposite directions. The robot turns in place under the reaction force of the thrust.

[0042] When the robot needs to turn while moving in a straight line, based on the robot's straight-line movement mode, either of the two rotor wheel assemblies 3 perpendicular to the direction of movement is activated individually. If the activated rotor wheel assembly 3 is located at the front end of the direction of movement, the robot turns right when the thrust generated by the rotor wheel assembly 3 is to the left, and turns left when the thrust generated by the rotor wheel assembly 3 is to the right. If the activated rotor wheel assembly 3 is located at the rear end of the direction of movement, the robot turns left when the thrust generated by the rotor wheel assembly 3 is to the left, and turns right when the thrust generated by the rotor wheel assembly 3 is to the right.

[0043] In steep slope and vertical climbing modes, all four rotor wheel assemblies 3 are tilted relative to the ground;

[0044] Before climbing a steep slope or standing upright, the robot first travels to the intersection of the ground and the steep slope or upright surface. The downward thrust generated by the two tilting rotor wheel assemblies 3 at the front end is further decomposed into a rearward component and a downward component. Under the reaction force of the downward component, the two tilting rotor wheel assemblies 3 at the front end will lift and move along the steep slope or upright surface. The downward thrust generated by the two tilting rotor wheel assemblies 3 at the rear end is also decomposed into a rearward component and a downward component. Under the reaction force of the rearward component, the two tilting rotor wheel assemblies 3 at the rear end will move towards the steep slope or upright surface.

[0045] Once the robot is in contact with a steep slope or vertical surface, the four tilting rotor wheel assemblies 3 synchronously change their rotation direction and continue to generate a downward thrust. This thrust is also decomposed into a backward component and a downward component. Under the reaction force of the backward component, the robot presses firmly against the steep slope or vertical surface, and under the reaction force of the downward component, the robot moves upward against the steep slope or vertical surface.

[0046] Specifically, when the robot needs to switch from aerial flight mode to ground driving mode, or from ground driving mode to steep slope and vertical surface climbing mode, the servo motor 7 is first activated, which drives the transmission disk 8 to rotate. During the rotation of the transmission disk 8, the horizontal axis transmission hole slot 15 and the vertical axis transmission hole slot 16 on it will rotate the horizontal axis transmission rod 11 and the vertical axis transmission rod 14. The horizontal axis transmission rod 11 will further drive the horizontal transmission shaft 9 to rotate through the horizontal axis transmission block 10, and the vertical axis transmission rod 14 will further drive the vertical axis transmission shaft 12 to rotate through the vertical axis transmission block 13.

[0047] The synchronous rotation of the transverse drive shaft 9 and the longitudinal drive shaft 12 will further drive the four arms 2 to rotate synchronously, thereby adjusting the steering attitude of the rotor wheel assembly 3 through the rotating arms 2.

[0048] Furthermore, when all four rotor wheel assemblies 3 are horizontally distributed with respect to the ground, the robot can perform aerial flight mode; when all four rotor wheel assemblies 3 are vertically distributed with respect to the ground, the robot can perform ground driving mode; and when all four rotor wheel assemblies 3 are tilted with respect to the ground, the robot can perform steep slope and vertical surface climbing mode.

[0049] The casters 20 in the rotor wheel assembly 3 are only activated in ground driving mode and steep slope / vertical climbing mode. Specifically, in ground driving mode, the casters 20 at the front and rear ends rotate as a whole, while the casters 20 at the left and right ends rotate independently using rollers on their rims. In steep slope / vertical climbing mode, all four casters 20 rotate independently using rollers on their rims.

[0050] The solutions described in the embodiments are not intended to limit the scope of patent protection of this invention. All equivalent implementations or modifications that do not depart from the scope of this invention are included in the patent scope of this case.

Claims

1. A rotor-driven deformable omnidirectional aerial and ground motion robot, characterized in that: The system includes a fuselage, arms, rotor wheel assemblies, a rotor wheel assembly tilt adjustment mechanism, a control box, and a battery. The rotor wheel assembly tilt adjustment mechanism is installed inside the fuselage. There are four arms evenly distributed around the fuselage circumference. The base of each arm is connected to the rotor wheel assembly tilt adjustment mechanism, and each arm has a rotor wheel assembly mounted at its head. The control box is installed on the top of the fuselage, and both the rotor wheel assemblies and the rotor wheel assembly tilt adjustment mechanism are electrically connected to the control box. The battery is installed at the bottom of the fuselage. The rotor wheel assemblies, rotor wheel assembly tilt adjustment mechanism, and control box are all powered by the battery. The rotor assembly tilting and attitude adjustment mechanism includes a servo motor, a transmission disk, a transverse transmission shaft, a transverse transmission block, a transverse transmission rod, a longitudinal transmission shaft, a longitudinal transmission block, and a longitudinal transmission rod. The servo motor is fixedly mounted on the fuselage, with its power output shaft facing downwards. The transmission disk is horizontally fixed to the power output shaft of the servo motor. The transverse and longitudinal transmission shafts are arranged in a cross shape and located below the transmission disk. Both the transverse and longitudinal transmission shafts are rotatably connected to the fuselage via bearing seats. The transverse transmission block is fixedly mounted on the transverse transmission shaft, and the lower end of the transverse transmission rod is hinged. The transmission rod is connected to the horizontal shaft drive block; the vertical shaft drive block is fixedly installed on the vertical shaft drive, and the lower end of the vertical shaft drive rod is hinged to the vertical shaft drive block; the transmission disc has horizontal shaft drive slots and vertical shaft drive slots respectively, and the horizontal shaft drive slots and vertical shaft drive slots are distributed at a 90° phase; the upper end of the horizontal shaft drive rod passes through the horizontal shaft drive slot; the upper end of the vertical shaft drive rod passes through the vertical shaft drive slot; each of the two ends of the horizontal shaft drive is fixedly connected to a machine arm; each of the two ends of the vertical shaft drive is fixedly connected to a machine arm. The rotor assembly includes a brushless motor, bidirectional rotor blades, a motor adapter, a caster wheel, a spoke bracket, and a hub sleeve. The brushless motor is fixedly mounted on the motor adapter, which is fixedly connected to the head of the arm. The bidirectional rotor blades are mounted on the motor shaft of the brushless motor. The rim of the caster wheel is coaxially fitted around the bidirectional rotor blades. The rim of the caster wheel is fixedly connected to the hub sleeve via the spoke bracket. The hub sleeve is coaxially distributed with the rim of the caster wheel. The hub sleeve is fitted onto the motor adapter via bearings and has only rotational freedom relative to the motor adapter.

2. The motion method of the rotor-driven deformable air-ground omnidirectional motion robot according to claim 1, characterized in that: It is divided into aerial flight mode, ground driving mode, and steep slope and vertical surface climbing mode.

3. The motion method of the rotor-driven deformable air-ground omnidirectional motion robot according to claim 2, characterized in that: In aerial flight mode, all four rotor wheel assemblies are horizontally distributed with respect to the ground. The thrust generated by the rotor wheel assemblies is directed towards the ground, and the robot takes off and flies under the reaction force of the thrust.

4. The motion method of the rotor-driven deformable air-ground omnidirectional motion robot according to claim 2, characterized in that: In ground driving mode, all four rotor wheel assemblies are perpendicular to the ground; When the robot needs to move in a straight line, the two rotor wheel assemblies parallel to the direction of travel are not activated, while the two rotor wheel assemblies perpendicular to the direction of travel are activated simultaneously, and the thrust generated by the two rotor wheel assemblies is in the same direction; when the thrust is backward, the robot moves forward under the reaction force of the thrust; when the thrust is forward, the robot moves backward under the reaction force of the thrust. When the robot needs to turn in place, only the two rotor wheel assemblies at both ends of the transverse drive shaft are activated, or only the two rotor wheel assemblies at both ends of the longitudinal drive shaft are activated and the thrust generated by the two rotor wheel assemblies is in opposite directions. The robot turns in place under the reaction force of the thrust. When the robot needs to turn while moving in a straight line, based on the robot's straight-line movement mode, one of the two rotor wheel assemblies perpendicular to the direction of movement is activated individually. If the activated rotor wheel assembly is located at the front of the direction of movement, the robot turns right when the thrust generated by the rotor wheel assembly is to the left, and turns left when the thrust generated by the rotor wheel assembly is to the right. If the activated rotor wheel assembly is located at the rear of the direction of movement, the robot turns left when the thrust generated by the rotor wheel assembly is to the left, and turns right when the thrust generated by the rotor wheel assembly is to the right.

5. The motion method of the rotor-driven deformable air-ground omnidirectional motion robot according to claim 2, characterized in that: In steep slope and vertical climbing modes, all four rotor wheel assemblies are tilted relative to the ground; Before climbing a steep slope or standing upright, the robot first travels to the intersection of the ground and the steep slope or upright surface. The downward thrust generated by the two tilting rotor assemblies at the front is further decomposed into a rearward component and a downward component. Under the reaction force of the downward component, the two tilting rotor assemblies at the front will lift and move along the steep slope or upright surface. Similarly, the downward thrust generated by the two tilting rotor assemblies at the rear is also decomposed into a rearward component and a downward component. Under the reaction force of the rearward component, the two tilting rotor assemblies at the rear will move towards the steep slope or upright surface. Once the robot is in contact with a steep slope or vertical surface, the four tilting rotor wheel assemblies synchronously change their rotation direction and continue to generate a downward thrust. This thrust is also decomposed into a backward component and a downward component. Under the reaction force of the backward component, the robot presses firmly against the steep slope or vertical surface, and under the reaction force of the downward component, the robot moves upward against the steep slope or vertical surface.

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