WO2024023172A1

WO2024023172A1 - Camera stabilization system

Info

Publication number: WO2024023172A1
Application number: PCT/EP2023/070745
Authority: WO
Inventors: Jan RUBENS
Original assignee: 4Movie B.V.
Priority date: 2022-07-26
Filing date: 2023-07-26
Publication date: 2024-02-01

Abstract

Camera stabilization systems are provided, and more particularly, an improved lightweight hand-held or vehicle-mounted camera stabilization system is provided, for use in photographic or video-related applications. A stabilization of the alignment is critical in particular on moving camera supports, such as vehicles, airborne objects, and camera cranes, in order to achieve the best possible results in film or video recordings.

Description

CAMERA STABILIZATION SYSTEM

CROSS-REFERENCES TO RELATED APPLICATIONS

[0001] This application is a continuation-in-part of United States Patent Application Ser. No. 17/379,434, filed July 19, 2021, which claims the benefit of priority under 35 U.S.C. § 119 to Belgian Patent Application No. 2020/5679, filed October 1, 2020, both of which applications are hereby incorporated by reference in their entireties.

TECHNICAL FIELD

[0002] This disclosure relates generally to camera stabilization systems and more particularly to an improved lightweight hand-held or vehicle-mounted camera stabilization system, for use in photographic or video-related applications. A stabilization of the alignment is critical in particular on moving camera supports, such as vehicles, airborne objects, and camera cranes, in order to achieve the best possible results in film or video recordings.

BACKGROUND

[0003] Advances in optical, video, and traditional photographic technologies have made high quality portable photographic equipment, including smartphones, available to a growing number of film enthusiasts. As a result, motion pictures of increased quality and complexity are produced by professionals and enthusiasts alike. However, this quality evolution has exacerbated the well- known "jitter" problem when shooting with such handheld photographic equipment. Even when the operator tries to hold the camera steady during panning or translation, the transmission of uncontrolled operator motion to the camera results in unwanted camera jitter, detracting from the aesthetics of the resulting video product. Shooting from a moving, floating or airborne vehicle is even more difficult because of the uncontrolled vehicle motion. Turning or carrying a camerain a smooth glide requires a great deal of skill and experience, particularly in action scenes where the camera operator is walking, running, or riding in a vehicle to follow the subject of the film. In action situations, the already difficult task of holding a camera steady despite motions resulting i from the operator's breathing, heart beat, and involuntary muscle movements, may be aggravated by uncontrolled environmental conditions. The resulting footage is often erratic jerky, and visually unappealing. Motion disturbances, particularly angular disturbances transmitted from the operator to the camera, are the primary problem.

[0004] A popular mechanical (non-electronic) camera stabilization device is the Steadicam®. The Steadicam® rig uses a large counterweight mounted a significant distance from the camera that shifts the rig's center of mass to a handle that the operator then manipulates. Although popular, the Steadicam® device is heavy, large and awkward, puts a strain on the operator, requires a long set up time, requires a cumbersome operator harness, and limits the range of camera movement. The operational smoothness of a Steadicam® depends mainly on the operator because the operator must manually control the camera's orientation via a handle and must carefully keep the camera poised and balanced within the narrow range of system capabilities. This makes operation of and smooth slewing of the camera a function of operator strength and skill.

[0005] Besides mechanical stabilization systems as the Steadycam® the camera stabilization art is replete with gyro sensor stabilized camera system proposals that rely on an integral three- axis gyro sensor to measure platform tilt, pan and roll from a single location coupled to the camera platform Disadvantageous^, the gyro sensor configuration used universally in the art collocates the three rotation sensors in a single package, which introduces several problems. Each sensor's sensitivity to rotation about a stationary axis varies according to the pivot rotation position about another axis. For example, the sensitivity of a yaw rate sensor mounted directly on the camera platform decreases from maximum to null as platform pitch angle increases from zero to 90 degrees. Also, at large pitch angles, the pitched yaw sensor introduces orthogonal rotation components into the signal used to control yaw motion. Practitioners in the art are keenly aware of this problem and have proposed various "band-aids" such as adding relative position encoders and gravity-level sensors and adding complex sine-cosine coordinate transformations to maintain constant control loop gain in the stabilizer control circuitry. As another example of these disadvantages, the usual closed-loop servo control systems are easily destabilized by mechanical resonances arising from mechanical decoupling and separation of the sensors from their respective actuators. Until now, practitioners generally have attempted to ease this problem by using mechanically stiff (heavy) gimbaled frames that are not suitable for lightweight, handheld stabilizers, which require lightweight frames that are unavoidably flexible.

[00061 Commercial examples include a Dual Sensor Gimbal turret and camera by Gyron Systems International, Ltd., which measures 30 x 35 x 28 inches, for mounting outside of a helicopter. A two-channel fiber optic gyro package is used to stabilize the pan and tilt axes while the roll axis is stabilized by a quartz angular rate sensor. The outer pan and tilt gimbals are driven by direct-drive torque motors without gearing. The inner pan and tilt gimbals are driven by voice- coil actuators without gearing, to eliminate gear wear problems. The roll axis is driven by a torque motor driving through a ladder-chain. The angular rate sensors are grouped together on a common platform, as is universally done in the art, leading to the disadvantageous angular interaction problem described above. Gyron literature neither considers nor suggests application of their aeronautical techniques to mechanically-stabilized handheld stabilizer systems using lightweight, flexible frames.

[00071 For smartphones such gimbals are for example described in PCT patent publication WO 2020/138533 or W02015/101822 and known as the DJI OSMO® mobile stabilizer, or the Baseus® handheld gimbal stabilizer. All of these smartphone gimbal stabilizers are characterized in having a gripping unit (handle) which is positioned at the lower end and indirectly connected with the base frame part comprising the camera mount, thus requiring additional camera control elements to be incorporated in the gripping element. With the handle positioned underneath the camera mount, these smartphone gimbal stabilizers are still big, and users also experience that there is a restricted freedom of movement, with an image that is not completely stable, especially when walking.

[00081 Another example of a camera stabilization system is disclosed in EP3627031. In this system a lens module 210 is disclosed in Figure 4, which sleeves over the lens and which is circular-ring- shaped, including a circular-ring-shaped disc-type electrical motor to enable rotational movement of the lens. One of the downsides of the system disclosed in this reference, is the lack in flexibility. For example the camera lens module is dimensionally fixed and requires different modules depending on the lenses being used. The ring motor being integrated, inevitably restricts the capacity of the system in for example weight of the camera that can be controlled. [0009] As may be readily appreciated from these examples, the individual consumer selecting a camera platform stabilization system is limited to a variety of heavy, stiff commercial systems of moderate to high cost that require several heavy flywheel gyros each requiring a heavy powerpack or battery for spin-up, or to systems with functional restrictions.

[0010] There is accordingly a clearly felt need in the art for a relatively inexpensive handheld camera stabilization system that is lightweight and flexible in the dimensions (size and weight) of cameras (maneuverable), stable over a wide range of angular positions and jitter frequencies (to DC). Such a stabilization system should also be suitable for smoothly simulating any desired camera motion responsive to a simple motion control signal transferred to the stabilizer controller. These unresolved problems and deficiencies are clearly felt in the art and are solved by embodiments disclosed herein in the manner described below.

SUMMARY

[0011] In a first aspect the present disclosure provides a camera cage including camera stabilization features, which in its base configuration consists of a camera cage comprising a ring bearing and a motor whose motor shaft is coaxial with the central axis of the ring bearing, the camera cage being provided with means for connecting the motor and the ring bearing about the same central axis at a mutually variable distance, wherein the ring bearing has an inner diameter that may surround a lens, and wherein the camera cage is provided with a camera mount such that the optical axis of the camera is coaxial with the central axis of the ring bearing.

[0012] The ring bearing and the motor being connectable in the cage at mutually variable distances, they arguably shape the opposite sides of the cage, wherein the motor will typically form part of the base of the cage, opposite which the ring bearing is being positioned. Dependent on the size of the camera or the sizes of the lens, additional ring bearings may be coaxially positioned opposite the base.

[0013] In one embodiment the motor is integrated in the base of base frame of the camera cage. Being an objective of the present disclosure to provide a camera cage that can be adjusted to the specifications of the camera to be suspended therein, in one embodiment the motor is suspended by means of a holder in the base frame. In particular embodiment this holder will be tailored to the motor that needs to be suspended in the cage. In another embodiment the holder, hereinafter also referred to as the motor holder, is configured to provide a suspension of the motor in the base frame, such that the motor shaft is coaxially with the central axis of the ring bearing(s).

[0014] Being one of the objectives of the present disclosure to provide a camera adjustable camera cage, in one embodiment the motor will accessible and replaceable in the base frame. In one embodiment the motor will be accessible through the motor holder, such as by means of an access panel or in that the motor holder is configured to be removable from the base frame. In said latter embodiment the motor holder may even be exchangeable with a motor holder tailored to the motor that needs to be suspended in the cage. In a preferred embodiment, the motor is suspended centrally by means of a motor holder, as herein provided, in the base frame. In another preferred embodiment the motor as used herein is a roll stabilization motor. As such, and in said embodiment, the camera cage can be used as a camera stabilization apparatus, and may further include a motor control board, hereinafter also referred to as a motor controller, with one or more gyroscopic sensors. The motor and motor controller will allow rotation and stabilize elements around the central axis of the ring bearing. In a particular embodiment the motor controller is replaceable. In one embodiment the motor and the motor controller are present within the motor holder. In another embodiment the motor controller is mounted on the outside of the base frame, more in particular on the outside of the motor holder. In an embodiment the motor controller is equipped with a power supply connection, in particular with a power supply connection for a battery pack, more in particular for a battery pack that can be connected to the controller, even more in particular for a battery pack that can be replaceable connected to the controller.

[0015] In some embodiments, the stabilization apparatus may utilize one or more slip-ring connections for power and/or signal leads, thereby allowing a full 360 degrees of rotation about the roll axis of the stabilization apparatus without twisting wiring of the power and/or signal leads. Wiring, where possible, may be at least partially run inside the camera cage, thus reducing the risk of wires being snagged and/or broken when performing a full 360-degree roll motion around the central axis of the ring bearing. [0016] In one embodiment, the camera cage according to this disclosure includes a rotatable base. Said rotatable base being connected with the motor shaft and equally being provided with means for connecting the rotatable base and the ring bearing at a mutually variable distance. Through said means for connecting the rotatable base and the ring bearing at a mutually variable distance, the rotational movement of the motor is transferred to the ring bearing. In a particular embodiment the rotatable base is replaceable and tailored to the motor and/or the camera to be used within the cage. As an alternative, or complementary to the one or more slip-ring connections for power and/or signal leads, the rotatable base may comprise one or more connections and/or pass-throughs for power/signal wiring enabling the connection of the camera to external elements.

[0017] Being an objective of the present disclosure to provide a camera cage enabling a roll movement of the camera around its optical axis, coaxially with the central axis of the ring bearing, the camera mount must be present within the cage to enable said movement. Thereto, in one embodiment the camera mount will be part of or is connected with the rotatable base. When connected, the camera mount could be directly connected with the rotatable base, indirectly through the means for connecting the rotatable base and the ring bearing at a mutually variable distance, or combinations thereof. In a particular embodiment the camera mount is suspended on the means for connecting the rotatable base and the ring bearing at a mutually variable distance.

[0018] Per reference to the drawings, in one embodiment the means for connecting the ring bearing at a variably spaced distance from the motor and the rotatable base consists of a combination of clamps and rods. A first set of clamps and rods connect the base frame with the outer ring of the ring bearing and a second set of clamps and rods connect the rotatable base with the inner ring of the ring bearing. In another embodiment the first set of clamps and rods or connected to the outer perimeter of the base frame and the outer ring of the ring bearing. In another embodiment the means for connecting the base frame at a variable distance with the ring bearing comprise spacers configured to adjust the orthogonal cross-sectional surface of the cage in a plane parallel with the circular cross-section of the ring bearing. It is one of the characteristics of the camera cage according to this disclosure that the outer perimeter of said orthogonal cross-sectional surface, should be able to embrace the camera housing of the camera, else a full 360-degree roll motion of the camera around the central axis of the ring bearing will not be possible. Having optional spacers as part of the means to connect the base frame at a variable distance with the ring bearing, the camera cage can easily be adjusted to the camera that needs to be suspended in the cage.

[00191 In one embodiment the base frame of the camera cage is circular; in particular with the same outer diameter as the ring bearing. Such circular base frame can equally function as handle(s) in holding the cage. Additional elements, like further handles, microphones, oculars, tripod mounting plates, and the like can be connected to the base frame, the ring bearing and /or to the first set of clamps and rods connecting the base frame with the outer ring of the ring bearing. This again adds to the flexibility of altering the camera cage depending on the needs of the operator and/or of the camera that needs to be suspended in the cage.

[00201 In one embodiment the means to connect the base frame and the ring bearing at a mutually variable distance, comprise at least two opposing and parallel running rods, in another embodiment two pairs of opposing and parallel running rods. In one embodiment the means to connect the rotatable base with the ring bearing comprise at least one rod, in particular two rods, even more in particular two pairs of opposing and parallel running rods. Per reference to the drawings, two rods of opposing and parallel running rods is meant to include a pair of rods, the first rod connecting the base frame with the outer ring of the ring bearing and the second rod connecting the rotatable base with the inner ring of the ring bearing.

[00211 In one embodiment the camera cage, and in particular the ring bearing will comprise markers or reference points to allow centering of the camera's optical axis with the central axis of the ring bearing.

[0022] The disclosure can further be summarized by the following numbered embodiments.

[0023] A camera cage comprising a ring bearing and a motor whose motor axis is coaxial with the central axis of the ring bearing, the camera cage comprising means for keeping the motor and the ring bearing about a same central axis, means configured to adjust the distance between the motor and the ring bearing, wherein the ring bearing has an inner diameter which may include a lens, and wherein the camera cage includes a camera mount such that the optical axis of the camera is coaxial with the central axis of the ring bearing.

[00241 The means configured to adjust the distance between the motor and the ring bearing, are herein also referred to as the means for connecting the motor and the ring bearing about the same central axis at a mutually variable distance. The ease of adjusting the distance between the motor and the ring bearing ads to one of the main benefits of this disclosure, in providing a camera cage than can be adjusted in a fail proof way to different camera set-ups (camera housing and lenses).

[00251 The camera cage according to embodiment 1, wherein the motor is suspended centrally in a base frame of the cage by means of a motor holder.

[00261 As mentioned herein, the presence of a motor holder for the motor allows proper placement, ease of replacement, adjustment to the needs, etc.

[0027] The camera cage according to any one of the embodiments herein provided, wherein the rotating portion of the motor on the inside of the cage is provided with a rotatable base which also includes means for being connected to the ring bearing wherein said means are configured .to adjust the distance between the rotatable base and the ring bearing

[0028] The means configured to adjust the distance between the rotatable base and the ring bearing, are herein also referred to as the means for connecting the rotatable base and the ring bearing at a mutually variable distance. They accordingly contribute to the ease of adjusting the distance between the motor and the ring bearing ads to one of the main benefits of this disclosure, in providing a camera cage than can be adjusted in a fail proof way to different camera set-ups (camera housing and lenses).

[0029] In some embodiments of the camera cage, the camera is mounted directly to the rotatable base and/or indirectly by the means for connecting the rotatable base to the ring bearing at a mutually variable distance. [0030] In some embodiments of the camera cage, the rotatable base is provided with connections and/or pass-throughs, such as for power/signal wiring enabling the connection of the camera to external elements.

[0031] In some embodiments of the camera cage, the means for connecting the ring bearing at a variable distance from the motor and the rotatable base comprises combinations of clamps and rods.

[0032] In some embodiments of the camera cage, the camera cage has an outer perimeter that includes the camera housing of the camera.

[0033] In some embodiments of the camera cage, the base frame is circular.

[0034] In some embodiments of the camera cage, the outer diameter of the circular base frame and of the ring bearing are equal.

[0035] In some embodiments of the camera cage, the base frame and the ring bearing are connectable by at least two opposed rods at a mutually variable distance, i.e. the rods are configured to enable adjustability of the distance between the base frame and the ring bearing. In a particular embodiment these two rods constitute a pair wherein a first rod of said pair of rods is connected to the outer ring of the ring bearing, and wherein a second rod of said pair of rods is connected to the inner ring of the ring bearing.

[0036] It follows from the foregoing that in one embodiment the rotatable base is connected to the inner ring of the ring bearing by the means for being connected to the ring bearing at a mutually variable distance. In a further embodiment the base frame is connected to the outer ring of the ring bearing by the means for being connected to the ring bearing at a mutually variable distance. In a preferred embodiment the rotatable base is connected to the inner ring of the ring bearing by the means for connecting the rotatable base to the ring bearing at a mutually variable distance, and the base frame is connected to the outer ring of the ring bearing by the means for connecting the base frame to the ring bearing at a mutually variable distance.

[0037] In some embodiments of the camera cage, the motor is interchangeable. [0038] In some embodiments of the camera cage, the camera cage further comprises a motor controller, preferably removable.

[0039] In some embodiments of the camera cage, the motor controller is suspended from the outside of the base frame, and is preferably provided with a power connection.

[0040] In some embodiments of the camera cage, the motor controller is interchangeable.

[0041] In some embodiments of the camera cage, the power supply comprises a battery.

[0042] In some embodiments of the camera cage, the ring bearing includes one or more camera center points.

[0043] In second aspect the aspect the present disclosure provides a camera holder including a base frame comprising a motor; a camera mount which is centrally and coaxially connected with the rotational axis of the motor, i.e. the motor of the base frame; and a handle wherein the handle is positioned besides the base frame and directly connectable to or part of the base frame and located in a plane coplanar with an axis perpendicular to the rotational axis of the motor, i.e. coplanar with an axis perpendicular to the rotational axis of the motor of the base frame. The handle is not positioned beneath, nor above the camera mount but besides of it and directly connectable to or part of the base frame comprising the camera mount. Expressed differently, in the camera holder according to the invention, the handle is directly connectable to or part of the part of the base frame comprising the motor and the camera which is centrally and coaxially connected with the rotational axis of the motor.

[0044] Compared to existing gimbals for smartphone, the configuration of the handle directly besides the base frame comprising the camera mount results in a much compacter system, with a tactile closer experience to the smartphone. It also enables an easier access to the camera setting on the smartphone, thus reducing the need of camera control elements on the handle as seen on the current devices. As mentioned before, in said devices, see for example also US 10,9351,7882, the frame is composed of multiple parts wherein the part comprising the handle does not correspond to the part comprising the motor and the camera mount. Evidently such configurations not only results in bulkier systems, it also always requires the presence of an additional pitch motor. [0045] In preferred embodiment of the camera stabilizer according to the invention, the motor as used herein and present within the base frame is a roll stabilization motor. As such, and in said embodiment, the camera holder can be used as a camera stabilization apparatus, and may further include a motor control board, hereinafter also referred to as a motor controller. Entailing a compact configuration, the motor controller is preferably preset within the base frame. Motor controllers for roll stabilization motors are known to those skilled in the art and allow rotation and stabilize elements around the rotational axis of the motor operationally connected therewith.

[0046] Smartphones will typically comprise one or more motion sensors, hereinafter also referred to as motion control sensors, such as a gyro sensor or an acceleration sensor. In one embodiment the motor controller is operationally connected, such as for example via Bluetooth® with the motion sensors from the smartphone. In a preferred embodiment the camera holder itself will comprise motion control sensors operationally connected with the motor controller. Having motion sensors independent of the motion sensors from the smartphone will provide better image stabilization as an add on to the stabilization systems and algorithms available in the smartphone. Thus in one embodiment the motor controller is only operational connected with the motion control sensors from the camera holder. In another embodiment the motor controller is only operational connected to the motion sensors from the smartphone. In another embodiment the motor controller is operational connected to the motion sensors from the smartphone and to the motion control sensors from the camera holder.

[0047] As already mentioned herein before, the motion control sensors include but are not limited to one or more of a gyro sensor, an acceleration sensor, an angular velocity sensor, and/or combinations thereof. The motion control sensors of the camera holder are preferably positioned outside of the base frame, more preferably as close as possible to a camera / smartphone when mounted onto the camera mount. When positioned in the proximity of the camera, the input from the sensors will be more representative of the movement of the camera. In an embodiment of the invention, the camera mount comprises motion control sensors, in particular one or more of a gyro sensor, an acceleration sensor, an angular velocity sensor, and/or combinations thereof.

[0048] In an embodiment the motor controller of the camera holder, in particular for a camera holder comprising a roll stabilization motor, is equipped with a power supply connection, in particular with a power supply connection for a battery pack, more in particular for a battery (pack) that can be connected to the controller, even more in particular for a battery (pack) that can be replaceable connected to the controller. With the motor present within the base frame, the power supply connection is preferably present within said base frame. In one embodiment the power supply connection, is a power supply connection for a battery (pack), wherein said a power supply connection and battery (pack) are integrated within the base frame. Such integrated system could for example consists of a rechargeable battery with induction coil charging capabilities, e.g. Qi- standard. In one embodiment the battery (pack) is replaceable.

[00491 In a particular embodiment the power supply connection and/or the battery (pack) are present within the handle. Again, the battery (pack) in the handle can be replaceable and/or rechargeable. In either configuration, when present within the handle, the power supply connection will be in an operational connection with the motor and motor control board present within the base frame. As mentioned before the handle is either directly connectable to or part of the base frame. In a preferred embodiment the handle is directly connectable to the base frame. In said configuration, in particular when comprising the power supply (battery (pack) for the camera holder, it not only functions as a handle to provide the user with a better grip, but also as a replaceable power supply. It thus functions as an attribute and a user can have multiple handles available. Such handles can for example differ in size, comprise different camera control elements or are configured to receive and/or comprise other add-ons, such as a flash light, lightning, microphone(s) and the like.

[00501 As mentioned herein before, it is a characteristic of the camera holder of the present invention to have the handle positioned besides and directly connectable to or as part of the base frame. The base frame consist of a single piece that has an overall box shape, in particular a cuboid shape, including a cuboid square and cuboid rectangular shape. As evident from the figures and further detailed below, this configuration results in a mae compact device when compared to the currently existing gimbals for smartphones, even when configured as a two-axis camera stabilization device. In said instance the handle comprises a second motor, in particular a roll stabilization motor, with a rotational axis perpendicular to the rotational axis of the motor in the base frame. [0051] In this embodiment, wherein the handle comprises a second motor, the handle is still configured to be positioned besides and directly connectable to or part of the base frame and located in a plane, coplanar with an axis perpendicular to the rotational axis of the motor. In an embodiment the base frame will be configured to be directly connectable with the rotational axis of the second motor. In a particular embodiment the base frame will be configured to be centrally and coaxially connectable with the rotational axis of the second motor. In one embodiment the handle comprises a second motor controller for said second motor. In a preferred embodiment said second motor is controlled by the motor controller present in the base frame.

[0052] In one embodiment the handle comprises motion sensors. Having further motion sensors in the handle, independent of the motion sensors from the smartphone will provide better image stabilization as an add on to the stabilization systems and algorithms available in the smartphone. Thus in one embodiment the motor controller is only operational connected with the motion control sensors from the camera holder, including the motion control sensors of the handle. In another embodiment the motor controller is only operational connected to the motion sensors from the smartphone. In another embodiment the motor controller is operational connected to the motion sensors from the smartphone and to the motion control sensors from the camera holder, including the motion sensors from the handle.

BRIEF DESCRIPTION OF THE DRAWINGS

[0053] With specific reference to the figures, it is emphasized that the details shown are by way of example only and for the illustrative discussion of the various embodiments of the present disclosure only. They are presented for the purpose of providing what is seen as the most useful and straightforward description of the principles and conceptual aspects of the disclosure. In this regard, no attempt is made to show more structural details of the invention than is necessary for a basic understanding of the disclosure. The description in conjunction with the figures clarifies to those skilled in the art how the various forms of the disclosure can be carried out in practice.

[0054] FIG. 1 is a perspective back view of a camera cage according to various embodiments.

[0055] FIG. 2 is a perspective side view of a camera cage according to various embodiments.

[0056] FIG. 3 is a perspective rear side view of a camera cage according to various embodiments.

[0057] FIG. 4 is a detailed view of a rotatable base inside a camera cage according to various embodiments.

[0058] FIG. 5 is a detailed side view of a camera suspended inside a camera cage according to various embodiments.

[0059] FIG. 6 is a perspective front view of a base frame with handle of a camera holder according to the invention with the camera mount removed.

[0060] FIG. 7 is a front view of a camera holder with separable handle according to the invention.

DETAILED DESCRIPTION

[0061] An example of the camera cage 1 and camera stabilization system is provided in the figures of the present application, as mentioned above, these examples are for the illustrative purposes and have no intention of limiting this disclosure to particular details or combination of features. While embodiments of the present disclosure are described in connection with the following examples and the corresponding text and figures, there is no intent to limit embodiments of the present disclosure to this description. On the contrary, the intent is to cover all alternatives, modifications, and equivalents included within the spirit and scope of embodiments of the present disclosure.

[0062] In the camera cage 1 of FIGS. 1 and 2, the base frame 8 is a circular base frame with the same outer diameter as the ring bearing 2. By means of a first set of clamps and rods 19, the base frame 8 and the ring bearing 2 can be positioned at mutually variable distances around a common central axis, i.e. around the central axis of the ring bearing 2. As such, the depth (d) of the camera cage 1 can be adjusted to the camera to be suspended in the camera cage 1.

[0063] Centrally in the base frame 8, a motor 3 is mounted with its motor shaft 4 coaxially with the central axis of the ring bearing 2. The motor 3 is present within a motor holder 9, which in the present configuration comprises a motor holder lid 10 to allow easy access to the motor 3. Also visible to side of the motor holder 9 is the power supply connection 12 and the motor controller 11 for the balancing motor. In this configuration the motor holder 9 is part of the base frame 8, but evidently and as for example is visible from FIG. 3, the motor holder 9 could be replaceable and is suspended in the base frame 8. As mentioned herein before, this adds to the flexibility and ease of use of the camera cage 1 according to this disclosure.

[0064] Alternatively, to the motor holder 9 comprising both the motor 3 and the motor controller 11 as shown in FIG. 1, the motor controller 11 could be mounted onto the motor holder 9 as shown in FIG. 3. In particular, in combination with the removable and replaceable motor holder 9 as provided in this example, the camera cage 1 can be fully personalized and tailored to the needs of the camera that needs to be suspended in the camera cage 1. With a battery pack 13 for one or more batteries immediately accessible and replaceable mounted to the camera cage 1, ease of use is a further benefit of the camera cage 1 according to this disclosure.

[0065] FIG. 3 shows a further advantage of the camera cage 1 according to this disclosure. Being configured closely around the camera housing, the camera cage 1 is compact, lightweight, and easy to handle. The circular base frame 8, for example, can function as handles to hold the camera cage 1 in a frontal position. Further, additional elements 24, such as further handles, cross- bars, tripod, or camera crane mounting planes and the like, including oculars, for example, can be mounted to the frame elements of the camera cage 1, i.e. the base frame 8, the ring bearing 2, and the means 16 for connecting the base frame 8 and the ring bearing 2 about the same central axis at a mutually variable distance, more in particular the first set of rods and clamps 19 connecting the base frame 8 with the outer ring 21 of the ring bearing 2. The camera cage 1 is provided with a camera mount 6 such that the optical axis of the camera 26 is coaxial with the central axis of the ring bearing 2.

[0066] Inside the camera cage 1 a rotatable base 15 is connected to the rotary motor shaft 4 of the motor 3 and connected through a second set of clamps and rods 20 with the inner ring 22 of the ring bearing 2. As for the first set of rods and clamps 19, also with this second set of rods and clamps 20, the mutual distance between the rotatable base 15 and the ring bearing 2 is adjustable at variable distances. Also visible in FIG. 2 and in more detail in FIG. 4, are the rotatable base connections 17 and rotatable base pass-throughs 18. As mentioned above, the rotatable base connections 17 and rotatable base pass-throughs 18 enable wiring of the camera, without affecting full 360-degree roll motion of the camera. Also visible in FIG. 2 are the different markers or reference points 25 at the outside of the ring bearing 2. From FIGS. 4 and 5 it can be derived that in the shown embodiment the camera 26 is not directly mounted to the rotatable base 15; instead, the camera 26 is suspended to the second set of clamps and rods 20 connecting the rotatable base 15 with the inner ring 22 of the ring bearing 2. For lightweight cameras with compact camera housings, the camera 26 can be mounted directly onto the rotatable base 15, for such cameras the connection between the rotatable base 15 in the inner ring 22 of the ring bearing 2 is optional.

[0067] To allow full 360-degree roll motion of the camera 26 around the central axis of the ring bearing 2, the camera cage 1 must be configured to enable said roll motion of the camera inside the camera cage 1. In the camera cage 1 according to this disclosure, this is easily realized through an appropriate selection of the dimensions of the base frame 8 and even adjustable through the means 5 for connecting the base frame 8 and/or the motor 3 with the ring bearing 2 at mutual variable distances. For example and per reference to FIG. 5, through inclusion of spacers 23 in the first set of clamps and rods 19, the outer perimeter of the camera cage 1 can be adjusted to allow such full 360-degree roll motion of the camera 26 inside the camera cage 1. In this shown embodiment the camera housing does not allow the double pair of second clamps and rods 20 as shown in FIGS. 1 and 2, and as such further demonstrates the flexibility of the camera housing in being adjustable to the camera that needs to be suspended in the camera cage 1, without loss of structural integrity and functionality.

[0068] FIG. 6 provides a detailed view of a base frame 8 of a camera holder according to the second aspect of the invention. In this embodiment the handle 27 is directly connected to the side of the base frame and comprises a battery pack 13 to power the device. The motor 3 and motor controller 11 are present within the base frame 8. The latter consist of a single piece with an overall box shape. In this embodiment an overall cuboid rectangular shape with the rotary shaft 4 positioned distally from the handle and off-center, in particular at the edge of the base frame. Said off-center positioning of the rotary shaft in the base frame is needed because the lenses on a smartphone are not centrally placed, so that the unobstructed angle of rotation would otherwise be small. In this embodiment the handle comprises a number of camera control elements 28. [0069] FIG. 7 provides a detailed view of another base frame 8 of a camera holder according to the second aspect of the invention. In this embodiment the handle 27 is removable but configured to be connected to the side of the base frame. In this embodiment the power supply 12 is present within the base frame and consists of a conductive rechargeable battery pack 13. The motor 3 (not shown) and motor controller 11 are present within the base frame 8. Also in this embodiment the base frame consists of a single piece with an overall box shape, namely an overall cuboid rectangular shape with the rotary shaft 4 again positioned distally from the handle and off-center, in particular at the edge of the base frame 8. This configuration, is not only compact but given its flat shape, also enables wireless charging using any Qi-standard compatible charging device. It further shows the camera mount 6 here shown as a clamp to grip the camera (smartphone) (not shown) but obviously not restricted thereto. The camera mount comprises at least one motion control sensor 29 operationally connected to the motor and motor controller present within the base frame.

Items Listing

[0070] Item 1. A camera holder comprising: a base frame wherein the base frame comprises a motor; a camera mount, centrally and coaxially connected with a rotational axis of the motor; and a handle that is directly connectable to the base frame or is part of the base frame, wherein: the handle is positioned beside the base frame and is located in a plane coplanar with an axis perpendicular to the rotational axis of the motor.

[0071] Item 2. The camera holder of Item 1 , further comprising a motor controller.

[0072] Item 3. The camera holder of Item 2, wherein the motor controller is present within the base frame.

[0073] Item 4. The camera holder of Item 2 or 3, further comprising at least one motion control sensor that is operationally connected with the motor controller.

[0074] Item 5. The camera holder of Item 4, wherein the at least one motion control sensor includes one or more of a gyro sensor, an acceleration sensor, and an angular velocity sensor. [0075] Item 6. The camera holder of Items 4 or 5, wherein the camera mount comprises the at least one motion control sensor.

[0076] Item 7. The camera holder according to any one of Items 2 to 6, wherein the motor controller comprises a power supply connection.

[0077] Item 8. The camera holder of Item 7, wherein the power supply connection comprises a battery.

[0078] Item 9. The camera holder of Items 7 or 8, wherein the power supply connection is present within the handle.

[0079] Item 10. The camera holder according to any one of the preceding Items, wherein the handle comprises one or more camera control elements.

[0080] Item 11. The camera holder according to any one of the preceding claims, wherein the handle comprises a second motor with a rotational axis perpendicular to the rotational axis of the motor in the base frame.

[0081] Item 12. The camera holder according to Items 2 and 11, wherein the motor controller controls the second motor and the motor in the base frame.

[0082] Item 13. The camera holder according to Items 1, wherein the base frame has an overall box shape, in particular an overall cuboid shape, more in particular an overall cuboid rectangular shape.

[0083] Item 14. The camera holder according to Items 13, wherein the base frame has an overall box shape, in particular an overall cuboid shape, more in particular an overall cuboid rectangular shape; and wherein the rotational axis of the motor is positioned distally from the handle and off- center in the base frame.

[0084] It will be apparent to those skilled in the art that various modifications and variations can be made in the disclosed embodiments of the disclosed device without departing from the spirit or scope of the disclosure. Thus, it is intended that the present disclosure covers the modifications and variations of the embodiments disclosed above provided that the modifications and variations come within the scope of any claims and their equivalents provided hereinafter.

[00851 Reference List

1. Camera Cage

2. Ring Bearing

3. Motor

4. Motor shaft or Rotary motor shaft

5. Means for connecting the motor and the ring bearing about the same central axis at a mutually variable distance

6. Camera mount

7. Base of the camera cage

8. Base Frame

9. Holder or Motor Holder

10. Motor holder lid

11. Motor Control Board or Motor Controller

12. A Power Supply Connection

13. A Battery (Pack)

14. Slip-ring connections

15. Rotatable Base

16. Means for connecting the rotatable base and the ring bearing at a mutually variable distance

17. Rotatable Base Connections

18. Rotatable Base Pass-Throughs

19. A First Set of Clamps and Rods

20. A Second Set of Clamps and Rods

21. Outer Ring of the Ring Bearing

22. . Inner Ring of the Ring Bearing

23. Spacers

24. Additional Elements

25. Markers or Reference points

Claims

CLAIMS What is claimed is:

1. A camera holder comprising a base frame wherein the base frame: comprises a motor; a camera mount, centrally and coaxially connected with a rotational axis of the motor; and a handle that is directly connectable to the base frame or is part of the base frame, wherein: the handle is positioned beside the base frame and is located in a plane coplanar with an axis perpendicular to the rotational axis of the motor.

2. The camera holder of claim 1, wherein the base frame has an overall box shape; in particular a cuboid shape; more in particular a cuboid rectangular shape.

3. The camera holder of claim 1 , further comprising a motor controller.

4. The camera holder of claim 3, wherein the motor controller is present within the base frame.

5. The camera holder of claim 3, further comprising at least one motion control sensorthat is operationally connected with the motor controller.

6. The camera holder of claim 5, wherein the at least one motion control sensor includes one or more of a gyro sensor, an acceleration sensor, and an angular velocity sensor.

7. The camera holder of claim 5, wherein the camera mount comprises the at least one motion control sensor.

8. The camera holder of claim 3, wherein the motor controller comprises a power supply connection.

9. The camera holder of claim 8, wherein the power supply connection comprises a battery.

10. The camera holder of claim 8, wherein the power supply connection is present within the handle.

11. The camera holder of claim 1 , wherein the handle comprises one or more camera control elements.

12. The camera holder of claim 1, wherein the handle comprises a second motor with a rotational axis perpendicular to the rotational axis of the motor in the base frame.

13. The camera holder of claim 12, further comprising a motor controller, wherein the motor controller controls the second motor and the motor in the base frame.