Classroom interactive teaching robot based on scene adaptation
By incorporating airbags and support mechanisms into the interactive classroom teaching robot, the design solves the problems of equipment damage and safety risks caused by robot tipping over, enabling rapid reset and continuity of teaching, and improving the safety and interactivity of classroom teaching.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-24
- Publication Date
- 2026-03-24
AI Technical Summary
Interactive classroom teaching robots are prone to tipping over in crowded teaching environments, leading to equipment damage and student safety risks. Furthermore, the process of resetting them after tipping over affects the continuity and safety of teaching.
A multi-layered safety protection system was designed, including an airbag mounting frame, protective airbags, support mechanisms, and an attitude monitoring system. The protective airbags are quickly deployed using high-pressure air tanks and solenoid valves, and the robot can be quickly reset by combining hydraulic support rods and mechanical legs. Visual sensors and robotic arms are equipped to enhance the interactivity of teaching.
It effectively protects the safety of robots and students, reduces equipment damage, ensures the continuity and safety of teaching, and enhances classroom interaction.
Smart Images
Figure CN121716093A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of interactive teaching technology, and more specifically, relates to a classroom interactive teaching robot based on scene adaptation. Background Technology
[0002] Teaching robots are intelligent teaching equipment that integrates mechanical structure, motion control, sensing and recognition, and educational interaction systems. They are primarily used in classroom teaching, practical training, and innovative research and learning scenarios. Through modular assembly and visual programming, they can meet the technology enlightenment needs of different educational stages. They can also be adapted to professional teaching and training in mechanical principles, automation control, and artificial intelligence based on customized functional modules. Their overall structure balances safety and operability. The onboard interactive terminal can realize synchronous teaching content, operation data feedback, and task scenario simulation. It can help learners intuitively understand core knowledge points such as mechanical transmission, circuit connection, and program logic, and cultivate hands-on practice and innovative thinking. They are widely used in maker education in primary and secondary schools, skills training in vocational schools, and experimental teaching in related majors in universities. They are the core intelligent teaching carrier that connects theoretical teaching with practical application.
[0003] Current educational robots have been found to have at least the following problems: First, in classroom teaching scenarios, interactive teaching robots often need to move among students and conduct close-range teaching interactions. Their working environment is densely populated and there is a possibility of students accidentally touching or colliding with them. The robot relies on its mechanical structure to move and adjust its posture. During movement, it is prone to tipping over due to changes in the center of gravity or minor external impacts. Due to the limited classroom space and the close proximity of the robot to the students, if there are no timely and effective protective measures when it tipps over, the robot itself may be damaged due to direct impact with the ground, affecting its subsequent use in teaching. The tipped robot may come into direct contact with surrounding students, or even move again due to the inertia of tipping over, posing a potential threat to the personal safety of students and hindering the safe and orderly conduct of classroom teaching activities.
[0004] Secondly, interactive classroom teaching requires a high degree of continuity. As a core teaching aid, the stable operation of teaching robots directly affects the teaching rhythm and effectiveness. In actual teaching, due to factors such as the complex classroom environment and personnel movement, teaching robots may still accidentally tip over. After a robot tipps over, it often requires a lot of time for manual handling and repositioning. During this process, teaching activities are forced to stop, which not only affects the smooth progress of the teaching plan but may also reduce students' classroom participation and learning enthusiasm. In addition, improper operation during manual repositioning may cause additional damage to robot parts, or the classroom order may be affected due to untimely repositioning, making it difficult to ensure the continuity and efficiency of interactive teaching. Summary of the Invention
[0005] To address the aforementioned technical problems, this invention provides a scenario-adaptive interactive classroom teaching robot. This addresses the issue that in classroom teaching scenarios, interactive teaching robots need to conduct close-range teaching interactions among densely populated student groups. Relying on mechanical structures for movement and posture adjustment, these robots are prone to tipping over due to changes in center of gravity or minor external impacts. Given the limited classroom space and the close proximity of the robot to students, a lack of timely and effective protection during tipping could not only damage the robot upon impact with the ground, affecting subsequent teaching, but also lead to direct contact with students or secondary movement due to inertia, posing a potential threat to student safety and hindering the safe and orderly progress of classroom teaching.
[0006] A scenario-adaptive interactive classroom teaching robot includes an airbag mounting frame with an air pipe inside. A flexible protective plate is located above the airbag mounting frame, and a protective airbag is fixedly mounted on the flexible protective plate. The inner side of the protective airbag is fixedly mounted to the flexible protective plate, and a storage airbag is located inside the protective airbag. The storage airbag is connected to the air pipe inside the airbag mounting frame. A support block is located above the airbag mounting frame, and an auxiliary protection mechanism is located below the airbag mounting frame. The auxiliary protection mechanism provides auxiliary support for the robot and protects surrounding students when the robot tilts and falls. A support mechanism is also located above the airbag mounting frame, which assists the robot in standing upright when it tilts.
[0007] Preferably, the auxiliary protection mechanism includes a robot torso with mechanical legs located below it. A gyroscope is integrated within the robot torso, and a signal generator is connected to the gyroscope. A power supply and circuitry are also integrated within the robot torso. The robot torso is fixedly mounted to the inner wall of an airbag mounting frame. An airbag support is rotatably mounted on the airbag mounting frame. A flexible protective plate is fixedly mounted on the airbag support. Friction points are fixedly mounted on the protective airbag, and the airbag and friction points are connected by plastic seals. A high-pressure air tank is fixedly mounted within the airbag mounting frame, storing compressed air. An air outlet is located below the high-pressure air tank, and a solenoid valve is located below it. An air transmission pipe is fixedly mounted below the high-pressure air tank, with the solenoid valve located between the high-pressure air tank and the air transmission pipe. The other end of the air transmission pipe is fixedly connected to an air pipe within the airbag mounting frame. A distance sensor is fixedly mounted below the flexible protective plate.
[0008] Preferably, the support mechanism includes a support ring rotatably mounted within an airbag mounting frame. An air pump is fixedly mounted on the airbag mounting frame and connected to an air pipe within the airbag mounting frame. Robotic arms are located on both sides of the robot's torso. A support mounting bracket is fixedly mounted on the support ring, and a support locking rod is rotatably mounted on the support mounting bracket. A locking motor is fixedly mounted on the side of the support mounting bracket, located above the support ring. The locking motor has a limiting pin, and the support locking rod has a limiting hole. The limiting pin on the locking motor is located within the limiting hole on the support locking rod. A hydraulic support rod is fixedly mounted on the support locking rod, and the hydraulic support rod contains multiple sleeves. A support block is fixedly mounted on the top of the hydraulic support rod, and the support block has an anti-slip layer. A vision sensor is fixedly mounted on the robot's torso, and a robot head is located above the vision sensor. The robot head is rotatably mounted to the robot's torso.
[0009] Compared with the prior art, the present invention has the following beneficial effects: In this invention, a multi-layered safety protection system is constructed through an auxiliary protection mechanism consisting of a protective airbag, friction points, a high-pressure air tank, and a solenoid valve. When the robot tipping signal is triggered, the solenoid valve responds and opens rapidly. Compressed air from the high-pressure air tank is quickly inflated into the protective airbag through an air transmission pipe, causing the flexible protective plate to unfold upright and form a buffer barrier. This not only protects the robot body from impact damage but also prevents the robot from direct contact with surrounding students. At the same time, the friction points raised after inflation increase the friction with the ground, preventing the robot from causing additional damage due to secondary movement caused by inertia. In conjunction with the distance sensor under the flexible protective plate, which monitors the surrounding people in real time, the mechanical leg movement is immediately stopped when someone is detected approaching, further improving the safety of classroom use.
[0010] In this invention, a support mechanism consisting of an air pump, a support ring, a hydraulic support rod, and a support block enables efficient repositioning of the robot after it tipps over. After initial protection with the protective airbag, the air pump starts and continuously replenishes and pressurizes the air, upgrading the flexible protective plate from a simple protective function to an auxiliary support function, partially supporting the robot. Subsequently, the support ring releases its electromagnetic fixation and approaches the ground under gravity, locking the motor and unlocking the hydraulic support rod. The operator can then align the support block with the anti-slip layer with the ground, and in conjunction with the mechanical leg's standing motion, the hydraulic support rod provides stable support through the extension and retraction of multiple sleeves, helping the robot to quickly reposition itself, reducing teaching interruption time, and ensuring the continuity of interactive classroom teaching.
[0011] In this invention, the collaborative design of a robot head, vision sensors, and a robotic arm balances interactive teaching with equipment protection. The vision sensors can accurately capture student movements and provide real-time feedback. The display screen on the robot head can show diverse content according to teaching needs, effectively enhancing the fun of classroom teaching and student participation. When the robot tipes over, the robotic arm will rotate upward under the command of the control system to avoid damage from pressure. This protects the robot's core interactive components and prevents the arm from colliding with the surrounding environment when it tipes over, achieving an organic unity between teaching functions and safety protection, making the robot more adaptable to the complex scenarios of classroom teaching.
[0012] In this invention, a gyroscope and a signal generator are incorporated to achieve real-time and accurate monitoring of the robot's posture. In classroom teaching scenarios, when the robot moves using its mechanical legs, it is prone to tipping over due to imbalance or accidental contact by students. The gyroscope can instantly capture the tipping trend and quickly transmit a trigger signal through the signal generator, simultaneously activating the auxiliary protection and support mechanisms. This buys crucial time for subsequent protection and reset actions, reducing the risk of injury to the robot itself and surrounding students from the source. It solves the problem of traditional teaching robots lacking real-time posture monitoring and rapid protection response, thus providing a solid core guarantee for classroom teaching safety. Attached Figure Description
[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the robot's torso structure according to the present invention; Figure 3 This is a schematic diagram of the distance sensor structure of the present invention; Figure 4 This is a schematic diagram of the air transmission pipe structure of the present invention; Figure 5 This is a schematic diagram of the gyroscope structure of the present invention; Figure 6 This is a schematic diagram of the friction point structure of the present invention; Figure 7 This is a schematic diagram of the locking motor structure of the present invention; Figure 8 This is a schematic diagram of the distance sensor structure of the present invention.
[0014] In the diagram, the correspondence between the component names and the attached drawing numbers is as follows: 1. Robot torso; 2. Robot head; 3. Vision sensor; 4. Robotic arm; 5. Robotic leg; 6. Gyroscope; 7. Airbag mounting bracket; 8. Airbag support; 9. Flexible protective plate; 10. Protective airbag; 11. Friction point; 12. Distance sensor; 13. High-pressure air tank; 14. Solenoid valve; 15. Air transmission pipe; 16. Air pump; 17. Support ring; 18. Support fixing frame; 19. Support locking rod; 20. Locking motor; 21. Hydraulic support rod; 22. Support block. Detailed Implementation
[0015] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.
[0016] The following examples are used to illustrate the present invention, but should not be used to limit the scope of the invention.
[0017] Please see Figures 1-8 This invention provides a classroom interactive teaching robot based on scene adaptation, including an airbag mounting frame 7, an air pipe inside the airbag mounting frame 7, a flexible protective plate 9 above the airbag mounting frame 7, a protective airbag 10 fixedly mounted on the flexible protective plate 9, the inner side of the protective airbag 10 being fixedly mounted to the flexible protective plate 9, an air storage bladder inside the protective airbag 10, and the air storage bladder of the protective airbag 10 being connected to the air pipe inside the airbag mounting frame 7. When the protective airbag 10 is filled with air, it will cause the flexible protective plate 9 to stand upright, protecting the robot and the students nearby, preventing the students from being injured. A support block 22 is provided above the airbag mounting frame 7, which is used to right the robot's body when it tipes over.
[0018] An auxiliary protection mechanism is provided below the airbag mounting frame 7. This mechanism provides auxiliary support to the robot and protects the students around it when the robot tilts and falls. A support mechanism is provided above the airbag mounting frame 7. This support mechanism can help the robot stand up when it tilts by using the support block 22.
[0019] like Figure 1 , Figure 4 , Figure 5 , Figure 6 and Figure 8As shown, the auxiliary protection mechanism includes a robot torso 1, with mechanical legs 5 located below the torso 1. A gyroscope 6 is integrated within the torso 1, and a signal generator is connected to the gyroscope 6. The gyroscope 6 is used to monitor the robot's current state and can capture and transmit signals when the robot rolls over. The robot torso 1 is the robot's body part, and it integrates power supplies and circuits. The mechanical legs 5 are located below the torso 1. The torso 1 controls multiple motors to control the mechanical legs 5, simulating a human walking posture. The mechanical legs 5 are used to propel the robot forward. When the robot moves... When in motion, the two mechanical legs 5 are in different positions, which can easily lead to instability. If a student accidentally touches the robot, it may tilt and fall. The robot's torso 1 is fixedly installed on the inner wall of the airbag mounting frame 7. An airbag bracket 8 is rotatably mounted on the airbag mounting frame 7. A flexible protective plate 9 is fixedly installed on the airbag bracket 8. Friction points 11 are fixedly installed on the protective airbag 10. The protective airbag 10 and the friction points 11 are connected by a plastic seal. Normally, the friction points 11 are retracted inside the protective airbag 10. When the protective airbag 10 is inflated, the friction points 11 are pushed up, which increases the friction and prevents the robot from falling. Due to inertia, the student was injured during a secondary movement. A high-pressure air tank 13 is fixedly installed inside the airbag mounting frame 7. The high-pressure air tank 13 stores compressed air and has an air outlet at its bottom. A solenoid valve 14 is located below the high-pressure air tank 13, and an air transmission pipe 15 is fixedly installed below it. The solenoid valve 14 is located between the high-pressure air tank 13 and the air transmission pipe 15. The other end of the air transmission pipe 15 is fixedly connected to the air pipeline inside the airbag mounting frame 7. The solenoid valve 14 controls whether the air from the high-pressure air tank 13 passes through the airbag mounting frame 7. The protective airbag 10 is filled through the pipeline. When the gyroscope 6 in the robot's torso 1 detects that the robot is tilting to the side, it immediately controls the solenoid valve 14 to open through the signal generator. The high-pressure air in the high-pressure air tank 13 is filled into the protective airbag 10, which causes the flexible protective plate 9 to unfold and protect the robot from falling. A distance sensor 12 is fixedly installed under the flexible protective plate 9. The distance sensor 12 can scan whether there are people around. If the distance sensor 12 detects that there are people around after the robot falls, it will immediately stop controlling the mechanical leg 5 to prevent the robot from causing harm to people around it when it tries to get up.
[0020] like Figure 1 , Figure 2 , Figure 3 and Figure 7As shown, the support mechanism includes a support ring 17, which is rotatably mounted inside the airbag mounting frame 7. The airbag mounting frame 7 and the support ring 17 are electromagnetically fixed. An air pump 16 is fixedly mounted on the airbag mounting frame 7 and connected to the air pipeline inside the airbag mounting frame 7. The air pump 16 is used to draw air from the outside to replenish the protective airbag 10 and increase the air pressure inside it, so that the flexible protective plate 9 and the protective airbag 10 gradually strengthen from protection to auxiliary support. This allows multiple flexible protective plates 9 to support part of the robot. Mechanical arms 4 are provided on both sides of the robot torso 1. The robotic arm 4 is controlled by an electronic control system and motors. When the gyroscope 6 detects that the robot has fallen, it immediately controls the robotic arm 4 to rotate upwards and releases the airbag mounting bracket 7 from the support ring 17. A support fixing bracket 18 is fixedly installed on the support ring 17, and a support locking rod 19 is rotatably installed on the support fixing bracket 18. A locking motor 20 is fixedly installed on the side of the support fixing bracket 18. The locking motor 20 is located above the support ring 17 and has a limit pin. A limit hole is opened on the support locking rod 19, and the limit pin on the locking motor 20 is located on the support locking rod 19. Inside the limiting hole, a hydraulic support rod 21 is fixedly installed on the support locking rod 19. Multiple sleeves are provided inside the hydraulic support rod 21. A support block 22 is fixedly installed on the top of the hydraulic support rod 21, and an anti-slip layer is provided on the support block 22. When the robot is partially supported, the locking motor 20 controls the limiting pin on it to retract, releasing the fixation of the hydraulic support rod 21. After the airbag mounting bracket 7 contacts the electromagnetic fixation, due to the weight of the loading support fixing bracket 18, the support ring 17 at this end will slide down to near the ground under the action of gravity. At this time, the operator will connect the support locking rod 19 to the hydraulic support... The lever 21 flips down and aligns the support block 22 with the ground. Simultaneously, the mechanical leg 5 is controlled to lift the robot and activate the switch of the hydraulic support lever 21. The support block 22 then applies downward force to the ground to assist the robot in standing up. A vision sensor 3 is fixedly installed on the robot's torso 1. The vision sensor 3 can capture the movements of the person opposite and provide feedback interaction. Above the vision sensor 3 is a robot head 2, which is rotatably mounted to the robot torso 1. The robot head 2 has a display screen inside, which can display different images according to the settings or interactive content to teach students.
[0021] Working principle: In the first step, during normal robot teaching, the gyroscope 6 integrated in the robot's torso 1 continuously monitors its own posture, the mechanical legs 5 move via motor drive, the vision sensor 3 captures student movements for interactive feedback, and the display screen on the robot's head 2 displays the teaching content. When the robot tilts due to instability, such as due to differences in the position of the mechanical legs 5 or accidental touch by a student, the gyroscope 6 instantly detects the tilting trend and immediately sends a trigger signal through the connected signal generator, simultaneously activating the preparatory programs of the auxiliary protection mechanism and the support mechanism to prepare for subsequent protection and reset. At this time, the distance sensor 12 scans the surrounding environment in real time to determine whether a student is approaching, providing a safety basis for subsequent actions.
[0022] In the second step, after the signal is triggered, the solenoid valve 14 below the high-pressure air tank 13 responds and opens quickly. The compressed air stored in the tank is delivered to the air pipeline in the airbag mounting frame 7 through the air transmission pipe 15, and then injected into the air storage bag of the protective airbag 10. The protective airbag 10 quickly inflates and expands, causing the flexible protective plate 9 fixed on the airbag bracket 8 to unfold and stand upright. At the same time, the friction point 11, which was originally retracted in the airbag, is lifted up. The friction point 11, which is fixed by the plastic seal, increases the friction with the ground, preventing the robot from moving again due to inertia and injuring the surrounding students. If the distance sensor 12 detects that there are students around, it will immediately send a signal to stop all movements of the mechanical leg 5 to prevent collision injuries to students during the robot's tipping or subsequent standing up.
[0023] Third, after the protective airbag 10 deploys, the air pump 16 on the airbag mounting frame 7 starts, drawing air from the outside to continuously replenish the protective airbag 10 and increase the internal air pressure. This gradually enhances the protective effect of the flexible protective plate 9 and the protective airbag 10, thereby providing auxiliary support capabilities. Multiple flexible protective plates 9 work together to support part of the robot's body, reducing the contact area between the robot and the ground. At the same time, the robot torso 1 controls the mechanical arm 4 to rotate upward to prevent the arm from being damaged by pressure. The electromagnetic fixation between the airbag mounting frame 7 and the support ring 17 is released. Because the support fixing frame 18 is located at a relatively large position, the support ring 17 slides towards the ground under the action of gravity, approaching the ground position, thus building a support foundation for the subsequent reset action.
[0024] Fourth, after the support ring 17 is in place, the locking motor 20 on the side of the support fixing frame 18 starts, controlling the limit pin on it to retract from the limit hole of the support locking rod 19, releasing the position fixation of the hydraulic support rod 21. The staff flips down the support locking rod 19 and the hydraulic support rod 21, so that the support block 22 with the anti-slip layer on the top is aligned with the ground. Then, the mechanical leg 5 is controlled to start the standing action, and at the same time the switch of the hydraulic support rod 21 is turned on. The support block 22 applies downward force to the ground. With the extension and retraction support force of the multiple sleeves inside the hydraulic support rod 21, the mechanical leg 5 is assisted in straightening the robot body. During the reset process, the air pump 16 continuously adjusts the air pressure of the protective airbag 10 to ensure support stability. After the robot returns to the upright posture, the solenoid valve 14 closes, the protective airbag 10 deflates and contracts, the friction point 11 resets, all mechanisms return to the initial state, and the robot resumes normal teaching and interactive functions.
[0025] The embodiments of the present invention are given for the purposes of illustration and description, and are not intended to be exhaustive or to limit the invention to the forms disclosed.
[0026] Many of the modifications and changes are obvious to those skilled in the art.
[0027] The embodiments were chosen and described in order to better illustrate the principles and practical applications of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.
Claims
1. A scenario-adaptive classroom interactive teaching robot, comprising an airbag mounting frame (7), characterized in that: An air pipe is provided inside the airbag mounting frame (7). A flexible protective plate (9) is provided above the airbag mounting frame (7). A protective airbag (10) is fixedly installed on the flexible protective plate (9). The inner side of the protective airbag (10) is fixedly installed with the flexible protective plate (9). An air storage bag is provided inside the protective airbag (10). The air storage bag of the protective airbag (10) is connected to the air pipe inside the airbag mounting frame (7). A support block (22) is provided above the airbag mounting frame (7). An auxiliary protection mechanism is provided below the airbag mounting frame (7). The auxiliary protection mechanism provides auxiliary support for the robot and protects the students around it when the robot tilts and falls. A support mechanism is provided above the airbag mounting frame (7). The support mechanism can help the robot stand up by supporting blocks (22) when the robot tilts.
2. The classroom interactive teaching robot based on scene adaptation as described in claim 1, characterized in that, The auxiliary protection mechanism includes a robot torso (1), with mechanical legs (5) located below the robot torso (1). A gyroscope (6) is integrated inside the robot torso (1), and a signal generator is connected to the gyroscope (6).
3. The classroom interactive teaching robot based on scene adaptation as described in claim 2, characterized in that, The robot torso (1) integrates power supply and circuits. The robot torso (1) is provided with mechanical legs (5) below it. The robot torso (1) is fixedly installed on the inner wall of the airbag mounting frame (7). An airbag bracket (8) is rotatably installed on the airbag mounting frame (7).
4. The classroom interactive teaching robot based on scene adaptation as described in claim 3, characterized in that, The flexible protective plate (9) is fixedly installed on the airbag bracket (8), and a friction point (11) is fixedly installed on the protective airbag (10). The protective airbag (10) and the friction point (11) are connected by a plastic seal. A high-pressure air tank (13) is fixedly installed inside the airbag mounting bracket (7).
5. The classroom interactive teaching robot based on scene adaptation as described in claim 4, characterized in that, The high-pressure air tank (13) stores compressed air. An air outlet is provided at the bottom of the high-pressure air tank (13). A solenoid valve (14) is provided at the bottom of the high-pressure air tank (13). An air transmission pipe (15) is fixedly installed at the bottom of the high-pressure air tank (13).
6. The classroom interactive teaching robot based on scene adaptation as described in claim 5, characterized in that, The solenoid valve (14) is located between the high-pressure air tank (13) and the air transmission pipe (15). The other end of the air transmission pipe (15) is fixedly connected to the air pipe in the airbag mounting bracket (7). A distance sensor (12) is fixedly installed below the flexible protective plate (9).
7. The classroom interactive teaching robot based on scene adaptation as described in claim 6, characterized in that, The support mechanism includes a support ring (17), which is rotatably mounted in the airbag mounting frame (7). An air pump (16) is fixedly mounted on the airbag mounting frame (7), and the air pump (16) is connected to the air pipeline in the airbag mounting frame (7).
8. The classroom interactive teaching robot based on scene adaptation as described in claim 7, characterized in that, The robot torso (1) is provided with mechanical arms (4) on both sides. A support frame (18) is fixedly installed on the support ring (17). A support locking rod (19) is rotatably installed on the support frame (18). A locking motor (20) is fixedly installed on the side of the support frame (18).
9. The classroom interactive teaching robot based on scene adaptation as described in claim 8, characterized in that, The locking motor (20) is located above the support ring (17). The locking motor (20) is provided with a limiting pin. The support locking rod (19) is provided with a limiting hole. The limiting pin on the locking motor (20) is located in the limiting hole on the support locking rod (19). A hydraulic support rod (21) is fixedly installed on the support locking rod (19).
10. The classroom interactive teaching robot based on scene adaptation as described in claim 9, characterized in that, The hydraulic support rod (21) has multiple sleeves inside. A support block (22) is fixedly installed on the top of the hydraulic support rod (21). An anti-slip layer is provided on the support block (22). A vision sensor (3) is fixedly installed on the robot torso (1). A robot head (2) is provided above the vision sensor (3). The robot head (2) is rotatably installed with the robot torso (1).