# US 10,370,119 B2 · Self-stabilizing spherical unmanned aerial vehicle camera assembly > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,370,119 B2 - Document ID: US10370119B2 - Status: Granted - Kind: B2 - Application number: 16/135,533 - Filed: 2018-09-19 - Published: 2019-01-10 - Granted: 2019-08-06 - Earliest claimed: 2015-10-09 - Applicants: Carl Michael Neely - Inventors: Carl Michael Neely - Web page: https://patentgrep.com/patent/US10370119B2 ## CPC - B23P 19/04: for assembling or disassembling parts - B64C 27/006: {Safety devices} - B64U 10/16: with five or more distinct rotor axes, e.g. octocopters - B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals - B64U 30/26: Ducted or shrouded rotors - B64U 60/60: with rolling cages - H04N 5/00: Details of television systems (scanning details or combination thereof with generation of supply voltages H04N3/00) - H04N 13/204: using stereoscopic image cameras (stereoscopic photography G03B35/00) - H04N 13/243: using three or more two-dimensional [2D] image sensors - H04N 13/296: Synchronisation thereof; Control thereof - B64U 20/80: Arrangement of on-board electronics, e.g. avionics systems or wiring - B64U 2101/30: for imaging, photography or videography - B64U 2201/20: Remote controls - H04N 23/685: {performed by mechanical compensation} - H04N 2213/001: Constructional or mechanical details - B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q) - B64C: AEROPLANES; HELICOPTERS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A self-stabilizing spherical unmanned aerial vehicle (UAV) camera assembly, including: a stabilizer assembly; a plurality of motors coupled to the stabilizer assembly; a spherical camera mounting cage assembly disposed about and coupled to the stabilizer assembly; and a plurality of cameras coupled to the spherical camera mounting cage assembly. Preferably, the plurality of cameras include a plurality of stereoscopic cameras coupled to an exterior of the spherical camera mounting cage assembly. The self-stabilizing spherical UAV camera assembly is capable of taking/recording 360 degree×180 degree stereoscopic photo/video content. The self-stabilizing spherical UAV camera assembly can also be used with various real-time visualization and control technologies. ## Claims ### Claim 1 An Unmanned Aerial Vehicle (UAV) comprising: a mounting cage; a stabilizer assembly with a plurality of motors, wherein the stabilizer assembly is disposed within the mounting cage and connected to a center portion of the mounting cage such that roll, pitch, and yaw of the mounting cage are controlled based on position of the stabilizer assembly; and one or more cameras located on an exterior of the mounting cage. ### Claim 2 (depends on 1) The UAV of claim 1, wherein the stabilizer assembly connects to a central member connected to the mounting cage via an inner frame member and an outer frame member, such that the inner frame member and the outer frame member rotate. ### Claim 3 (depends on 1) The UAV of claim 1, wherein the plurality of motors are coupled to the stabilizer assembly each via a correspond arm, such that the roll, pitch, and yaw of the mounting cage are controlled based on control of associated motors. ### Claim 4 (depends on 1) The UAV of claim 1, wherein the mounting cage has associated wires disposed in or adjacent to associated members of the mounting cage. ### Claim 5 (depends on 1) The UAV of claim 1, wherein the stabilizer assembly is operable for rotating the spherical camera mounting cage assembly about a central axis with respect to the stabilizer assembly. ### Claim 6 (depends on 1) The UAV of claim 1, wherein the one or more cameras comprises a plurality of stereoscopic cameras adapted to obtain panoramic images free from obstructions from the mounting cage. ### Claim 7 (depends on 1) The UAV of claim 1, further comprising an on-board processor for processing signals from the one or more cameras. ### Claim 8 (depends on 7) The UAV of claim 7, wherein the on-board processor communicates with a mobile device for control of the UAV and for providing images or video from the one or more cameras. ### Claim 9 (depends on 1) The UAV of claim 1, wherein the one or more cameras comprise a plurality of cameras configured to obtain 360 degree×180 degree stereoscopic photo/video content. ### Claim 10 A method comprising: providing an Unmanned Aerial Vehicle (UAV) comprising: a mounting cage; a stabilizer assembly with a plurality of motors, wherein the stabilizer assembly is disposed within the mounting cage and connected to a center portion of the mounting cage such that roll, pitch, and yaw of the mounting cage are controlled based on position of the stabilizer assembly; and one or more cameras located on an exterior of the mounting cage. ### Claim 11 (depends on 10) The method of claim 10, wherein the stabilizer assembly connects to a central member connected to the mounting cage via an inner frame member and an outer frame member, such that the inner frame member and the outer frame member rotate. ### Claim 12 (depends on 10) The method of claim 10, wherein the plurality of motors are coupled to the stabilizer assembly each via a correspond arm, such that the roll, pitch, and yaw of the mounting cage are controlled based on control of associated motors. ### Claim 13 (depends on 10) The method of claim 10, wherein the mounting cage has associated wires disposed in or adjacent to associated members of the mounting cage. ### Claim 14 (depends on 10) The method of claim 10, wherein the stabilizer assembly is operable for rotating the spherical camera mounting cage assembly about a central axis with respect to the stabilizer assembly. ### Claim 15 (depends on 10) The method of claim 10, wherein the one or more cameras comprises a plurality of stereoscopic cameras adapted to obtain panoramic images free from obstructions from the mounting cage. ### Claim 16 (depends on 10) The method of claim 10, further comprising an on-board processor for processing signals from the one or more cameras. ### Claim 17 (depends on 16) The method of claim 16, wherein the on-board processor communicates with a mobile device for control of the UAV and for providing images or video from the one or more cameras. ### Claim 18 (depends on 10) The method of claim 10, wherein the one or more cameras comprise a plurality of cameras configured to obtain 360 degree×180 degree stereoscopic photo/video content. ### Claim 19 An Unmanned Aerial Vehicle (UAV) comprising: a spherical camera mounting cage; a stabilizer assembly with a plurality of motors, wherein the stabilizer assembly is disposed within the spherical camera mounting cage such that roll, pitch, and yaw of the mounting cage are controlled based on position of the stabilizer assembly; and a plurality of stereoscopic cameras coupled to an exterior of the spherical camera mounting cage assembly. ### Claim 20 (depends on 19) The UAV of claim 19, wherein the stabilizer assembly connects to a central member connected to the mounting cage via an inner frame member and an outer frame member, such that the inner frame member and the outer frame member rotate.