Multifunctional AI robot

Abstract

The invention discloses a multifunctional AI robot which comprises a robot body, a sensing module, a voice interaction module, an environment monitoring module, a smart home control module, a mobile chassis, a display screen, a data processing module, a control module, an execution module and a power management module. The beneficial effects of the invention are that 1, a multi-sensor fusion sensing system is arranged, a detection blind area of 0.1-5 meters is effectively covered, and 92% of speech recognition rate is still maintained in a 60dB noise environment; a self-adaptive motion control system is arranged, so that the attitude stability of + / -0.5 degrees during omni-directional movement is realized, and the system is suitable for real-time path planning in a dynamic environment; 2, a safety protection system is arranged, so that the collision accident rate can be reduced to 0.01 times per thousand hours, and uninterrupted power supply within 300ms during hot plug replacement is supported; 3, man-machine interaction upgrading is realized, and the system is more intelligent and multifunctional; and thirdly, a modularized quick-release structure is realized.

Description

Technical Field

[0001] The present invention relates to the technical fields of artificial intelligence and robotics, and particularly relates to a multifunctional AI robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can execute tasks such as operations or movements through programming and automatic control. Robots have basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans in performing dangerous, heavy, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities. Industrial robots play an important role in modern manufacturing and are widely used in industries such as automobile manufacturing, electronics manufacturing, and food processing. In the automobile manufacturing industry, industrial robots are used in processes such as welding, spraying, and assembly, improving production efficiency and product quality. In the electronics manufacturing industry, robots are used for circuit board welding, component installation, and testing to ensure high-precision production. In addition, industrial robots are used for sorting, packaging, and handling in food processing, improving hygiene standards and production efficiency. With the development of society and the progress of technology, robots are increasingly widely used and becoming increasingly important in people's lives.

[0003] Existing robots have the following technical defects: First, the functions of robots are relatively single, usually only having voice interaction or simple task execution capabilities, and it is difficult to meet users' needs for intelligence and multifunctionality. Second, existing robots also have deficiencies in aspects such as environmental adaptability and interaction experience; Third, the safety of manipulator control is insufficient, lacking a multi-level braking protection mechanism; Fourth, the expandability of the emergency braking response time module is poor, and the actuator and the sensing module are fixedly connected, resulting in a long time consumption. Summary of the Invention

[0004] The main technical problem to be solved by the present invention is to provide a multifunctional AI robot, which is provided with a multi-sensor fusion perception system to realize the upgrade of human-computer interaction, and is more intelligent, more functional, and safer.

[0005] To solve the above problems, the present invention provides a multifunctional AI robot, including:

[0006] A robot body;

[0007] A perception module, the perception module includes a lidar, a binocular camera, an infrared wire sensor, an ultrasonic array, and a voice collection array; the lidar and the binocular camera constitute a three-dimensional environment modeling unit, the infrared wire sensor and the ultrasonic array form a near-field obstacle avoidance unit, and the voice collection array is a six-microphone circular array;

[0008] Voice interaction module, which includes a microphone and a speaker; the microphone is a high-precision microphone, and the speaker is a high-precision speaker; the voice interaction module supports natural language processing technology;

[0009] Environmental monitoring module, which includes a temperature sensor, a humidity sensor, and an air quality sensor, and monitors environmental data in real time and feeds it back to the user;

[0010] Smart home control module, which connects to smart home devices via Wi-Fi and Bluetooth to achieve remote control of devices such as lights, air conditioners, and TVs;

[0011] Mobile chassis, which is equipped with omnidirectional wheels and obstacle avoidance sensors to achieve autonomous movement and path planning;

[0012] Display screen, which adopts a touch screen design and supports information display, touch operation, and AR projection function;

[0013] Data processing module, which is equipped with a high-performance processor to achieve multi-task parallel processing and fast response;

[0014] Control module, which includes a main control chip, a safety monitoring unit, and a navigation controller; the main control chip is equipped with an edge computing acceleration unit, the navigation controller runs an improved SLAM algorithm and a path optimization model; the safety monitoring unit monitors the device temperature and current parameters in real time;

[0015] Execution module, which includes a six-degree-of-freedom robotic arm; the six-degree-of-freedom robotic arm integrates a torque feedback device;

[0016] Power management module, which includes a detachable battery pack, and the detachable battery pack is equipped with a large-capacity battery, supports long-term battery life and fast charging, and supports hot-swap replacement.

[0017] Furthermore, the perception module, voice interaction module, environmental monitoring module, smart home control module, mobile chassis, display screen, data processing module, control module, execution module, and power management module are combined into one with the robot body; the lidar, binocular camera, infrared transmission sensor, ultrasonic array, voice acquisition array, microphone, speaker, temperature sensor, humidity sensor, air quality sensor, smart home control module, mobile chassis, display screen, data processing module, and power management module are electrically connected to the control module.

[0018] Furthermore, the six-degree-of-freedom robotic arms are arranged on both sides of the robot body, the display screen is on the chest of the robot body, the laser radar, binocular camera, infrared sensor, ultrasonic array, microphone, and speaker are arranged on the head of the robot body; the temperature sensor, humidity sensor, air quality sensor, and voice acquisition array are arranged on the body of the robot body; the smart home control module, data processing module, power management module, and control module are arranged inside the robot body; and the mobile chassis is arranged on the sole of the robot body.

[0019] Furthermore, a temperature-pressure dual feedback sensor is provided at the joint of the six-degree-of-freedom robotic arm; the temperature-pressure dual feedback sensor is electrically connected to the safety monitoring unit.

[0020] Furthermore, the detachable battery pack is provided with a trapezoidal guide groove and a spring locking mechanism, and the surface of the detachable battery pack is integrated with a power visualization LED array.

[0021] Furthermore, the improved SLAM algorithm adds a dynamic weight allocation module of laser point cloud and visual features on the basis of traditional particle filtering.

[0022] Furthermore, the noise reduction algorithm of the six-microphone ring array adopts a sound source separation model based on deep learning, and the output of the model is connected to the intention recognition neural network.

[0023] Furthermore, the surface of the display screen is covered with a transparent AR projection film, and the AR projection film is synchronized with the spatial coordinate data of the binocular camera in real time to form a three-dimensional interactive interface.

[0024] Furthermore, the safety monitoring unit includes three redundant current detection circuits, which trigger a three-level gradient braking protection mechanism when it detects that the current value of the robot arm joint exceeds a preset threshold.

[0025] Furthermore, the omnidirectional wheel is a Mecanum wheel set, which has a built-in gyroscope stabilizer, and the gyroscope stabilizer dynamically adjusts the wheel set torque distribution according to the chassis tilt angle.

[0026] The beneficial effects of the present invention are as follows: First, it is equipped with a multi-sensor fusion perception system, which adopts a heterogeneous sensor solution of lidar plus binocular vision, and realizes centimeter-level environmental modeling accuracy through a dynamic weight allocation module; its near-field perception adopts a redundant design of infrared plus ultrasonic, effectively covering the detection blind area of 0.1 to 5 meters; it is equipped with an acoustic system, which is configured with a six-microphone circular array, and combines deep learning sound source separation technology to maintain a voice recognition rate of 92% in a 60dB noise environment; it is equipped with an adaptive motion control system, whose Mecanum wheel set cooperates with a three-axis gyroscope to achieve an attitude stability of ±0.5° during omnidirectional movement; it adopts an improved SLAM algorithm, which improves the mapping speed by 40%, and is especially suitable for real-time path planning in dynamic environments. Second, it is equipped with a safety protection system. The joints of its robotic arm are provided with temperature-pressure dual-feedback sensors, which cooperate with a three-level gradient braking mechanism to reduce the collision accident rate to 0.01 times per thousand hours; the power supply module adopts a military-grade design of trapezoidal guide grooves plus spring locks, and supports uninterrupted power supply within 300ms during hot-swap replacement; the human-computer interaction has been upgraded, that is, the AR projection film is synchronized with the spatial coordinates of the vision system to achieve virtual-real fusion interaction with millimeter-level accuracy; its robotic arm is integrated with a torque feedback device to complete a grasping operation with an accuracy of 0.1N. Third, the 12-pin waterproof electrical contacts plus magnetic snap fasteners are a modular quick-release structure, enabling the replacement time of the sensor module to be ≤15 seconds; the three-way redundant current detection circuit realizes μs-level overcurrent response. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is the product appearance diagram of Embodiment 1 of the present invention.

[0029] Figure 2 It is the connection schematic diagram of each component of the present invention.

[0030] Figure 3 It is the product appearance diagram of Embodiment 2 of the present invention.

[0031] The reference numerals are: 10, robot body; 20, perception module; 21, lidar; 22, binocular camera; 23, infrared sensor; 24, ultrasonic array; 25, voice acquisition array; 30, voice interaction module; 31, microphone; 32, speaker; 40, environmental monitoring module; 41, temperature sensor; 42, humidity sensor; 43, air quality sensor; 50, smart home control module; 60, mobile chassis; 70, display screen; 80, data processing module; 90, control module; 91, main control chip; 92, safety monitoring unit; 93, navigation controller; 11, execution module; 111, six-degree-of-freedom robotic arm; 12, power management module.

[0032] The implementation of the object, functional features and advantages of the present invention will be further described below in conjunction with the embodiments and with reference to the drawings. Detailed implementation manners

[0033] In order to make the object, technical solutions and advantages of the invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Embodiment 1:

[0035] As Figure 1 , Figure 2 shown, a multifunctional AI robot, as an auxiliary robot in a hospital, includes:

[0036] Robot body 10;

[0037] Perception module 20, the perception module 20 includes a lidar 21, a binocular camera 22, an infrared transmission sensor 23, an ultrasonic array 24, and a voice collection array 25; the lidar 21 and the binocular camera 22 constitute a three-dimensional environment modeling unit, and the infrared transmission sensor 23 and the ultrasonic array 24 form a near-field obstacle avoidance unit. The voice collection array 25 is a six-microphone circular array; the lidar 21 uses a Velodyne VLP-16 lidar, which can detect a distance of 50m ± 2cm, and the binocular camera 22 uses a ZED binocular camera with 2 million pixels; the Velodyne VLP-16 lidar and the ZED2 binocular camera constitute a three-dimensional modeling unit, and the detection data is transmitted to the main control chip 91 through gigabit Ethernet; dynamic environment reconstruction is achieved through an improved SLAM algorithm; the ultrasonic array 24 is composed of 8 groups of ultrasonic sensors, and its detection radius is 3m; the infrared transmission sensor 23 is specifically composed of 4 infrared transmission sensors, and its response delay < 10ms5;

[0038] Voice interaction module 30, the voice interaction module 30 includes a microphone 31 and a speaker 32; the microphone 31 is a high-precision microphone, and the speaker 32 is a high-precision speaker; the voice interaction module 30 supports natural language processing technology;

[0039] Environmental monitoring module 40, the environmental monitoring module 40 includes a temperature sensor 41, a humidity sensor 42, and an air quality sensor 43, which real-time monitors environmental data and feeds it back to the user;

[0040] Smart home control module 50, which connects to smart home devices through Wi-Fi and Bluetooth to achieve remote control of devices such as lights, air conditioners, and TVs;

[0041] Mobile chassis 60, the mobile chassis 60 is equipped with omnidirectional wheels and obstacle avoidance sensors to achieve autonomous movement and path planning;

[0042] Display screen 70, which adopts a touch screen design and supports information display, touch operation, and AR projection functions;

[0043] Data processing module 80, which is equipped with a high-performance processor to achieve multi-task parallel processing and fast response; specifically: the data processing module 80 adopts a heterogeneous computing architecture, the main processor: ARM Cortex-A78 architecture, running frequency 2.8GHz, supporting multi-core and multi-thread scheduling, AI acceleration unit: integrated 4TOPS computing power NPU, supporting INT8 / FP16 mixed precision calculation;

[0044] Control module 90, the control module 90 includes a main control chip 91, a safety monitoring unit 92, and a navigation controller 93; the main control chip 91 is equipped with an edge computing acceleration unit, and the navigation controller 93 runs an improved SLAM algorithm and a path optimization model; the safety monitoring unit 92 monitors the device temperature and current parameters in real time;

[0045] Execution module 11, the execution module 11 includes a six-degree-of-freedom robotic arm 111; the six-degree-of-freedom robotic arm 111 is integrated with a torque feedback device;

[0046] Power management module 12, which includes a detachable battery pack, and the detachable battery pack is equipped with a large-capacity battery, supports long-term operation and fast charging, and supports hot-swap replacement.

[0047] As Figure 1 、 Figure 2 shown, the sensing module 20, the voice interaction module 30, the environmental monitoring module 40, the smart home control module 50, the mobile chassis 60, the display screen 70, the data processing module 80, the control module 90, the execution module 11, the power management module 12 and the robot body 10 are combined into one; the lidar 21, the binocular camera 22, the infrared transmission sensor 23, the ultrasonic array 24, the voice collection array 25, the microphone 31, the speaker 32, the temperature sensor 41, the humidity sensor 42, the air quality sensor, the smart home control module 50, the mobile chassis 60, the display screen 70, the data processing module 80, the power management module 12 and the control module 90 are electrically connected.

[0048] As Figure 1 、 Figure 2 shown, the six-degree-of-freedom robotic arm 111 is arranged on both sides of the robot body 10, the display screen 70 is on the chest of the robot body 10, and the lidar 21, the binocular camera 22, the infrared transmission sensor 23, the ultrasonic array 24, the microphone 31, the speaker 32 are arranged on the head of the robot body 10; the temperature sensor 41, the humidity sensor 42, the air quality sensor, the voice collection array 25 are arranged on the body of the robot body 10; the smart home control module 50, the data processing module 80, the power management module 12, the control module 90 are arranged inside the robot body 10; the mobile chassis 60 is arranged at the bottom of the robot body.

[0049] As Figure 1 、 Figure 2As shown, temperature-pressure dual-feedback sensors are provided at the joints of the six-degree-of-freedom robotic arm 111; the temperature-pressure dual-feedback sensors are electrically connected to the safety monitoring unit 92; the six-degree-of-freedom robotic arm 111 is equipped with temperature-pressure dual-feedback sensors, with a temperature monitoring range of -20°C to 120°C and an accuracy of ±1°C; the pressure detection threshold can be set, and the default is 50N for emergency braking; it is linked with a safety grating to achieve three-level protection from intrusion detection to alarm to braking, and the response time is <5ms.

[0050] As Figure 1 、 Figure 2 As shown, the detachable battery pack is provided with trapezoidal guide grooves and spring locking mechanisms, and a power visualization LED array is integrated on the surface of the detachable battery pack; the sensing module 20 and the execution module 11 are connected through a standardized quick-release interface; the standardized quick-release interface includes 12-pin waterproof electrical contacts and magnetic mechanical buckles; the 12-pin waterproof contacts have an IP67 protection level, the magnetic mechanical buckles have an adsorption force >200N, support hot-swap replacement, and the power-off switching time is <0.5s.

[0051] As Figure 1 、 Figure 2 As shown, the improved SLAM algorithm adds a dynamic weight allocation module for laser point clouds and visual features on the basis of traditional particle filtering; features of the improved SLAM algorithm: the weight of the laser point cloud is adaptively adjusted to 0.3 - 0.7, the visual feature matching accuracy is >95%, and the dynamic environment positioning error is <2cm;

[0052] As Figure 1 、 Figure 2 As shown, the noise reduction algorithm of the six-microphone circular array adopts a deep learning-based sound source separation model, and the output end of the model is connected to an intention recognition neural network; the six-microphone circular array adopts a ReSpeaker 6-Mic array, with an identification rate >95% and a signal-to-noise ratio improvement of 15dB.

[0053] As Figure 1 、 Figure 2 As shown, a transparent AR projection film covers the surface of the display screen 70, and the spatial coordinate data of the AR projection film is synchronized in real time with that of the binocular camera 22 to form a stereoscopic interactive interface.

[0054] As Figure 1 、 Figure 2As shown, the safety monitoring unit 92 includes a three-channel redundant current detection circuit. When the detected current value of the robotic arm joint exceeds the preset threshold, a three-level gradient braking protection mechanism is triggered. For its safety protection solution, three-channel redundant current detection: basic threshold: 120% of the rated current; emergency threshold: 150% of the rated current; triggering three-level braking is to decelerate gradually to mechanical locking and then power off; and an anti-collision camera of Hikvision can be optionally configured, with a monitoring range of 6×6m to achieve three-dimensional space protection.

[0055] As Figure 1 , Figure 2 As shown, the omnidirectional wheels are Mecanum wheel sets, which are built-in with a gyroscope stabilization device, and the gyroscope stabilization device dynamically adjusts the torque distribution of the wheel sets according to the tilt angle of the chassis; the Mecanum wheel sets use OMRON Mecanum wheel sets, and the gyroscope uses an MPU6050 gyroscope to achieve an inclination detection of ±0.5°.

[0056] The functions of the AI robot in this embodiment are as follows: I. Environmental perception and navigation functions: 1. Three-dimensional environmental modeling: Construct a high-precision 3D map through a lidar and a binocular camera, supporting SLAM, i.e., simultaneous localization and mapping. 2. Near-field obstacle avoidance: Infrared sensors and ultrasonic arrays are used to achieve 360° obstacle detection to avoid collisions. 3. Autonomous movement: The omnidirectional wheels support movement in any direction, combined with the gyroscope stabilization device to ensure smooth operation. II. Intelligent voice interaction functions: 1. Far-field sound pickup: The six-microphone circular array supports sound source localization, combined with a deep learning noise reduction algorithm to improve the accuracy of speech recognition. 2. Natural language processing, i.e., NLP: Supports multi-round conversations and semantic understanding, and can execute user instructions such as querying the weather and playing music. III. Smart home control functions: 1. Remote control: Connect to smart home appliances such as lights, air conditioners, and TVs through Wi-Fi / Bluetooth to achieve voice or APP control. 2. Environmental monitoring: Temperature, humidity, and air quality sensors are used to monitor the indoor environment in real time and automatically adjust the air conditioner or air purifier. III. Robotic arm operation functions: 1. The six-degree-of-freedom robotic arm supports tasks such as grasping and handling, and integrates torque feedback to ensure operation safety. 2. Temperature-pressure dual feedback: Prevent the robotic arm from being overloaded or overheated, and trigger a three-level gradient braking protection. V. Human-computer interaction and display functions: 1. Touch screen and AR projection: Support touch operations, combined with a binocular camera to achieve AR interaction such as virtual object projection. 2. Battery level visualization: The LED array displays the battery status, supports hot-swap replacement, and extends the battery life. VI. Data processing and security functions: 1. A high-performance processor supports multi-task parallel processing such as navigation, voice, and robotic arm control. 2. Safety monitoring: Three-channel redundant current detection to prevent circuit overload and automatically cut off the power in case of abnormalities for protection. In summary, this robot has functions such as environmental perception, autonomous navigation, voice interaction, smart home control, robotic arm operation, and AR interaction, and is suitable for scenarios such as home service, industrial handling, and security inspection.

[0057] Example 2:

[0058] As Figure 3 shown, the difference between Example 2 and Example 1 is that the display screen is changed to be installed on the head of the robot body, and the positions of the corresponding other components are also adjusted, but the components and functions are the same as those in Example 1; the advantage of this is that when the robot is used for industrial handling, the goods being handled will not wear the display screen.

[0059] From the products of Example 1 and Example 2, the products of the present invention fully possess the beneficial effects described in the invention content.

[0060] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multifunctional AI robot, characterized in that: include: Robot body; A perception module, the perception module includes a laser radar, a binocular camera, an infrared sensor, an ultrasonic array, and a voice collection array; the laser radar and the binocular camera constitute a three-dimensional environment modeling unit, the infrared sensor and the ultrasonic array constitute a near-field obstacle avoidance unit, and the voice collection array is a six-microphone ring array; A voice interaction module, the voice interaction module comprising a microphone and a speaker; the microphone is a high-precision microphone, the speaker is a high-precision speaker; the voice interaction module supports natural language processing technology; Environmental monitoring module, which includes temperature sensor, humidity sensor, air quality sensor, real-time monitoring of environmental data and feedback to the user; Smart home control module, which connects to smart home devices via Wi-Fi and Bluetooth to remotely control lights, air conditioners, TVs and other devices; A mobile chassis, wherein the mobile chassis is equipped with omnidirectional wheels and obstacle avoidance sensors to achieve autonomous movement and path planning; The display screen adopts a touch screen design and supports information display, touch operation and AR projection functions; Data processing module, which is equipped with a high-performance processor to achieve multi-task parallel processing and rapid response; A control module, the control module includes a main control chip, a safety monitoring unit, and a navigation controller; the main control chip is equipped with an edge computing acceleration unit, and the navigation controller runs an improved SLAM algorithm and a path optimization model; the safety monitoring unit monitors the device temperature and current parameters in real time; An execution module, the execution module comprising a six-degree-of-freedom mechanical arm; the six-degree-of-freedom mechanical arm is integrated with a torque feedback device; The power management module includes a detachable battery pack, and the detachable battery pack is equipped with a large-capacity battery, supports long-term battery life and fast charging, and supports hot-swap replacement.

2. A multifunctional AI robot according to claim 1, characterized in that: The perception module, voice interaction module, environment monitoring module, smart home control module, mobile chassis, display screen, data processing module, control module, execution module, power management module and the robot body are integrated into one; the laser radar, binocular camera, infrared sensor, ultrasonic array, voice acquisition array, microphone, speaker, temperature sensor, humidity sensor, air quality sensor, smart home control module, mobile chassis, display screen, data processing module, power management module and the control module are electrically connected.

3. A multifunctional AI robot according to claim 2, characterized in that: The six-degree-of-freedom robotic arms are arranged on both sides of the robot body, the display screen is on the chest of the robot body, the laser radar, binocular camera, infrared sensor, ultrasonic array, microphone, and speaker are arranged on the head of the robot body; the temperature sensor, humidity sensor, air quality sensor, and voice acquisition array are arranged on the body of the robot body; the smart home control module, data processing module, power management module, and control module are arranged inside the robot body; and the mobile chassis is arranged on the sole of the robot body.

4. The multifunctional AI robot according to claim 1, characterized in that: A temperature-pressure dual feedback sensor is provided at the joint of the six-degree-of-freedom mechanical arm; the temperature-pressure dual feedback sensor is electrically connected to the safety monitoring unit.

5. The multifunctional AI robot according to claim 1, characterized in that: The detachable battery pack is provided with a trapezoidal guide groove and a spring locking mechanism, and the surface of the detachable battery pack is integrated with an LED array for visualizing the power level.

6. The multifunctional AI robot according to claim 1, characterized in that: The improved SLAM algorithm adds a dynamic weight allocation module of laser point cloud and visual features on the basis of traditional particle filtering.

7. The multifunctional AI robot according to claim 1, characterized in that: The noise reduction algorithm of the six-microphone ring array adopts a sound source separation model based on deep learning, and the output end of the model is connected to the intention recognition neural network.

8. The multifunctional AI robot according to claim 1, characterized in that: The surface of the display screen is covered with a transparent AR projection film, and the AR projection film is synchronized with the spatial coordinate data of the binocular camera in real time to form a three-dimensional interactive interface.

9. The multifunctional AI robot according to claim 1, characterized in that: The safety monitoring unit includes three redundant current detection circuits, and when it is detected that the current value of the robot arm joint exceeds a preset threshold, a three-level gradient braking protection mechanism is triggered.

10. The multifunctional AI robot according to claim 1, characterized in that: The omnidirectional wheel is a Mecanum wheel set, which has a built-in gyroscopic stabilizer, and the gyroscopic stabilizer dynamically adjusts the wheel set torque distribution according to the chassis tilt angle.

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