A non-contact monitor based on a dual-axis holder structure

Abstract

The utility model discloses a kind of non-contact monitoring instrument based on double-shaft holder structure, it is related to medical monitoring equipment technical field, it includes: base part, it includes shell, controller and first stepper motor, controller and first stepper motor are all arranged in shell inside;Holder part, it includes front shell, rear shell and inner globe cover, the upper half of front shell and inner globe cover form perpendicular rotating pair, the upper half of front shell is connected with rear shell, the lower half of front shell and shell form horizontal rotating pair, and camera module and second stepper motor for monitoring the vital signs of patient are equipped on inner globe cover;Wherein, first stepper motor is connected with front shell, to drive the circumferential rotation movement of front shell relative to shell, second stepper motor is connected with front shell, to drive the pitching movement of inner globe cover relative to front shell, first stepper motor, camera module and second stepper motor are all connected with controller.This device can realize the effect that camera tracks face, realizes non-contact vital signs monitoring.

Description

Technical Field

[0001] This utility model relates to the field of medical monitoring equipment technology, and more specifically, to a non-contact monitoring instrument based on a dual-axis gimbal structure. Background Technology

[0002] In existing technologies, traditional vital sign monitoring devices (such as chest strap heart rate sensors and finger clip pulse oximeters) require physical contact with the human body, which can easily cause discomfort with long-term use and is not suitable for patients who cannot cooperate (such as infants and critically ill patients). Existing non-contact devices based on cameras or radar (such as some smartwatches and cameras) rely on static facial image analysis, which is difficult to handle scenarios involving target movement, changes in lighting, or occlusion. Moreover, most devices use offline analysis or low frame rate acquisition, which cannot meet the needs of real-time monitoring.

[0003] In summary, how to provide a device that can track human faces with a camera and achieve contactless vital sign monitoring is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a contactless monitoring device based on a dual-axis gimbal structure, which can achieve the effect of camera tracking human face and realize contactless vital sign monitoring.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A contactless monitoring device based on a dual-axis pan-tilt structure includes:

[0007] The base includes a housing, a controller, and a first stepper motor, both of which are housed within the housing;

[0008] The gimbal unit includes a front shell, a rear shell, and an inner spherical cover. The upper half of the front shell forms a vertical rotation joint with the inner spherical cover. The upper half of the front shell is connected to the rear shell. The lower half of the front shell forms a horizontal rotation joint with the outer shell. The inner spherical cover is equipped with a camera module for monitoring the patient's vital signs and a second stepper motor.

[0009] The first stepper motor is connected to the front shell to drive the front shell to rotate circumferentially relative to the outer shell. The second stepper motor is connected to the front shell to drive the inner spherical cover to pitch relative to the front shell. The first stepper motor, the camera module, and the second stepper motor are all connected to the controller.

[0010] In one embodiment, the controller and the first stepper motor are connected via a motor drive board, and the controller, the motor drive board, and the first stepper motor are all mounted inside the housing via sheet metal parts.

[0011] In one embodiment, a light hole is provided on one side of the housing, and an LED light is provided on the motor drive board. The light hole transmits the light from the LED light to the outside of the housing through a light guide column.

[0012] In one embodiment, the centerline of the light guide column coincides with the centerline of the LED lamp, and a gap of 1mm-3mm is provided between the end of the light guide column and the end of the LED lamp.

[0013] In one embodiment, the other side of the housing is provided with a plurality of heat dissipation holes arranged in a matrix, a button hole is provided below the heat dissipation holes, and a charging port is provided below the button hole.

[0014] In one embodiment, the bottom of the housing is threadedly connected to a bottom cover, and the top of the housing is provided with a reinforcing rib. The bottom cover and the reinforcing rib cooperate to clamp and fix the sheet metal part.

[0015] In one embodiment, the bottom cover is provided with screw posts and positioning pins for mounting the motor drive board, and a bottom hole is provided at the center of the bottom cover for connecting to a universal tripod.

[0016] In one embodiment, the top of the outer shell is provided with a central circular hole, an annular groove, two radial ribs spaced 102° apart, and an annular groove. One end of the radial rib is provided on the outer peripheral wall of the central circular hole, and the other end of the radial rib is provided on the inner peripheral wall of the annular groove. The annular groove is provided between the outer peripheral wall of the central circular hole and the inner peripheral wall of the annular groove.

[0017] The motor shaft of the first stepper motor passes through the central circular hole and connects to the front housing. The annular groove is the mating surface of the horizontal rotary joint. The inner wall of the front housing is provided with a flange. The radial rib is used to limit the horizontal rotation position of the flange. The annular groove is used for wiring.

[0018] In one embodiment, the front shell and the rear shell are connected by snap-fit, and a handle is provided at the top of the connection between the front shell and the rear shell.

[0019] In one embodiment, a horizontal rotation axis is provided between the inner spherical cover and the front shell, and the inner spherical cover moves in pitch relative to the front shell about the horizontal rotation axis;

[0020] The rear shell is provided with a first protrusion for supporting the horizontal rotation axis. The inner side of the front shell is provided with two limiting ribs symmetrically distributed relative to the first protrusion. The inner side of the inner spherical cover is provided with two second protrusions, which are symmetrically distributed relative to the horizontal rotation axis. When the inner spherical cover pitches to two extreme positions, the second protrusions and the limiting ribs abut against each other.

[0021] When using the contactless monitoring device based on a dual-axis gimbal structure provided by this invention, firstly, the controller and the first stepper motor are installed inside the housing. Then, the camera module and the second stepper motor are fixed to the inner spherical cover. The motor shaft of the second stepper motor on the inner spherical cover is fixed to the front housing, and the upper half of the front housing forms a vertical rotating joint with the inner spherical cover. Next, the motor shaft of the first stepper motor on the base is fixed to the front housing, and the lower half of the front housing forms a horizontal rotating joint with the housing. Subsequently, the wiring between the first stepper motor, the camera module, the second stepper motor, and the controller is connected, so that the first stepper motor, the camera module, and the second stepper motor are all connected to the controller. Finally, the rear housing is installed onto the front housing to complete the assembly of the device.

[0022] When the camera module detects the presence of a person being monitored, the controller can control the first step motor on the base to rotate the front shell relative to the outer shell. The controller can also control the second step motor to tilt the inner spherical cover relative to the front shell, ensuring that the camera module tracks the face of the person being monitored in real time to monitor the patient's vital signs. Afterward, the camera module can transmit the acquired monitoring information to the controller to achieve non-contact monitoring of the vital signs of the person being monitored.

[0023] In summary, the contactless monitoring device based on a dual-axis gimbal structure provided by this utility model can achieve the effect of camera tracking human face, realizing contactless monitoring of vital signs. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the non-contact monitoring instrument based on a dual-axis gimbal structure provided by this utility model.

[0026] Figure 2 This is a schematic diagram of the gimbal unit structure;

[0027] Figure 3 This is a sectional view of the gimbal unit;

[0028] Figure 4 This is a sectional view of the base section;

[0029] Figure 5 This is a schematic diagram of the base section;

[0030] Figure 6 A schematic diagram of the pitching motion of the inner spherical cover relative to the front shell;

[0031] Figure 7 This is a schematic diagram of the structure showing the circumferential rotation of the front shell relative to the outer shell.

[0032] Figure 1-7 middle:

[0033] 100 is the gimbal, 101 is the front shell, 1011 is the flange, 1012 is the limiting rib, 102 is the inner spherical cover, 1021 is the second boss, 1022 is the horizontal rotation axis, 103 is the rear shell, 1031 is the first boss, 104 is the handle, 105 is the camera module, 106 is the second stepper motor, 200 is the base, 201 is the outer shell, 202 is the bottom cover, 203 is the heat dissipation hole, 204 is the sheet metal part, 205 is the first stepper motor, 206 is the light guide column, 207 is the motor drive board, 208 is the controller, 209 is the button hole, 2010 is the charging port, 2011 is the central circular hole, 2012 is the annular groove, 2013 is the radial rib, 2014 is the annular groove, 2015 is the light hole, and 2016 is the power adapter board. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] The core of this invention is to provide a contactless monitoring device based on a dual-axis gimbal structure, which can achieve the effect of camera tracking human face and realize contactless vital sign monitoring.

[0036] like Figure 1 As shown in the figure, this specific embodiment provides a contactless monitoring instrument based on a dual-axis pan-tilt structure, including:

[0037] Base part 200, such as Figure 4 and Figure 5As shown, it includes a housing 201, a controller 208, and a first stepper motor 205, with the controller 208 and the first stepper motor 205 both housed inside the housing 201;

[0038] Gimbal unit 100, such as Figure 2 and Figure 3 As shown, it includes a front shell 101, a rear shell 103, and an inner spherical cover 102. The upper half of the front shell 101 and the inner spherical cover 102 form a vertical rotational joint. The upper half of the front shell 101 is connected to the rear shell 103. The lower half of the front shell 101 and the outer shell 201 form a horizontal rotational joint. The inner spherical cover 102 is provided with a camera module 105 for monitoring the patient's vital signs and a second stepper motor 106.

[0039] The first stepper motor 205 is connected to the front shell 101 to drive the front shell 101 to rotate circumferentially relative to the outer shell 201. The second stepper motor 106 is connected to the front shell 101 to drive the inner spherical cover 102 to pitch relative to the front shell 101. The first stepper motor 205, the camera module 105 and the second stepper motor 106 are all connected to the controller 208.

[0040] It should be noted that the controller 208 can be configured as a Raspberry Pi, a low-cost, card-sized single-board computer. Furthermore, horizontal revolute joints (horizontal hinges) and vertical revolute joints (vertical hinges) are two common types of rotary kinematic joints in mechanical engineering. The axis of rotation of a vertical revolute joint is parallel to the direction of gravity, allowing the component to rotate about the axis in a vertical plane. Common applications of vertical revolute joints include the axle of a Ferris wheel, the pitch mechanism of a crane boom, and the bucket articulation point of an excavator. On the other hand, the axis of rotation of a horizontal revolute joint is perpendicular to the direction of gravity, requiring additional consideration of the load distribution of gravity on the structure. It allows the component to rotate about the axis in a horizontal plane. Common applications of horizontal revolute joints include the hinge of a revolving door and the chassis of a revolving restaurant.

[0041] In practical applications, the shape, structure, size, material, and position of the base 200, outer shell 201, controller 208, first stepper motor 205, gimbal 100, front shell 101, rear shell 103, and inner spherical cover 102 can be determined according to the actual situation and needs.

[0042] When using the contactless monitoring device based on a dual-axis gimbal structure provided by this utility model, firstly, the controller 208 and the first stepper motor 205 are installed inside the housing 201. Then, the camera module 105 and the second stepper motor 106 are fixed to the inner spherical cover 102. The motor shaft of the second stepper motor 106 on the inner spherical cover 102 is fixed to the front housing 101, and the upper half of the front housing 101 forms a vertical rotational joint with the inner spherical cover 102. Next, the front housing 101 is fixed to the motor shaft of the first stepper motor 205 on the base portion 200, and the lower half of the front housing 101 forms a horizontal rotational joint with the housing 201. Subsequently, the lines between the first stepper motor 205, the camera module 105, the second stepper motor 106, and the controller 208 are connected, so that the first stepper motor 205, the camera module 105, and the second stepper motor 106 are all connected to the controller 208. Finally, the rear housing 103 is installed onto the front housing 101 to complete the assembly operation of the device.

[0043] When the camera module 105 detects the presence of a person being monitored, the controller 208 can control the first step motor 205 of the base 200 to operate, causing the first step motor 205 to drive the front shell 101 to rotate left and right relative to the outer shell 201. In addition, the controller 208 can control the second step motor 106 to operate, causing the second step motor 106 to drive the inner spherical cover 102 to tilt up and down relative to the front shell 101, so as to ensure that the camera module 105 tracks the face of the person being monitored in real time to monitor the patient's vital signs. Afterwards, the camera module 105 can transmit the acquired monitoring information to the controller 208 to realize non-contact monitoring of the vital signs of the person being monitored.

[0044] In summary, the contactless monitoring device based on a dual-axis gimbal structure provided by this utility model can achieve the effect of camera tracking human face, realizing contactless monitoring of vital signs.

[0045] In one embodiment, the controller 208 and the first stepper motor 205 are connected via a motor drive board 207. The controller 208, motor drive board 207, and first stepper motor 205 are all mounted inside the housing 201 via sheet metal parts 204. That is, the controller 208, motor drive board 207, and first stepper motor 205 can be fixedly mounted on the housing 201 inside the base 200 via a sheet metal part 204, which facilitates the disassembly and assembly of components and reduces the pressure on the plastic housing 201.

[0046] In one embodiment, such as Figure 4As shown, a light hole 2015 is provided on one side of the housing 201, and an LED light is provided on the motor drive board 207 (i.e., the circuit board) (the LED light can be soldered onto the motor drive board 207). The light hole 2015 transmits the light of the LED light to the outside of the housing 201 through the light guide post 206.

[0047] In one embodiment, the centerline of the light guide post 206 coincides with the centerline of the LED lamp, and a gap of 1mm-3mm is provided between the end of the light guide post 206 and the end of the LED lamp.

[0048] It should be noted that two light holes 2015 can be provided on one side of the housing 201. The light holes 2015 transmit the light from the LED on the motor adapter plate 207 to the housing 201 through the light guide post 206. The light guide post 206 can be installed on the housing 201 with a tight fit. Moreover, the center line of the light guide post 206 coincides with the center line of the LED, and there is a gap of 1mm-3mm between them to ensure that the light from the LED is effectively transmitted to the outside of the housing 201.

[0049] In one embodiment, such as Figure 5 As shown, the other side of the outer casing 201 has multiple heat dissipation holes 203 arranged in a matrix. Below the heat dissipation holes 203 is a button hole 209, which is used to control the operation or shutdown of the device by pressing the button hole 209. Below the button hole 209 is a charging port 2010, which is used to charge the device. The charging port 2010 can be connected to the controller 208 through the power adapter board 2016 to supply power to the controller 208.

[0050] In one embodiment, a bottom cover 202 is threadedly connected to the bottom of the outer casing 201, and a reinforcing rib is provided on the top of the outer casing 201. The bottom cover 202 and the reinforcing rib cooperate to clamp and fix the sheet metal part 204. That is, the bottom end of the outer casing 201 fixes the bottom cover 202 to the sheet metal part 204 through a threaded connection and holds the reinforcing rib inside the outer casing 201. Thus, the outer casing 201, the sheet metal part 204, and the bottom cover 202 are interconnected and fixed, making the device structure more compact.

[0051] In one embodiment, such as Figure 4 As shown, the bottom cover 202 is provided with screw posts and positioning pins for mounting the motor drive board 207, and a bottom hole is provided at the center of the bottom cover 202 for connecting with a universal tripod.

[0052] It should be noted that two screw posts and two positioning pins can be provided on the bottom cover 202 to effectively fix the power adapter plate 207. In addition, a bottom hole for inserting a 1 / 4 inch nut can be left in the center of the bottom cover 202. This bottom hole is used to install the monitor or this device on a universal tripod, which is also a common tripod support frame, which is an extended application scenario for this device.

[0053] In one embodiment, such as Figure 5 and Figure 7 As shown, the top of the outer shell 201 is provided with a central circular hole 2011, an annular groove 2012, two radial ribs 2013 spaced 102° apart, and an annular groove 2014. One end of the radial rib 2013 is located on the outer peripheral wall of the central circular hole 2011, and the other end of the radial rib 2013 is located on the inner peripheral wall of the annular groove 2012. The annular groove 2014 is located between the outer peripheral wall of the central circular hole 2011 and the inner peripheral wall of the annular groove 2012. The two radial ribs 2013 are spaced 102° apart because the width of each radial rib 2013 occupies 10°. The minimum arc between two adjacent radial ribs 2013 is 92°, and the arc between the central axes of the two radial ribs 2013 is 102°.

[0054] The motor shaft of the first stepper motor 205 passes through the central circular hole 2011 and connects to the front housing 101. The annular groove 2012 is the mating surface of the horizontal rotating pair. The inner wall of the front housing 101 is provided with a flange 1011. The radial rib 2013 is used to limit the horizontal rotation position of the flange 1011. The annular groove 2014 is used for wiring. By designing the annular groove 2014 on the periphery of the horizontal rotating pair, the problem that thick cables cannot pass through when passing through the center of the horizontal rotating pair can be solved.

[0055] In one embodiment, the front shell 101 and the rear shell 103 are connected by snap-fit ​​to facilitate disassembly and installation of the front shell 101 and the rear shell 103, and a handle 104 is provided at the top of the connection between the front shell 101 and the rear shell 103 to facilitate the extraction and transfer of the device.

[0056] In one embodiment, such as Figure 6As shown, a horizontal rotation axis 1022 is provided between the inner spherical cover 102 and the front shell 101. The inner spherical cover 102 pitches relative to the front shell 101 around the horizontal rotation axis 1022. The rear shell 103 is provided with a first protrusion 1031 for supporting the horizontal rotation axis 1022. The inner side of the front shell 101 is provided with two limiting ribs 1012 symmetrically distributed relative to the first protrusion 1031. The inner side of the inner spherical cover 102 is provided with two second protrusions 1021. The two second protrusions 1021 are symmetrically distributed relative to the horizontal rotation axis 1022. When the inner spherical cover 102 pitches to two extreme positions, the second protrusions 1021 and the limiting ribs 1012 abut against each other. That is, when the inner spherical cover 102 can rotate up and down relative to the front shell 101 around the horizontal rotation axis 1022, when the inner spherical cover 102 moves to the upper limit position or the lower limit position, the two second protrusions 1021 respectively abut against the limiting ribs 1012.

[0057] To further illustrate the use of the contactless monitoring instrument based on the dual-axis gimbal structure provided by this utility model, examples will be given below.

[0058] First, press-fit studs can be installed on the sheet metal part 204, and self-tapping screw holes are left on the base part 200. Then, the controller 208, motor adapter plate 207 and the first stepper motor 205 are installed on the sheet metal part 204 by threaded connection. After that, the light guide post 206 is fixed on the outer shell 201. Then, the sheet metal part 204 is fixed on the outer shell 201. After that, the camera module 105 and the second stepper motor 106 are fixed on the inner spherical cover 102, and the motor shaft of the second stepper motor 106 on the inner spherical cover 102 is fixed to the front shell 101. Next, the front shell 101 is fixed to the motor shaft of the first stepper motor 205 on the base part 200. After connecting the lines between each component and the controller 208, the rear shell 103 and the front shell 101 are connected by buckles. Finally, the power adapter plate 207 and the sheet metal part 204 are fixed on the bottom cover 202.

[0059] When the first stepper motor 205 on the base 200 rotates, it drives the gimbal 100 to rotate left and right. When the gimbal 100 reaches its limit position, a flange 1011 of the front shell 10 is blocked by the radial rib 2013 on the outer shell 201. When the second stepper motor 106 on the inner spherical cover 102 rotates, it drives the inner spherical cover 102 to pitch up and down. When the inner spherical cover 102 reaches its limit position, the second protrusion 1021 on the inner spherical cover 102 is blocked by the limiting rib 1012 on the inner side of the front shell 101. Figure 6 As shown.

[0060] This device enables face tracking via camera and contactless vital sign monitoring. Furthermore, by mounting the controller 208, motor drive board 207, and first stepper motor 205 on the sheet metal frame 204, component assembly and disassembly are facilitated while reducing stress on the plastic housing 201. Additionally, the annular slot 2014 designed around the horizontal rotating joint solves the problem of thick cables being unable to pass through when wires pass through the center of the horizontal rotating joint.

[0061] It should be noted that the first boss 1031 and the second boss 1021, the first stepper motor 205 and the second stepper motor 106 mentioned in this application are only distinguished by their different positions and do not have any order of precedence.

[0062] In addition, it should be noted that the orientation or positional relationship indicated by "front and back", "top and bottom" in this application is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the purpose of simplifying the description and making it easier to understand, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0063] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Any combination of all embodiments provided by this utility model is within the protection scope of this utility model and will not be elaborated upon here.

[0064] The above provides a detailed description of the non-contact monitoring instrument based on a dual-axis pan-tilt structure provided by this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A contactless monitoring instrument based on a dual-axis pan-tilt structure, characterized in that, include: The base (200) includes a housing (201), a controller (208), and a first stepper motor (205), wherein the controller (208) and the first stepper motor (205) are both disposed inside the housing (201); The gimbal unit (100) includes a front shell (101), a rear shell (103), and an inner spherical cover (102). The upper half of the front shell (101) forms a vertical rotation joint with the inner spherical cover (102). The upper half of the front shell (101) is connected to the rear shell (103). The lower half of the front shell (101) forms a horizontal rotation joint with the outer shell (201). The inner spherical cover (102) is provided with a camera module (105) for monitoring the patient's vital signs and a second stepper motor (106). The first stepper motor (205) is connected to the front shell (101) to drive the front shell (101) to rotate circumferentially relative to the outer shell (201). The second stepper motor (106) is connected to the front shell (101) to drive the inner spherical cover (102) to pitch relative to the front shell (101). The first stepper motor (205), the camera module (105), and the second stepper motor (106) are all connected to the controller (208).

2. The contactless monitoring instrument based on a dual-axis pan-tilt structure according to claim 1, characterized in that, The controller (208) and the first stepper motor (205) are connected by a motor drive board (207). The controller (208), the motor drive board (207) and the first stepper motor (205) are all installed in the housing (201) by sheet metal parts (204).

3. The contactless monitoring instrument based on a dual-axis pan-tilt structure according to claim 2, characterized in that, A light hole (2015) is provided on one side of the housing (201), and an LED light is provided on the motor drive board (207). The light hole (2015) transmits the light of the LED light to the outside of the housing (201) through the light guide column (206).

4. The contactless monitoring instrument based on a dual-axis pan-tilt structure according to claim 3, characterized in that, The centerline of the light guide (206) coincides with the centerline of the LED lamp, and there is a gap of 1mm-3mm between the end of the light guide (206) and the end of the LED lamp.

5. The contactless monitoring instrument based on a dual-axis pan-tilt structure according to claim 3, characterized in that, On the other side of the outer casing (201), there are multiple heat dissipation holes (203) arranged in a matrix. Below the heat dissipation holes (203) is a button hole (209), and below the button hole (209) is a charging port (2010).

6. The contactless monitoring instrument based on a dual-axis pan-tilt structure according to any one of claims 2 to 5, characterized in that, The bottom of the outer shell (201) is threadedly connected to a bottom cover (202), and the top of the outer shell (201) is provided with a reinforcing rib. The bottom cover (202) and the reinforcing rib cooperate to clamp and fix the sheet metal part (204).

7. The contactless monitoring instrument based on a dual-axis pan-tilt structure according to claim 6, characterized in that, The bottom cover (202) is provided with screw posts and positioning pins for mounting the motor drive board (207), and a bottom hole is provided at the center of the bottom cover (202) for connecting with a universal tripod.

8. The non-contact monitoring instrument based on a dual-axis pan-tilt structure according to any one of claims 1 to 5, characterized in that, The top of the outer shell (201) is provided with a central circular hole (2011), an annular groove (2012), two radial ribs (2013) spaced 102° apart, and an annular groove (2014). One end of the radial rib (2013) is provided on the outer peripheral wall of the central circular hole (2011), and the other end of the radial rib (2013) is provided on the inner peripheral wall of the annular groove (2012). The annular groove (2014) is provided between the outer peripheral wall of the central circular hole (2011) and the inner peripheral wall of the annular groove (2012). The motor shaft of the first stepper motor (205) passes through the central circular hole (2011) and is connected to the front shell (101). The annular groove (2012) is the mating surface of the horizontal rotating pair. The inner wall of the front shell (101) is provided with a flange (1011). The radial rib (2013) is used to limit the horizontal rotation position of the flange (1011). The annular groove (2014) is used for wiring.

9. The non-contact monitoring instrument based on a dual-axis pan-tilt structure according to any one of claims 1 to 5, characterized in that, The front shell (101) and the rear shell (103) are connected by snap fasteners, and a handle (104) is provided at the top of the connection between the front shell (101) and the rear shell (103).

10. The contactless monitoring instrument based on a dual-axis pan-tilt structure according to any one of claims 1 to 5, characterized in that, A horizontal rotation axis (1022) is provided between the inner spherical cover (102) and the front shell (101), and the inner spherical cover (102) moves in pitch relative to the front shell (101) around the horizontal rotation axis (1022); The rear shell (103) is provided with a first boss (1031) for supporting the horizontal rotation axis (1022). The inner side of the front shell (101) is provided with two limiting ribs (1012) symmetrically distributed relative to the first boss (1031). The inner side of the inner ball cover (102) is provided with two second bosses (1021). The two second bosses (1021) are symmetrically distributed relative to the horizontal rotation axis (1022). When the inner ball cover (102) pitches to two extreme positions, the second bosses (1021) and the limiting ribs (1012) abut against each other.

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