Camera device and robot

Abstract

The present invention relates to a camera device comprising: a base; a first carrier disposed inside the base; a second carrier disposed between the base and the first carrier; a camera module moving integrally with the first carrier; a first magnet disposed on the second carrier; a first coil disposed on the first carrier and interacting with the first magnet; a second magnet disposed on the second carrier; a second coil disposed on the base and interacting with the second magnet; a first yoke disposed on the first carrier, wherein the first yoke and the first magnet are attracted to each other; and a second yoke disposed on the base, wherein the second yoke and the second magnet are attracted to each other.

Description

Camera devices and robots

[0001] This embodiment relates to a camera device and a robot.

[0002] Robots are mechanical devices of various forms and functions that perform specific tasks through programmed intelligence or autonomy. They are utilized in numerous fields, including manufacturing, healthcare, exploration, and home services, and play a crucial role in improving human work efficiency or replacing humans in hazardous environments.

[0003] Robot eye camera devices play a role in helping robots perceive their surroundings and process necessary information. This enables robots to perform tasks more naturally and efficiently, much like humans, and robot eye camera devices have established themselves as an indispensable technology, particularly in specialized fields such as medical robots and exploration robots.

[0004] Conventional camera technology primarily provides only fixed or limited-angle movements, which has acted as one of the major factors limiting the visual capabilities of robots. In particular, for robots to interact with humans or work efficiently in complex environments, technology capable of moving freely like the human eye and collecting high-resolution visual information is essential.

[0005] Therefore, there is a growing need to develop technology that enables multi-angle movements similar to the human eye for camera modules.

[0006] (Patent Document 1) KR 10-2002-0038041 A

[0007] The present embodiment aims to provide a camera device that implements multi-angle movements similar to those of a human eye for a camera module.

[0008] Furthermore, we intend to provide a robot in which the above-mentioned camera device is applied as an eyeball.

[0009] A camera device according to a first embodiment of the present invention may include: a base; a first carrier disposed within the base; a second carrier disposed between the base and the first carrier; a camera module that moves integrally with the first carrier; a first magnet disposed on the second carrier; a first coil disposed on the first carrier and interacting with the first magnet; a second magnet disposed on the second carrier; a second coil disposed on the base and interacting with the second magnet; a first yoke disposed on the first carrier and having an attractive force with the first magnet; and a second yoke disposed on the base and having an attractive force with the second magnet.

[0010] Due to the interaction between the first coil and the first magnet, the first carrier may be tilted around a first axis, and due to the interaction between the second coil and the second magnet, the first carrier and the second carrier may be tilted together around a second axis.

[0011] It may include a first ball disposed between the first carrier and the second carrier; and a second ball disposed between the base and the second carrier.

[0012] At least a portion of the first magnet may overlap with the first coil in the direction of the optical axis of the camera module.

[0013] The first magnet includes a first portion and a second portion that overlap with the first coil in the second axis direction, and the first coil may be positioned between the first portion and the second portion of the first magnet in the second axis direction.

[0014] The first magnet is disposed on the upper surface of the second carrier, the second magnet is disposed on both sides of the second carrier, and the first magnet and the second magnet may be spaced apart from each other.

[0015] The second magnet includes a second-1 magnet and a second-2 magnet spaced apart from each other, and the first magnet may include a portion that overlaps the second-1 magnet and the second-2 magnet in a direction in which the second-1 magnet faces the second-2 magnet and is disposed between the second-1 magnet and the second-2 magnet.

[0016] The first magnet above may be formed rounded to have a curvature centered on the first axis.

[0017] It includes a flexible substrate electrically connected to the camera module, and the substrate can movably support the camera module.

[0018] The above substrate includes a first part that is overlapped multiple times in the direction of the optical axis, a second part that is overlapped multiple times in the direction of the optical axis, and a third part connecting the first part and the second part, wherein the first part is bent about a plurality of virtual bending axes parallel to the first axis, and the second part can be bent about a plurality of virtual bending axes parallel to the second axis.

[0019] The first carrier includes protrusions formed on both sides, and the second carrier includes a rail in the shape of a hole or groove into which the protrusions of the first carrier are inserted, and the protrusions of the first carrier can move around the first axis within the rail of the second carrier.

[0020] The second magnet includes an outer surface facing the second coil, an inner surface opposite the outer surface, and an upper surface connecting the outer surface and the inner surface, wherein the outer surface of the second magnet is arranged parallel to the first axis, and the upper surface of the second magnet may be formed rounded to have a curvature centered on the second axis.

[0021] The second yoke is disposed on the opposite side of the upper surface of the second yoke and includes a lower surface having a curvature corresponding to the curvature of the upper surface of the second yoke, and the second yoke may include a portion having a curvature corresponding to the curvature of the lower surface of the second magnet.

[0022] The above second yoke can be inserted into the base.

[0023] A robot according to the first embodiment of the present invention may include an eyeball including the camera device.

[0024] A camera device according to a second embodiment of the present invention comprises: a base; a first carrier disposed within the base; a second carrier disposed within the first carrier; a camera module that moves integrally with the second carrier; a first magnet disposed on the first carrier; a first coil disposed on the base; and a second coil disposed on the second carrier, wherein the first carrier and the second carrier are tilted together around a first axis by means of interaction between the first coil and the first magnet, and the second carrier can be tilted around a second axis by means of interaction between the second coil and the first magnet.

[0025] The camera device may include a first ball disposed between the base and the first carrier.

[0026] The camera device may include a first yoke positioned on the base and having an attractive force acting on the first magnet.

[0027] The camera device may include a second ball disposed between the first carrier and the second carrier.

[0028] The camera device may include a second magnet disposed on the first carrier; and a second yoke disposed on the second carrier and having an attractive force with the second magnet.

[0029] The first magnet may include a first magnet portion arranged parallel to the second axis and a second magnet portion arranged perpendicularly to the inner surface of the first magnet portion.

[0030] The first magnet includes a first magnet portion arranged parallel to the second axis, the upper surface of the first magnet portion is formed as a flat surface, the lower surface of the first magnet portion is formed as a curved surface, the upper surface and the lower surface of the first magnet portion are connected through two inclined surfaces, and the distance between the two inclined surfaces can gradually increase from the upper surface of the first magnet portion to the lower surface of the first magnet portion.

[0031] The outer surface of the first magnet may face the first coil, and the inner surface of the first magnet may face the second coil.

[0032] The camera device includes a flexible substrate electrically connected to the camera module, and the flexible substrate may include a first portion that overlaps at least 22 times in the direction of the first axis, a second portion that overlaps at least 22 times in the direction of the second axis, and a third portion connecting the first portion and the second portion.

[0033] The third portion of the above-mentioned flexible substrate includes a bend portion that is bent around a third axis, and the third axis may be parallel to a virtual plane defined by the first axis and the second axis and may have a direction different from each of the first axis and the second axis.

[0034] The second carrier includes a body portion and a rail guide portion coupled to the body portion, and the second coil is disposed on the outer surface of the body portion, and at least a portion of the second coil may be disposed between the body portion and the rail guide portion.

[0035] The rail guide portion includes a first groove and a second groove formed on the outer surface of the rail guide portion, and the second ball is disposed in the first groove of the rail guide portion, and the second yoke can be disposed in the second groove of the rail guide portion.

[0036] The first yoke may include a portion having a curvature corresponding to the lower surface of the first magnet portion.

[0037] The first yoke may include a first portion inserted into the base and a second portion exposed to the outside of the base.

[0038] A robot according to the second embodiment of the present invention may include an eyeball including the camera device.

[0039] Through this embodiment, multi-angle movements similar to those of a human eye can be implemented for the camera module.

[0040] Therefore, when the camera device of the present embodiment is applied as the eye of a robot, the camera device can move freely like a human eye and collect high-resolution visual information.

[0041] FIG. 1 is a perspective view illustrating a camera device according to a first embodiment of the present invention.

[0042] Figure 2 is a cross-sectional view taken from AA of Figure 1.

[0043] Figure 3 is a cross-sectional view taken from BB of Figure 1.

[0044] FIG. 4 is a cross-sectional view taken from above, in which a camera device according to the first embodiment of the present invention is cut perpendicular to the optical axis.

[0045] FIG. 5 is an exploded view of a camera device according to a first embodiment of the present invention.

[0046] FIG. 6 is a perspective view of a camera device according to the first embodiment of the present invention with the case omitted.

[0047] FIG. 7 is a perspective view of a camera device according to the first embodiment of the present invention with the pitching coil omitted.

[0048] FIG. 8 is a perspective view illustrating the base and related configuration of a camera device according to a first embodiment of the present invention.

[0049] FIG. 9 is a perspective view illustrating the moving part and related configuration of a camera device according to the first embodiment of the present invention.

[0050] FIG. 10 is a bottom perspective view illustrating the moving part and related configuration of a camera device according to a first embodiment of the present invention.

[0051] FIG. 11 is a perspective view illustrating a pitching carrier and related configuration of a camera device according to a first embodiment of the present invention.

[0052] FIG. 12 is a bottom perspective view illustrating the yawing carrier, camera module, and related configuration of a camera device according to a first embodiment of the present invention.

[0053] FIG. 13 is a perspective view illustrating a yawing carrier, a camera module, and a substrate of a camera device according to a first embodiment of the present invention.

[0054] FIG. 14 is a drawing for explaining the yawing and pitching drives of a camera device according to the first embodiment of the present invention.

[0055] FIG. 15 is a drawing illustrating the driving part and yoke of a camera device according to a modified example.

[0056] FIG. 16 is a drawing illustrating the driving part and yoke of a camera device according to another variation.

[0057] FIG. 17 is a drawing illustrating a pitching drive unit of a camera device according to a modified example.

[0058] FIG. 18 is a perspective view illustrating a camera device according to a second embodiment of the present invention.

[0059] FIG. 19 is a plan view illustrating a camera device according to a second embodiment of the present invention.

[0060] FIG. 20 is a cross-sectional view taken from AA in FIG. 18.

[0061] Figure 21 is a cross-sectional view taken from BB of Figure 18.

[0062] FIG. 22 is a cross-sectional view taken from above, cut perpendicular to the optical axis, of a camera device according to a second embodiment of the present invention.

[0063] FIG. 23 is an exploded view of a camera device according to a second embodiment of the present invention.

[0064] FIG. 24 is a perspective view illustrating the pitching movement part and related configuration of a camera device according to a second embodiment of the present invention.

[0065] FIG. 25 is a perspective view illustrating a state in which a pitching moving part of a camera device according to a second embodiment of the present invention is positioned in a yawing moving part.

[0066] FIG. 26 is a perspective view illustrating the state in which a pitching moving part and a yawing moving part of a camera device according to a second embodiment of the present invention are arranged on a base.

[0067] FIG. 27 is a perspective view of a camera device according to a second embodiment of the present invention with the cover and case omitted.

[0068] FIG. 28 is a perspective view illustrating the combined state of the pitching moving part of a camera device and the camera module according to a second embodiment of the present invention.

[0069] FIG. 29 is a perspective view illustrating the yawing movement part and related configuration of a camera device according to a second embodiment of the present invention.

[0070] FIG. 30 is a perspective view illustrating the base and related configuration of a camera device according to a second embodiment of the present invention.

[0071] FIG. 31 is an exploded perspective view illustrating the pressure structure of a pitching guide ball of a camera device according to a second embodiment of the present invention.

[0072] FIG. 32 is a drawing for explaining the yawing and pitching drives of a camera device according to a second embodiment of the present invention.

[0073] FIG. 33 is a drawing for explaining the yawing drive of a camera device according to a second embodiment of the present invention.

[0074] FIG. 34 is a diagram illustrating the pitching drive of a camera device according to a modified example.

[0075] FIG. 35 (a) is a cross-sectional perspective view of a camera device according to a second embodiment of the present invention, and (b) is a perspective view of a flexible substrate of a camera module.

[0076] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0077] However, the technical concept of the present invention is not limited to some of the described embodiments but can be implemented in various different forms, and within the scope of the technical concept of the present invention, one or more of the components among the embodiments may be selectively combined or substituted.

[0078] In addition, terms used in the embodiments of the present invention (including technical and scientific terms) may be interpreted in a sense that is generally understood by those skilled in the art to which the present invention belongs, unless explicitly and specifically defined otherwise. Terms that are commonly used, such as terms defined in advance, may be interpreted in consideration of their meaning in the context of the relevant technology.

[0079] Furthermore, the terms used in the embodiments of the present invention are for the purpose of describing the embodiments and are not intended to limit the present invention.

[0080] In this specification, the singular form may include the plural form unless specifically stated otherwise in the text, and when described as "at least one of A and B and C (or more than one)," it may include one or more of all combinations that can be formed from A, B, and C.

[0081] In addition, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the embodiments of the present invention. These terms are used merely to distinguish the components from other components and are not intended to limit the essence, order, or sequence of the components.

[0082] And, where it is stated that a component is 'connected', 'combined', or 'connected' to another component, this may include not only cases where the component is directly 'connected', 'combined', or 'connected' to the other component, but also cases where it is 'connected', 'combined', or 'connected' due to another component located between the component and the other component.

[0083] Furthermore, when described as being formed or placed "above" or "below" each component, "above" or "below" includes not only cases where two components are in direct contact with each other, but also cases where one or more other components are formed or placed between the two components. Additionally, when expressed as "above" or "below," it may include the meaning of a downward direction as well as an upward direction relative to a single component.

[0084] In the following, one of the "yawing moving part (200)" and the "pitching moving part (300)" may be referred to as the "first moving part" and the other as the "second moving part".

[0085] In the following, one of the "yawing carrier (210)" and the "pitching carrier (310)" may be referred to as the "first carrier" and the other as the "second carrier".

[0086] In the following, one of the "yawing magnet (411)" and the "pitching magnet (421)" may be referred to as the "first magnet" and the other as the "second magnet".

[0087] In the following, one of the "yawing coil (412)" and the "pitching coil (422)" may be referred to as the "first coil" and the other as the "second coil".

[0088] In the following, one of the “yawing guide ball (510)” and the “pitching guide ball (520)” may be referred to as the “first ball” and the other as the “second ball”.

[0089] In the following, one of the “yawing yoke (610)” and the “pitching yoke (620)” may be referred to as the “first yoke” and the other as the “second yoke”.

[0090] In the following, either the "x-axis" or the "y-axis" may be referred to as the "first axis" and the other as the "second axis."

[0091] In the following, one of the "yawing moving part (1200)" and the "pitching moving part (1300)" may be referred to as the "first moving part" and the other as the "second moving part".

[0092] In the following, one of the "yawing carrier (1210)" and the "pitching carrier (1310)" may be referred to as the "first carrier" and the other as the "second carrier".

[0093] In the following, one of the “driving magnet (1410)” and the “preload magnet (1630)” may be referred to as the “first magnet” and the other as the “second magnet”.

[0094] In the following, one of the "yawing coil (1420)" and the "pitching coil (1430)" may be referred to as the "first coil" and the other as the "second coil".

[0095] In the following, one of the "yawing guide ball (1510)" and the "pitching guide ball (1520)" may be referred to as the "first ball" and the other as the "second ball".

[0096] In the following, one of the “yawing yoke (1610)” and the “pitching yoke (1620)” may be referred to as the “first yoke” and the other as the “second yoke”.

[0097]

[0098] Hereinafter, the configuration of a camera device according to the first embodiment of the present invention will be described with reference to the drawings.

[0099] FIG. 1 is a perspective view illustrating a camera device according to a first embodiment of the present invention. FIG. 2 is a cross-sectional view taken from AA in FIG. 1. FIG. 3 is a cross-sectional view taken from BB in FIG. 1. FIG. 4 is a cross-sectional view taken from above, cut perpendicular to the optical axis, of a camera device according to a first embodiment of the present invention. FIG. 5 is an exploded perspective view of a camera device according to a first embodiment of the present invention. FIG. 6 is a perspective view of a camera device according to a first embodiment of the present invention with the case omitted. FIG. 7 is a perspective view of a camera device according to a first embodiment of the present invention with the pitching coil omitted. FIG. 8 is a perspective view illustrating the base and related configuration of a camera device according to a first embodiment of the present invention. FIG. 9 is a perspective view illustrating the moving part and related configuration of a camera device according to a first embodiment of the present invention. FIG. 10 is a bottom perspective view illustrating the moving part and related configuration of a camera device according to a first embodiment of the present invention. FIG. 11 is a perspective view illustrating a pitching carrier and related configuration of a camera device according to a first embodiment of the present invention. FIG. 12 is a bottom perspective view illustrating a yawing carrier and a camera module and related configuration of a camera device according to a first embodiment of the present invention. FIG. 13 is a perspective view illustrating a yawing carrier, a camera module, and a substrate of a camera device according to a first embodiment of the present invention.

[0100] A camera device according to the first embodiment of the present invention may include a camera module tilting structure utilizing the electromagnetic force between a coil and a magnet.

[0101] The camera device may be a camera actuator. The camera device may be a camera. The camera device may be a camera assembly. The camera device may be a camera apparatus. The camera device may be an optical instrument. The camera device may be an optical device. The camera device may be a robot eye device. The camera device may be a tilting module.

[0102] The camera device may include a fixed part (100). The fixed part (100) may be a part that is relatively fixed when the movable part moves. The movable part may move relative to the fixed part (100).

[0103] The camera device may include a base (110). The fixed part (100) may include a base (110). The base (110) may be placed in a case (130). The base (110) may be placed on the case (130). The base (110) may be placed inside the case (130). The base (110) may be fixed to the case (130). The base (110) may be coupled to the case (130). The base (110) may be placed in a cover. The base (110) may be placed inside the cover. The base (110) may be placed under the cover. The base (110) may be placed in the internal space formed by the case (130) and the cover.

[0104] The base (110) may include a body portion (111). The base (110) may include a groove (111a). The body portion (111) may include a groove (111a). The groove (111a) may be a ball rail. A pitching guide ball (520) may be placed in the groove (111a). The pitching guide ball (520) may move along the groove (111a). The groove (111a) may extend in the pitch direction. The groove (111a) may be formed with a size corresponding to the diameter of the pitching guide ball (520). The groove (111a) may guide the pitching guide ball (520) to move in the pitch direction.

[0105] The base (110) may include a coil coupling portion (112). The coil coupling portion (112) may be disposed on the body portion (111). The coil coupling portion (112) may be disposed on the body portion (111). The coil coupling portion (112) may be coupled to the body portion (111). The coil coupling portion (112) may be fixed to the body portion (111). The coil coupling portion (112) may be bonded to the body portion (111) with an adhesive. The coil coupling portion (112) may be formed integrally with the body portion (111).

[0106] The base (110) may include a rail (112a). The coil coupling portion (112) may include a rail (112a). The rail (112a) may be formed as a hole or a groove. A projection (312) of the pitching carrier (310) may be disposed on the rail (112a). The projection (312) of the pitching carrier (310) may move within the rail (112a). The movement of the pitching carrier (310) may be restricted by the projection (312) of the pitching carrier (310) being caught on the end of the rail (112a). That is, the projection (312) of the pitching carrier (310) and the rail (112a) of the base (110) may function as a stopping structure.

[0107] The base (110) may include a groove (112b). The coil coupling portion (112) may include a groove (112b). A pitching coil (422) may be placed in the groove (112b). The groove (112b) may be formed with a shape corresponding to at least a part of the shape of the pitching coil (422). The pitching coil (422) may be inserted into the groove (112b).

[0108] The camera device may include a cover. The fixing part (100) may include a cover. The cover may be placed on the case (130). The cover may be placed on the case (130). The cover may be coupled to the case (130). The cover may be fixed to the case (130). The cover may be bonded to the case (130) with adhesive. The cover may be a shield can. The cover may be formed of metal.

[0109] The cover may include a top plate and side plates. The top plate may include a hollow through which light passes. The side plates may include a plurality of side plates. The side plates may include a first side plate and a second side plate positioned opposite each other, and a third side plate and a fourth side plate positioned opposite each other.

[0110] A cover window may be placed in the hollow of the top plate of the cover. The cover window may be formed in a dome shape. The cover window may be formed transparently. A housing may be coupled to the cover window.

[0111] The camera device may include a case (130). The fixed part (100) may include the case (130). The case (130) may form the exterior of the camera device. The case (130) may be placed under the cover. The case (130) may accommodate a base (110) inside. The case (130) may include a bottom plate and side plates. The case (130) may include a plurality of side plates. The plurality of side plates may include a first side plate and a second side plate placed opposite each other, and a third side plate and a fourth side plate placed opposite each other.

[0112] The camera device may include a moving part. The moving part may be positioned on a fixed part (100). The moving part may be positioned within the fixed part (100). The moving part may be positioned on the fixed part (100). The moving part may move relative to the fixed part (100). The moving part may move relative to the fixed part (100) by means of a driving part.

[0113] The camera device may include a yawing moving part (200). The yawing moving part (200) can yawing. The yawing moving part (200) can yawing relative to the fixed part (100). The yawing moving part (200) can be rotated or tilted in the yawing direction relative to the fixed part (100). The yawing moving part (200) can yawing relative to the fixed part (100) by means of a yawing driving part (410). The yawing moving part (200) can yawing relative to the pitching moving part (300). The yawing moving part (200) can be rotated or tilted in the yawing direction relative to the pitching moving part (300). The yawing moving part (200) can yawing relative to the pitching moving part (300) by means of a yawing driving part (410). The yawing moving part (200) may be an Rx carrier.

[0114] The camera device may include a yawing carrier (210). The yawing moving part (200) may include a yawing carrier (210). The yawing carrier (210) may be placed within the base (110). The yawing carrier (210) may be placed on the base (110). The yawing carrier (210) may be placed on the base (110). The yawing carrier (210) may be movably placed on the base (110). The yawing carrier (210) may be placed within the pitching carrier (310). The yawing carrier (210) may be placed on the pitching carrier (310). The yawing carrier (210) may be placed on the pitching carrier (310). The yawing carrier (210) may be movably placed on the pitching carrier (310).

[0115] The yawing carrier (210) can be tilted about the x-axis by the interaction between the yawing coil (412) and the yawing magnet (411). That is, the yawing carrier (210) can move in the yawing direction. In other words, the yawing carrier (210) can be yawing driven.

[0116] The yawing carrier (210) may include a projection (211). The projection (211) may be a stopper. The projection (211) may be placed on the rail (311) of the pitching carrier (310). At least a portion of the projection (211) may be inserted into the rail (311) of the pitching carrier (310). The projection (211) may move within the rail (311) of the pitching carrier (310). The projection (211) may be formed on both sides of the yawing carrier (210). The projection (211) may be formed protrudingly on both sides of the yawing carrier (210). An imaginary straight line connecting two projections (211) of the yawing carrier (210) may be parallel to the x-axis. The projection (211) of the yawing carrier (210) can move about the x-axis within the rail (311) of the pitching carrier (310). The projection (211) of the yawing carrier (210) can tilt about the x-axis within the rail (311) of the pitching carrier (310).

[0117] The yawing carrier (210) may include a groove (212). The groove (212) may be a ball rail. The groove (212) may be an Rx ball rail. A yawing guide ball (510) may be placed in the groove (212). The yawing guide ball (510) may move along the groove (212). The groove (212) may extend in the yaw direction. The groove (212) may be formed with a size corresponding to the diameter of the yawing guide ball (510). The groove (212) may guide the yawing guide ball (510) to move in the yaw direction.

[0118] The camera device may include a pitching moving part (300). The pitching moving part (300) can pitch. The pitching moving part (300) can pitch relative to the fixed part (100). The pitching moving part (300) can rotate or tilt in the pitch direction relative to the fixed part (100). The pitching moving part (300) can pitch relative to the fixed part (100) by means of a pitching driving part (420).

[0119] The camera device may include a pitching carrier (310). The pitching moving part (300) may include a pitching carrier (310). The pitching carrier (310) may be placed within the base (110). The pitching carrier (310) may be placed on the base (110). The pitching carrier (310) may be placed on the base (110). The pitching carrier (310) may be movably placed on the base (110). The pitching carrier (310) may be placed between the base (110) and the yawing carrier (210). The pitching carrier (310) may be a camera module carrier. The pitching moving part (300) may be a Ry carrier.

[0120] Due to the interaction between the pitching coil (422) and the pitching magnet (421), the pitching carrier (310) can be tilted about the y-axis. That is, the pitching carrier (310) can move in the pitch direction. In other words, the pitching carrier (310) can be pitched. Due to the interaction between the pitching coil (422) and the pitching magnet (421), the pitching carrier (310) and the yawing carrier (210) can be tilted together about the y-axis.

[0121] The pitching carrier (310) may include a rail (311). A projection (211) of the yawing carrier (210) may be disposed on the rail (311). The rail (311) may be formed into a groove or hole into which the projection (211) is disposed. The rail (311) may be a rail in the shape of a hole or groove into which the projection (211) of the yawing carrier (210) is inserted. The rail (311) may be formed by a guide portion (311a). The guide portion (311a) may be formed separately from the body portion and combined. As a variation, the guide portion (311a) may be formed integrally with the body portion.

[0122] The pitching carrier (310) may include a projection (312). The projection (312) may be a stopper. The projection (312) may be placed on the rail (112a) of the base (110). At least a portion of the projection (312) may be inserted into the rail (112a) of the base (110). The projection (312) may move within the rail (112a) of the base (110). The projection (312) may be formed on both sides of the pitching carrier (310). An imaginary straight line connecting two projections (312) of the pitching carrier (310) may be parallel to the y-axis. The projection (312) of the pitching carrier (310) may be tilted about the y-axis within the rail (112a) of the base (110).

[0123] The pitching carrier (310) may include a groove (313). The groove (313) may be a ball rail. The groove (313) may be an Rx ball rail. A yawing guide ball (510) may be disposed in the groove (313). The groove (313) may be formed on the upper surface of the pitching carrier (310). The groove (313) may be formed to have curvature.

[0124] The pitching carrier (310) may include a groove (314). The groove (314) may be a ball rail. The groove (313) may be a Ry ball rail. A pitching guide ball (520) may be placed in the groove (314). The groove (314) may be formed on the lower surface of the pitching carrier (310). The groove (314) may include a plurality of grooves. The groove (314) may include four grooves spaced apart from each other. The groove (314) may be formed to have a curvature.

[0125] The camera device may include a driving unit. The driving unit may move the moving unit relative to the fixed unit (100). The driving unit may tilt the moving unit relative to the fixed unit (100). The driving unit may rotate the moving unit relative to the fixed unit (100).

[0126] The driving unit may include a yawing driving unit (410) that yawing the moving unit. The driving unit may include a yawing driving unit (410) that moves the yawing carrier (210).

[0127] The camera device may include a yawing magnet (411). The driving unit may include a yawing magnet (411). The yawing magnet (411) may be placed on a pitching carrier (310). The yawing magnet (411) may be placed on the pitching carrier (310). The yawing magnet (411) may be fixed to the pitching carrier (310). The yawing magnet (411) may be coupled to the pitching carrier (310). The yawing magnet (411) may be bonded to the pitching carrier (310) with adhesive. The yawing magnet (411) may be placed on the upper surface of the pitching carrier (310). The lower surface of the yawing magnet (411) may be in contact with the pitching carrier (310). The yawing magnet (411) may be placed directly on the pitching carrier (310). The yawing magnet (411) can move together with the pitching carrier (310). The yawing magnet (411) can be an Rx magnet.

[0128] The upper surface of the yawing magnet (411) may face the yawing coil (412). At least a portion of the yawing magnet (411) may overlap with the yawing coil (412) in the direction of the optical axis. The upper surface of the yawing magnet (411) may be formed as a curved surface. The lower surface of the yawing magnet (411) may be formed as a curved surface. The yawing magnet (411) may be formed rounded to have curvature centered on the x-axis. The yawing magnet (411) includes a first portion and a second portion that overlap with the yawing coil (412) in the direction of the y-axis, and the yawing coil (412) may be positioned between the first portion and the second portion of the yawing magnet (411) in the direction of the y-axis.

[0129] The camera device may include a yawing coil (412). The driving unit may include a yawing coil (412). The yawing coil (412) may be placed on a yawing carrier (210). The yawing coil (412) may be placed on the yawing carrier (210). The yawing coil (412) may be placed on the lower surface of the yawing carrier (210). The yawing coil (412) may be fixed to the yawing carrier (210). The yawing coil (412) may be coupled to the yawing carrier (210). The yawing coil (412) may be bonded to the yawing carrier (210) with adhesive. The yawing coil (412) may be placed on a substrate placed on the yawing carrier (210). The yawing coil (412) may be formed as an FP coil on the substrate placed on the yawing carrier (210). The yawing coil (412) can be an Rx coil.

[0130] The yawing coil (412) can correspond to the yawing magnet (411). The yawing coil (412) can be positioned in a location corresponding to the yawing magnet (411). The yawing coil (412) can face the yawing magnet (411). The yawing coil (412) can be opposite the yawing magnet (411). The yawing coil (412) can interact with the yawing magnet (411). The yawing coil (412) can have electromagnetic interaction with the yawing magnet (411). The yawing coil (412) can move relative to the yawing magnet (411). The yawing coil (412) can move in the yaw direction through interaction with the yawing magnet (411). The yawing coil (412) can be tilted relative to the yawing magnet (411). The yawing coil (412) can rotate relative to the yawing magnet (411).

[0131] The driving unit may include a pitching driving unit (420) that pitches the moving unit. The driving unit may include a pitching driving unit (420) that moves the pitching carrier (310).

[0132] The camera device may include a pitching magnet (421). The driving unit may include a pitching magnet (421). The pitching magnet (421) may be placed on a pitching carrier (310). The pitching magnet (421) may be placed on the pitching carrier (310). The pitching magnet (421) may be fixed to the pitching carrier (310). The pitching magnet (421) may be coupled to the pitching carrier (310). The pitching magnet (421) may be bonded to the pitching carrier (310) with adhesive. The pitching magnet (421) may be placed on the side of the pitching carrier (310). The pitching magnet (421) may be placed on both sides of the pitching carrier (310). The inner surface of the pitching magnet (421) may be in contact with the pitching carrier (310). The pitching magnet (421) can be placed directly on the pitching carrier (310). The pitching magnet (421) can move together with the pitching carrier (310). The yawing magnet (411) and the pitching magnet (421) can be spaced apart from each other. The pitching magnet (421) can be a Ry magnet.

[0133] The outer surface of the pitching magnet (421) may face the pitching coil (422). The pitching magnet (421) may overlap the pitching coil (422) in the y-axis direction. The upper surface of the pitching magnet (421) may be formed as a curved surface. The lower surface of the pitching magnet (421) may be formed as a curved surface.

[0134] The pitching magnet (421) may include an outer surface facing the pitching coil (422), an inner surface opposite the outer surface, and an upper surface connecting the outer surface and the inner surface. The outer surface of the pitching magnet (421) may be positioned parallel to the x-axis. The upper surface of the pitching magnet (421) may be formed rounded to have a curvature centered on the y-axis.

[0135] The pitching magnet (421) may include a plurality of magnets. The pitching magnet (421) may include two magnets. The pitching magnet (421) may include two magnets spaced apart from each other. The pitching magnet (421) may include two magnets positioned opposite each other with respect to the optical axis. The pitching magnet (421) may include a first magnet positioned on one side of the pitching carrier (310) and a second magnet positioned on the other side of the pitching carrier (310). The pitching magnet (421) may include a second-1 magnet and a second-2 magnet spaced apart from each other. The yawing magnet (411) may include a portion that overlaps the second-1 magnet and the second-2 magnet in the direction in which the second-1 magnet faces the second-2 magnet and is positioned between the second-1 magnet and the second-2 magnet.

[0136] The camera device may include a pitching coil (422). The driving unit may include a pitching coil (422). The pitching coil (422) may be placed on the base (110). The pitching coil (422) may be placed on the base (110). The pitching coil (422) may be coupled to the base (110). The pitching coil (422) may be fixed to the base (110). The pitching coil (422) may be bonded to the base (110) with adhesive. The pitching coil (422) may be placed on the side wall of the base (110). The pitching coil (422) may be a Ry coil. The pitching coil (422) may be formed as an FP coil. Alternatively, the pitching coil (422) may be formed as a wound coil.

[0137] The pitching coil (422) can correspond to the pitching magnet (421). The pitching coil (422) can be positioned in a location corresponding to the pitching magnet (421). The pitching coil (422) can face the pitching magnet (421). The pitching coil (422) can be opposite the pitching magnet (421). The pitching coil (422) can interact with the pitching magnet (421). The pitching coil (422) can have electromagnetic interactions with the pitching magnet (421). The pitching coil (422) can move the pitching magnet (421). The pitching coil (422) can move the pitching magnet (421) in the pitch direction. The pitching coil (422) can tilt the pitching magnet (421). The pitching coil (422) can rotate the pitching magnet (421).

[0138] The pitching coil (422) may include a plurality of coils. The pitching coil (422) may include two coils. The pitching coil (422) may include two coils spaced apart from each other. The pitching coil (422) may include two coils positioned opposite each other with respect to the optical axis. The pitching coil (422) may include a first coil positioned on one side of the pitching carrier (310) and a second coil positioned on the other side of the pitching carrier (310). The first coil may interact with the first magnet, and the second coil may interact with the second magnet. The first coil and the second coil may be electrically separated. The first coil and the second coil may be controlled individually. Alternatively, the first coil and the second coil may be electrically connected. The first coil and the second coil may be controlled together.

[0139] The camera device may include a guide ball. The guide ball can guide the movement of the movable part relative to the fixed part. The guide ball can guide the direction of movement of the movable part in a specific direction.

[0140] The camera device may include a yawing guide ball (510). The yawing guide ball (510) may be positioned between the pitching carrier (310) and the yawing carrier (210). The yawing guide ball (510) may be positioned on the pitching carrier (310) and the yawing carrier (210). The yawing guide ball (510) may be in contact with the pitching carrier (310) and the yawing carrier (210). The yawing guide ball (510) may be positioned directly between the pitching carrier (310) and the yawing carrier (210). The yawing guide ball (510) may be positioned between the groove (313) of the pitching carrier (310) and the groove (212) of the yawing carrier (210). The yawing guide ball (510) may be positioned between the upper surface of the pitching carrier (310) and the lower surface of the yawing carrier (210). The yawing guide ball (510) can be positioned between the pitching carrier (310) and the yawing carrier (210) in the direction of the optical axis. The yawing guide ball (510) can be an Rx ball.

[0141] The yawing guide ball (510) can be placed on the pitching carrier (310). The yawing guide ball (510) can be placed on the pitching carrier (310). The yawing guide ball (510) can be movably placed on the pitching carrier (310). The yawing guide ball (510) can be in contact with the pitching carrier (310). The yawing guide ball (510) can be placed directly on the pitching carrier (310). The yawing guide ball (510) can be placed in the groove (313) of the pitching carrier (310). The yawing guide ball (510) can be overlapped with the pitching carrier (310) in the direction of the optical axis.

[0142] A yawing guide ball (510) can be placed on a yawing carrier (210). A yawing guide ball (510) can be placed on a yawing carrier (210). A yawing guide ball (510) can be movably placed on a yawing carrier (210). A yawing guide ball (510) can be in contact with a yawing carrier (210). A yawing guide ball (510) can be placed directly on a yawing carrier (210). A yawing guide ball (510) can be placed in a groove (212) of a yawing carrier (210). A yawing guide ball (510) can be overlapped with a yawing carrier (210) in the direction of the optical axis.

[0143] The yawing guide ball (510) can be formed in a spherical shape. The yawing guide ball (510) can guide the yawing carrier (210) to move in the yawing direction relative to the pitching carrier (310).

[0144] The yawing guide ball (510) may include a plurality of balls. The yawing guide ball (510) may include a plurality of balls spaced apart from each other. The yawing guide ball (510) may include four balls. The yawing guide ball (510) may include first to fourth balls.

[0145] The camera device may include a pitching guide ball (520). The pitching guide ball (520) may be positioned between the base (110) and the pitching carrier (310). The pitching guide ball (520) may be positioned on the base (110) and the pitching carrier (310). The pitching guide ball (520) may be in contact with the base (110) and the pitching carrier (310). The pitching guide ball (520) may be positioned directly between the base (110) and the pitching carrier (310). The pitching guide ball (520) may be positioned between the groove (111a) of the base (110) and the groove (314) of the pitching carrier (310). The pitching guide ball (520) may be positioned between the upper surface of the base (110) and the lower surface of the pitching carrier (310). The pitching guide ball (520) can be positioned between the base (110) and the pitching carrier (310) in the direction of the optical axis. The pitching guide ball (520) may be a Ry ball.

[0146] A pitching guide ball (520) can be placed on the base (110). A pitching guide ball (520) can be placed on the base (110). A pitching guide ball (520) can be movably placed on the base (110). A pitching guide ball (520) can be in contact with the base (110). A pitching guide ball (520) can be placed directly on the base (110). A pitching guide ball (520) can be placed in a groove (111a) of the base (110). A pitching guide ball (520) can be overlapped with the base (110) in the direction of the optical axis.

[0147] A pitching guide ball (520) can be placed on a pitching carrier (310). A pitching guide ball (520) can be placed on a pitching carrier (310). A pitching guide ball (520) can be movably placed on a pitching carrier (310). A pitching guide ball (520) can be in contact with a pitching carrier (310). A pitching guide ball (520) can be placed directly on a pitching carrier (310). A pitching guide ball (520) can be placed in a groove (314) of a pitching carrier (310). A pitching guide ball (520) can be overlapped with a pitching carrier (310) in the direction of the optical axis.

[0148] The pitching guide ball (520) can be formed in a spherical shape. The pitching guide ball (520) can guide the pitching carrier (310) to move in the pitch direction relative to the base (110).

[0149] The pitching guide ball (520) may include a plurality of balls. The pitching guide ball (520) may include a plurality of balls spaced apart from each other. The pitching guide ball (520) may include four balls. The pitching guide ball (520) may include first to fourth balls.

[0150] The camera device may include a yoke. The camera device may include a guide ball pressing member. The yoke can press the guide ball through an attractive force with a magnet. The yoke may be formed of metal. The yoke may have an attractive force with the magnet.

[0151] The camera device may include a yawing yoke (610). The yawing yoke (610) may be placed on a yawing carrier (210). The yawing yoke (610) may be placed on the yawing carrier (210). The yawing yoke (610) may be fixed to the yawing carrier (210). The yawing yoke (610) may be coupled to the yawing carrier (210). The yawing yoke (610) may be in contact with the yawing carrier (210). The yawing yoke (610) may be bonded to the yawing carrier (210) with adhesive. The yawing yoke (610) may be an Rx yoke.

[0152] The yawing yoke (610) can interact with the yawing magnet (411). The yawing yoke (610) can correspond to the yawing magnet (411). The yawing yoke (610) can be positioned in a location corresponding to the yawing magnet (411). The yawing yoke (610) can face the yawing magnet (411). The yawing yoke (610) can be opposed to the yawing magnet (411). The yawing magnet (411) can move toward the yawing yoke (610). The yawing magnet (411) can be pulled toward the yawing yoke (610). The yawing magnet (411) can be pressed toward the yawing yoke (610). The yawing yoke (610) can move toward the yawing magnet (411). The yawing yoke (610) can be pulled toward the yawing magnet (411). The yawing yoke (610) can be pressed toward the yawing magnet (411). Through this, the yawing guide ball (510) can be maintained in contact with the yawing carrier (210) and the pitching carrier (310). In other words, the yawing guide ball (510) can be pressed between the yawing carrier (210) and the pitching carrier (310) by the attractive force between the yawing yoke (610) and the yawing magnet (411). The yawing yoke (610) can overlap with the yawing magnet (411) in the z-axis direction.

[0153] The yawing yoke (610) may include a portion having a curvature corresponding to the upper surface of the yawing magnet (411). The yawing yoke (610) may be bent to have a curvature. The yawing yoke (610) may be formed in a curved shape. The yawing yoke (610) may be formed in a strip shape. At least a portion of the yawing yoke (610) may correspond to the curvature of the upper surface of the opposing yawing magnet (411).

[0154] The camera device may include a pitching yoke (620). The pitching yoke (620) may be placed on the base (110). The pitching yoke (620) may be placed on the base (110). The pitching yoke (620) may be fixed to the base (110). The pitching yoke (620) may be coupled to the base (110). The pitching yoke (620) may be insert-molded into the base (110). The pitching yoke (620) may be inserted into the base (110). The pitching yoke (620) may be inserted within the base (110). The pitching yoke (620) may be an insert yoke. The pitching yoke (620) may be a Ry yoke.

[0155] The pitching yoke (620) can engage with the pitching magnet (421). The pitching yoke (620) can correspond to the pitching magnet (421). The pitching yoke (620) can be positioned in a location corresponding to the pitching magnet (421). The pitching yoke (620) can face the pitching magnet (421). The pitching yoke (620) can be opposite the pitching magnet (421). The pitching magnet (421) can move toward the pitching yoke (620). The pitching magnet (421) can be pulled toward the pitching yoke (620). The pitching magnet (421) can be pressed toward the pitching yoke (620). Through this, the pitching carrier (310) can be pressed toward the base (110). Therefore, the pitching guide ball (520) can be maintained in contact with the pitching carrier (310) and the base (110). In other words, the pitching guide ball (520) can be pressed between the pitching carrier (310) and the base (110) by the attractive force between the pitching yoke (620) and the pitching magnet (421). The pitching yoke (620) can overlap with the pitching magnet (421) in the direction of the optical axis.

[0156] The pitching yoke (620) may include a portion having a curvature corresponding to the lower surface of the pitching magnet (421). The pitching yoke (620) may be bent to have a curvature. The pitching yoke (620) may be formed in a curved shape. The pitching yoke (620) may be formed in a strip shape. At least a portion of the pitching yoke (620) may correspond to the curvature of the lower surface of the opposing pitching magnet (421).

[0157] The pitching yoke (620) may include a lower surface positioned opposite the upper surface of the pitching yoke (620) and having a curvature corresponding to the curvature of the upper surface of the pitching yoke (620). The pitching yoke (620) may include a portion having a curvature corresponding to the curvature of the lower surface of the pitching magnet (421).

[0158] The camera device may include a camera module (700). The camera module (700) may be placed on a yawing carrier (210). The camera module (700) may be placed within the yawing carrier (210). The camera module (700) may be placed on the yawing carrier (210). The camera module (700) may be fixed to the yawing carrier (210). The camera module (700) may be coupled to the yawing carrier (210). The camera module (700) may be bonded to the yawing carrier (210) with adhesive. The camera module (700) may move integrally with the yawing carrier (210).

[0159] The camera device may include a printed circuit board (PCB). The camera module (700) may include a printed circuit board. The camera device may include an image sensor. The camera module (700) may include an image sensor. The image sensor may be placed on the printed circuit board. The camera device may include a lens. The camera module (700) may include a lens. The lens may be placed on the image sensor. The optical axis of the lens may be aligned with the optical axis of the image sensor. That is, the optical axis of the lens is the same as the optical axis of the image sensor, and this may be referred to as the optical axis of the camera module (700) or the optical axis of the camera device. Therefore, the optical axis direction of the lens, the optical axis direction of the image sensor, the optical axis direction of the camera module (700), and the optical axis direction of the camera device may all coincide. Light passing through the lens may reach the image sensor. The light reaching the image sensor may be converted into an electrical signal and transmitted to a control unit.

[0160] The camera module (700) may include an AF drive unit. The AF drive unit can perform an autofocus function. The AF drive unit can adjust the focus of a subject by moving a lens or image sensor in the direction of the optical axis. The AF drive unit may include a coil and a magnet.

[0161] A camera device may include a substrate (710). A camera module (700) may include a substrate (710). The substrate (710) may include a flexible substrate. The substrate (710) may include a flexible printed circuit board (FPCB). The substrate (710) may have flexibility. The substrate (710) may have elasticity. The substrate (710) may include an elastic member. The substrate (710) may have elasticity. The substrate (710) may have restoring force. The substrate (710) may movably support the camera module (700). The substrate (710) may be electrically connected to the camera module (700). The substrate (710) may be electrically connected to the image sensor of the camera module (700). The substrate (710) may be understood as a component of the camera module (700). Alternatively, the substrate (710) can be understood as having a separate configuration from the camera module (700).

[0162] The substrate (710) may include a first portion (711). The substrate (710) may include a second portion (712). The substrate (710) may include a third portion (713).

[0163] The substrate (710) may include a first portion (711). The first portion (711) may be overlapped multiple times so as to overlap each other in the direction of the optical axis. The first portion (711) may be bent about a plurality of virtual bending axes parallel to the x-axis. The first portion (711) may support the yawing drive of the camera module (700).

[0164] The substrate (710) may include a second part (712). The second part (712) may be overlapped multiple times so as to overlap each other in the direction of the optical axis. The second part (712) may be bent about a plurality of virtual bending axes parallel to the y-axis. The second part (712) may support the pitching drive of the camera module (700).

[0165] The substrate (710) may include a third part (713). The third part (713) may connect the first part (711) and the second part (712).

[0166]

[0167] Hereinafter, the operation of a camera device according to the first embodiment of the present invention will be described with reference to the drawings.

[0168] FIG. 14 is a drawing illustrating the yawing and pitching drives of a camera device according to a first embodiment of the present invention. FIG. 15 is a drawing illustrating a driving unit and a yoke of a camera device according to a modified example. FIG. 16 is a drawing illustrating a driving unit and a yoke of a camera device according to another modified example. FIG. 17 is a drawing illustrating a pitching driving unit of a camera device according to a modified example.

[0169] In a camera device according to the first embodiment of the present invention, when current is applied to the yawing coil (412), an electromagnetic field is formed around the yawing coil (412), and the yawing coil (412) can move relative to the yawing magnet (411) by means of electromagnetic interaction between the yawing magnet (411) and the yawing coil (412). At this time, the yawing coil (412) can be rotated or tilted around the x-axis (see yaw in FIG. 14). The yawing angle of the yawing coil (412) can be plus or minus 3 degrees. When the yawing coil (412) is rotated or tilted, the yawing carrier (210) and the camera module (700) can also be rotated or tilted together with the yawing coil (412).

[0170] When a forward current is applied to the yawing coil (412), a force may be applied to the yawing coil (412) in one direction due to the electromagnetic interaction between the yawing coil (412) and the yawing magnet (411). Conversely, when a reverse current is applied to the yawing coil (412), a force may be applied to the yawing coil (412) in the other direction opposite to the one direction due to the electromagnetic interaction between the yawing coil (412) and the yawing magnet (411).

[0171] In a camera device according to a modified example, as shown in FIG. 15, the yawing coil (412) may be formed to have a curvature corresponding to that of the yawing magnet (411). Furthermore, in a modified example, a yoke (630) may be additionally disposed to enhance the electromagnetic force between the yawing magnet (411) and the yawing coil (412) and between the pitching magnet (421) and the pitching coil (422). The yoke (630) may be disposed between two pitching magnets (421) and below the yawing magnet (411). The yoke (630) may be disposed on the pitching carrier (310).

[0172] In a camera device according to another variation, as shown in FIG. 16, the yawing coil (412a) may be formed in a square ring shape without curvature. The yawing coil (412a) may be formed flat without curvature. The yawing coil (412a) may be placed on a virtual plane. In other variations as well, a yoke (630) may be additionally placed to enhance the electromagnetic force between the previously described yawing magnet (411) and the yawing coil (412a) and between the pitching magnet (421) and the pitching coil (422).

[0173] In a camera device according to the first embodiment of the present invention, when current is applied to the pitching coil (422), an electromagnetic field is formed around the pitching coil (422), and the pitching magnet (421) can move relative to the pitching coil (422) by means of electromagnetic interaction between the pitching magnet (421) and the pitching coil (422). At this time, the pitching magnet (421) can be rotated or tilted around the y-axis (see pitch in FIG. 14). The pitching angle of the pitching magnet (421) can be plus or minus 3 degrees. When the pitching magnet (421) is rotated or tilted, the pitching carrier (310), the yawing carrier (210), and the camera module (700) can also be rotated or tilted together with the pitching magnet (421).

[0174] When a forward current is applied to the pitching coil (422), a force may be applied to the pitching magnet (421) in one direction due to the electromagnetic interaction between the pitching coil (422) and the pitching magnet (421). Conversely, when a reverse current is applied to the pitching coil (422), a force may be applied to the pitching magnet (421) in the opposite direction to the one direction due to the electromagnetic interaction between the pitching coil (422) and the pitching magnet (421). At this time, the forward current may be a current flowing upward in the inner end region of the yawing coil (412). Conversely, the reverse current may be a current flowing downward in the inner end region of the yawing coil (412).

[0175] In a camera device according to a modified example, the pitching coil (422) may be formed in a rounded shape as shown in FIG. 17. In the first embodiment of the present invention shown in FIG. 1, etc., the pitching coil (422) is formed in a shape close to a square ring, but in a modified example, the shape of the pitching coil (422) may be changed. The pitching coil (422) may be formed to have a curvature corresponding to that of the pitching magnet (421). The upper surface of the pitching coil (422) may have a curvature corresponding to that of the upper surface of the pitching magnet (421). The lower surface of the pitching coil (422) may have a curvature corresponding to that of the lower surface of the pitching magnet (421).

[0176] In the first embodiment of the present invention, when current is applied to the yawing coil (412) and the camera module (700) is driven in a yawing manner, the first part (711) of the substrate (710) can support the camera module (700) in a movable manner. Additionally, when current is applied to the pitching coil (422) and the camera module (700) is driven in a pitching manner, the second part (712) of the substrate (710) can support the camera module (700) in a movable manner. The third part (713) of the substrate (710) connects the first part (711) and the second part (712) and can support one or more of the yawing and pitching operations of the camera module (700). The first to third parts (711, 712, 713) of the substrate (710) are arranged to overlap multiple times so that the overlapping parts move away from or closer to each other, thereby supporting the movement of the camera module (700). Although the functions of the first to third parts (711, 712, 713) have been described separately above, during yawing operation, all of the first to third parts (711, 712, 713) can move to support the camera module (700). Similarly, during pitching operation, all of the first to third parts (711, 712, 713) can move to support the camera module (700).

[0177]

[0178] Hereinafter, the configuration of a camera device according to the second embodiment of the present invention will be described with reference to the drawings.

[0179] FIG. 18 is a perspective view illustrating a camera device according to a second embodiment of the present invention. FIG. 19 is a plan view illustrating a camera device according to a second embodiment of the present invention. FIG. 20 is a cross-sectional view taken from AA in FIG. 18. FIG. 21 is a cross-sectional view taken from BB in FIG. 18. FIG. 22 is a cross-sectional view taken from above, cut perpendicular to the optical axis, of a camera device according to a second embodiment of the present invention. FIG. 23 is an exploded perspective view of a camera device according to a second embodiment of the present invention. FIG. 24 is a perspective view illustrating a pitching moving part and related configuration of a camera device according to a second embodiment of the present invention. FIG. 25 is a perspective view illustrating a state in which the pitching moving part of a camera device according to a second embodiment of the present invention is placed on a yawing moving part. FIG. 26 is a perspective view illustrating a state in which the pitching moving part and the yawing moving part of a camera device according to a second embodiment of the present invention are placed on a base. FIG. 27 is a perspective view of a camera device according to a second embodiment of the present invention with the cover and case omitted. FIG. 28 is a perspective view illustrating the combined state of the pitching moving part and the camera module of the camera device according to a second embodiment of the present invention. FIG. 29 is a perspective view illustrating the yawing moving part and related configuration of the camera device according to a second embodiment of the present invention. FIG. 30 is a perspective view illustrating the base and related configuration of the camera device according to a second embodiment of the present invention. FIG. 31 is an exploded perspective view illustrating the pressure structure of the pitching guide ball of the camera device according to a second embodiment of the present invention.

[0180] A camera device according to the second embodiment of the present invention may include a camera module tilting structure utilizing the electromagnetic force between a coil and a magnet.

[0181] The camera device may be a camera actuator. The camera device may be a camera. The camera device may be a camera assembly. The camera device may be a camera apparatus. The camera device may be an optical instrument. The camera device may be an optical device. The camera device may be a robot eye device. The camera device may be a tilting module.

[0182] The camera device may include a fixed part (1100). The fixed part (1100) may be a part that is relatively fixed when the movable part moves. The movable part may move relative to the fixed part (1100).

[0183] The camera device may include a base (1110). The fixed part (1100) may include the base (1110). The base (1110) may be placed in a case (1130). The base (1110) may be placed on the case (1130). The base (1110) may be placed inside the case (1130). The base (1110) may be fixed to the case (1130). The base (1110) may be coupled to the case (1130). The base (1110) may be placed in a cover (1120). The base (1110) may be placed inside the cover (1120). The base (1110) may be placed below the cover (1120). The base (1110) may be placed in the internal space formed by the case (1130) and the cover (1120).

[0184] The base (1110) may include a groove (1111). The groove (1111) may be a ball rail. A yawing guide ball (1510) may be placed in the groove (1111). The yawing guide ball (1510) may move along the groove (1111). The groove (1111) may extend in the yaw direction. The groove (1111) may be formed with a size corresponding to the diameter of the yawing guide ball (1510). The groove (1111) may guide the yawing guide ball (1510) to move in the yaw direction.

[0185] The camera device may include a cover (1120). The fixing part (1100) may include the cover (1120). The cover (1120) may be placed on the case (1130). The cover (1120) may be placed on the case (1130). The cover (1120) may be coupled to the case (1130). The cover (1120) may be fixed to the case (1130). The cover (1120) may be bonded to the case (1130) with adhesive. The cover (1120) may be a shield can. The cover (1120) may be formed of metal.

[0186] The cover (1120) may include a top plate and side plates. The top plate may include a hollow through which light passes. The side plates may include a plurality of side plates. The side plates may include a first side plate and a second side plate positioned opposite each other, and a third side plate and a fourth side plate positioned opposite each other.

[0187] The camera device may include a case (1130). The fixed part (1100) may include the case (1130). The case (1130) may form the exterior of the camera device. The case (1130) may be placed below the cover (1120). The case (1130) may accommodate a base (1110) inside. The case (1130) may include a bottom plate and side plates. The case (1130) may include a plurality of side plates. The plurality of side plates may include a first side plate and a second side plate positioned opposite each other, and a third side plate and a fourth side plate positioned opposite each other.

[0188] The camera device may include a moving part. The moving part may be positioned on a fixed part (1100). The moving part may be positioned within the fixed part (1100). The moving part may be positioned on the fixed part (1100). The moving part may move relative to the fixed part (1100). The moving part may move relative to the fixed part (1100) by a driving part (1400).

[0189] The camera device may include a yawing moving part (1200). The yawing moving part (1200) can yawing. The yawing moving part (1200) can yawing relative to the fixed part (1100). The yawing moving part (1200) can be rotated or tilted in the yawing direction relative to the fixed part (1100). The yawing moving part (1200) can yawing relative to the fixed part (1100) by a yawing driving part.

[0190] The camera device may include a yawing carrier (1210). The yawing moving part (1200) may include a yawing carrier (1210). The yawing carrier (1210) may be placed within the base (1110). The yawing carrier (1210) may be placed on the base (1110). The yawing carrier (1210) may be placed on the base (1110). The yawing carrier (1210) may be movably placed on the base (1110). The yawing carrier (1210) may be placed between the base (1110) and the pitching carrier (1310). The yawing carrier (1210) may be a tilt carrier.

[0191] By the interaction between the yawing coil (1420) and the driving magnet (1410), the yawing carrier (1210) can be tilted together around the x-axis. That is, the yawing carrier (1210) can move in the yaw direction. In other words, the yawing carrier (1210) can be yawing driven. By the interaction between the yawing coil (1420) and the driving magnet (1410), the yawing carrier (1210) and the pitching carrier (1310) can be tilted together around the x-axis.

[0192] The yawing carrier (1210) may include a protrusion (1211). The protrusion (1211) may be formed on the inner surface of the yawing carrier (1210). The protrusion (1211) may be formed protrudingly on the inner surface of the yawing carrier (1210). The inner surface of the protrusion (1211) may be formed in a circular shape. The yawing carrier (1210) may include an inclined surface (1211a). The protrusion (1211) may include an inclined surface (1211a). A pitching guide ball (1520) may be disposed on the inclined surface (1211a).

[0193] The yawing carrier (1210) may include a groove (1212). The groove (1212) may be a ball rail. A yawing guide ball (1510) may be placed in the groove (1212). The yawing guide ball (1510) may move along the groove (1212). The groove (1212) may extend in the yaw direction. The groove (1212) may be formed with a size corresponding to the diameter of the yawing guide ball (1510). The groove (1212) may guide the yawing guide ball (1510) to move in the yaw direction.

[0194] The camera device may include a pitching moving part (1300). The pitching moving part (1300) can pitch. The pitching moving part (1300) can pitch relative to the fixed part (1100). The pitching moving part (1300) can rotate or tilt in the pitch direction relative to the fixed part (1100). The pitching moving part (1300) can pitch relative to the fixed part (1100) by means of a pitching driving part. The pitching moving part (1300) can pitch relative to the yawing moving part (1200) by means of a pitching driving part.

[0195] The camera device may include a pitching carrier (1310). The pitching moving part (1300) may include a pitching carrier (1310). The pitching carrier (1310) may be placed within a yawing carrier (1210). The pitching carrier (1310) may be placed on the yawing carrier (1210). The pitching carrier (1310) may be placed on the yawing carrier (1210). The pitching carrier (1310) may be movably placed on the yawing carrier (1210). The pitching carrier (1310) may be placed within a base (1110). The pitching carrier (1310) may be placed on the base (1110). The pitching carrier (1310) may be placed on the base (1110). The pitching carrier (1310) may be movably placed on the base (1110). The pitching carrier (1310) may be a camera module carrier.

[0196] Due to the interaction between the yawing coil (1420) and the driving magnet (1410), the pitching carrier (1310) can be tilted about the x-axis together with the yawing carrier (1210). Due to the interaction between the pitching coil (1430) and the driving magnet (1410), the pitching carrier (1310) can be tilted about the y-axis. That is, the pitching carrier (1310) can move in the pitch direction. In other words, the pitching carrier (1310) can be pitched.

[0197] The pitching carrier (1310) may include a body portion (1311). A pitching coil (1430) may be disposed in the body portion (1311). The body portion (1311) may be coupled with a camera module (1700). The body portion (1311) may include a hollow in which the camera module (1700) is disposed. The camera module (1700) may be disposed in the body portion (1311).

[0198] The pitching carrier (1310) may include a rail guide portion (1312). The rail guide portion (1312) may be coupled to the body portion (1311). The rail guide portion (1312) may be positioned on the body portion (1311). The rail guide portion (1312) may be positioned on the body portion (1311). The rail guide portion (1312) may be fixed to the body portion (1311). The rail guide portion (1312) may be bonded to the body portion (1311) with adhesive. The rail guide portion (1312) may include a projection that is coupled to the body portion (1311). At least a portion of the rail guide portion (1312) may be spaced apart from the body portion (1311).

[0199] The pitching carrier (1310) may include a first groove (1312a). The rail guide portion (1312) may include a first groove (1312a). The first groove (1312a) may be a ball rail. A pitching guide ball (1520) may be disposed in the first groove (1312a). The first groove (1312a) may be formed on the outer surface of the rail guide portion (1312). The first groove (1312a) may be formed around the second groove (1312b). The first groove (1312a) may include four grooves spaced apart from each other. The first groove (1312a) may be formed to have a curvature.

[0200] The pitching carrier (1310) may include a second groove (1312b). The rail guide portion (1312) may include a second groove (1312b). The second groove (1312b) may be a yoke receiving groove. A pitching yoke (1620) may be disposed in the groove (1312b). The second groove (1312b) may be formed on the outer surface of the rail guide portion (1312).

[0201] The camera device may include a driving unit (1400). The driving unit (1400) may move the moving unit relative to the fixed unit (1100). The driving unit (1400) may tilt the moving unit relative to the fixed unit (1100). The driving unit (1400) may rotate the moving unit relative to the fixed unit (1100). The driving unit (1400) may include a yawing driving unit that yawing the moving unit. The driving unit (1400) may include a yawing driving unit that moves a yawing carrier (1210). The driving unit (1400) may include a pitching driving unit that pitches the moving unit. The driving unit (1400) may include a pitching driving unit that moves a pitching carrier (1310).

[0202] The camera device may include a drive magnet (1410). The drive unit (1400) may include a drive magnet (1410). The drive magnet (1410) may be placed on a yawing carrier (1210). The drive magnet (1410) may be placed on the yawing carrier (1210). The drive magnet (1410) may be fixed to the yawing carrier (1210). The drive magnet (1410) may be coupled to the yawing carrier (1210). The drive magnet (1410) may be bonded to the yawing carrier (1210) with adhesive. The drive magnet (1410) may be placed on the upper surface of the bottom plate of the yawing carrier (1210). The lower surface of the drive magnet (1410) may be in contact with the yawing carrier (1210). The drive magnet (1410) can be placed directly on the yawing carrier (1210). The drive magnet (1410) can move together with the yawing carrier (1210).

[0203] The outer surface of the driving magnet (1410) may face the yawing coil (1420). The inner surface of the driving magnet (1410) may face the pitching coil (1430). The driving magnet (1410) may be positioned between the yawing coil (1420) and the pitching coil (1430). At least a portion of the driving magnet (1410) may be positioned between the yawing coil (1420) and the pitching coil (1430). The driving magnet (1410) may be positioned between the yawing coil (1420) and the pitching coil (1430). The driving magnet (1410) may be positioned between the yawing coil (1420) and the pitching coil (1430) in the x-axis direction. The driving magnet (1410) may overlap with the yawing coil (1420) in the x-axis direction. The driving magnet (1410) can overlap with the pitching coil (1430) in the x-axis direction.

[0204] The upper surface of the drive magnet (1410) may be formed as a flat surface. The lower surface of the drive magnet (1410) may be formed as a curved surface. The upper and lower surfaces of the drive magnet (1410) may be connected through two inclined surfaces. The distance between the two inclined surfaces may gradually increase from the upper surface of the drive magnet (1410) to the lower surface of the drive magnet (1410). The drive magnet (1410) may be formed in a roughly fan shape.

[0205] In a variation of FIG. 34, the driving magnet (1410) may include a first magnet part (1411) arranged parallel to the y-axis and a second magnet part (1412) arranged perpendicularly to the inner surface of the first magnet part (1411).

[0206] The upper surface of the first magnet part (1411) may be formed as a flat surface. The lower surface of the first magnet part (1411) may be formed as a curved surface. The upper surface and the lower surface of the first magnet part (1411) may be connected through two inclined surfaces. The distance between the two inclined surfaces may gradually increase from the upper surface of the first magnet part (1411) to the lower surface of the first magnet part (1411).

[0207] The driving magnet (1410) may include a plurality of magnets. The driving magnet (1410) may include two magnets. The driving magnet (1410) may include two magnets spaced apart from each other. The driving magnet (1410) may include two magnets positioned opposite each other with respect to the optical axis. The driving magnet (1410) may include a first magnet positioned on one side of the pitching carrier (1310) and a second magnet positioned on the other side of the pitching carrier (1310).

[0208] The camera device may include a yawing coil (1420). The driving unit (1400) may include a yawing coil (1420). The yawing coil (1420) may be placed on the base (1110). The yawing coil (1420) may be placed on the base (1110). The yawing coil (1420) may be placed on the upper surface of the base (1110). The yawing coil (1420) may be fixed to the base (1110). The yawing coil (1420) may be coupled to the base (1110). The yawing coil (1420) may be bonded to the base (1110) with adhesive. The yawing coil (1420) may be placed on a substrate placed on the base (1110). The yawing coil (1420) may be formed as an FP coil on the substrate placed on the base (1110).

[0209] The yawing coil (1420) can correspond to the driving magnet (1410). The yawing coil (1420) can be positioned at a location corresponding to the driving magnet (1410). The yawing coil (1420) can face the driving magnet (1410). The yawing coil (1420) can be opposite the driving magnet (1410). The yawing coil (1420) can interact with the driving magnet (1410). The yawing coil (1420) can have electromagnetic interaction with the driving magnet (1410). The yawing coil (1420) can move the driving magnet (1410). The yawing coil (1420) can move the driving magnet (1410) in the yaw direction. The yawing coil (1420) can tilt the driving magnet (1410). The yawing coil (1420) can rotate the driving magnet (1410).

[0210] The yawing coil (1420) may include a plurality of coils. The yawing coil (1420) may include two coils. The yawing coil (1420) may include two coils spaced apart from each other. The yawing coil (1420) may include two coils positioned opposite each other with respect to the optical axis. The yawing coil (1420) may include a first coil positioned on one side of the pitching carrier (1310) and a second coil positioned on the other side of the pitching carrier (1310). The first coil may interact with a first magnet, and the second coil may interact with a second magnet. The first coil and the second coil may be electrically separated. The first coil and the second coil may be controlled individually. Alternatively, the first coil and the second coil may be electrically connected. The first coil and the second coil may be controlled together.

[0211] The camera device may include a pitching coil (1430). The driving unit (1400) may include a pitching coil (1430). The pitching coil (1430) may be placed on a pitching carrier (1310). The pitching coil (1430) may be placed on the pitching carrier (1310). The pitching coil (1430) may be coupled to the pitching carrier (1310). The pitching coil (1430) may be fixed to the pitching carrier (1310). The pitching coil (1430) may be bonded to the pitching carrier (1310) with adhesive. The pitching coil (1430) may be placed on the outer surface of the pitching carrier (1310). The pitching coil (1430) may be placed around the outer surface of the pitching carrier (1310). The pitching coil (1430) may be placed on the outer surface of the body portion (1311). At least a portion of the pitching coil (1430) may be placed between the body portion (1311) and the rail guide portion (1312).

[0212] The pitching coil (1430) can correspond to the driving magnet (1410). The pitching coil (1430) can be positioned at a location corresponding to the driving magnet (1410). The pitching coil (1430) can face the driving magnet (1410). The pitching coil (1430) can be opposite the driving magnet (1410). The pitching coil (1430) can interact with the driving magnet (1410). The pitching coil (1430) can have electromagnetic interaction with the driving magnet (1410). The driving magnet (1410) can move the pitching coil (1430). The driving magnet (1410) can move the pitching coil (1430) in the pitch direction. The driving magnet (1410) can tilt the pitching coil (1430). The driving magnet (1410) can rotate the pitching coil (1430).

[0213] The camera device may include a guide ball. The guide ball can guide the movement of the movable part relative to the fixed part. The guide ball can guide the direction of movement of the movable part in a specific direction.

[0214] The camera device may include a yawing guide ball (1510). The yawing guide ball (1510) may be positioned between the base (1110) and the yawing carrier (1210). The yawing guide ball (1510) may be positioned on the base (1110) and the yawing carrier (1210). The yawing guide ball (1510) may be in contact with the base (1110) and the yawing carrier (1210). The yawing guide ball (1510) may be positioned directly between the base (1110) and the yawing carrier (1210). The yawing guide ball (1510) may be positioned between the groove (1111) of the base (1110) and the groove (1212) of the yawing carrier (1210). The yawing guide ball (1510) may be positioned between the upper surface of the base (1110) and the lower surface of the yawing carrier (1210). The yawing guide ball (1510) can be positioned between the base (1110) and the yawing carrier (1210) in the direction of the optical axis. The yawing guide ball (1510) can be an Rx ball.

[0215] The yawing guide ball (1510) can be placed on the base (1110). The yawing guide ball (1510) can be placed on the base (1110). The yawing guide ball (1510) can be movably placed on the base (1110). The yawing guide ball (1510) can be in contact with the base (1110). The yawing guide ball (1510) can be placed directly on the base (1110). The yawing guide ball (1510) can be placed in the groove (1111) of the base (1110). The yawing guide ball (1510) can be overlapped with the base (1110) in the direction of the optical axis.

[0216] A yawing guide ball (1510) can be placed on a yawing carrier (1210). A yawing guide ball (1510) can be placed on a yawing carrier (1210). A yawing guide ball (1510) can be movably placed on a yawing carrier (1210). A yawing guide ball (1510) can be in contact with a yawing carrier (1210). A yawing guide ball (1510) can be placed directly on a yawing carrier (1210). A yawing guide ball (1510) can be placed in a groove (1212) of a yawing carrier (1210). A yawing guide ball (1510) can be overlapped with a yawing carrier (1210) in the direction of the optical axis.

[0217] The yawing guide ball (1510) can be formed in a spherical shape. The yawing guide ball (1510) can guide the yawing carrier (1210) to move in the yawing direction relative to the base (1110).

[0218] The yawing guide ball (1510) may include a plurality of balls. The yawing guide ball (1510) may include a plurality of balls spaced apart from each other. The yawing guide ball (1510) may include four balls. The yawing guide ball (1510) may include first to fourth balls.

[0219] The camera device may include a pitching guide ball (1520). The pitching guide ball (1520) may be positioned between the yawing carrier (1210) and the pitching carrier (1310). The pitching guide ball (1520) may be positioned on the yawing carrier (1210) and the pitching carrier (1310). The pitching guide ball (1520) may be in contact with the yawing carrier (1210) and the pitching carrier (1310). The pitching guide ball (1520) may be positioned directly between the yawing carrier (1210) and the pitching carrier (1310). The pitching guide ball (1520) may be positioned between the inclined surface (1211a) of the yawing carrier (1210) and the first groove (1312a) of the pitching carrier (1310). The pitching guide ball (1520) may be positioned between the inner surface of the yawing carrier (1210) and the outer surface of the pitching carrier (1310). The pitching guide ball (1520) may be positioned between the yawing carrier (1210) and the pitching carrier (1310) in the y-axis direction. The pitching guide ball (1520) may be a Ry ball.

[0220] A pitching guide ball (1520) can be placed between the yawing carrier (1210) and the rail guide section (1312). A pitching guide ball (1520) can be placed between the yawing carrier (1210) and the rail guide section (1312). A pitching guide ball (1520) can be in contact with the yawing carrier (1210) and the rail guide section (1312). A pitching guide ball (1520) can be placed directly between the yawing carrier (1210) and the rail guide section (1312). A pitching guide ball (1520) can be placed in the first groove (1312a) of the rail guide section (1312).

[0221] A pitching guide ball (1520) can be placed on a yawing carrier (1210). A pitching guide ball (1520) can be placed on a yawing carrier (1210). A pitching guide ball (1520) can be movably placed on a yawing carrier (1210). A pitching guide ball (1520) can be in contact with a yawing carrier (1210). A pitching guide ball (1520) can be placed directly on a yawing carrier (1210). A pitching guide ball (1520) can be placed on a protrusion (1211) of a yawing carrier (1210). A pitching guide ball (1520) can be placed on an inclined surface (1211a) of a yawing carrier (1210). A pitching guide ball (1520) can be overlapped with a yawing carrier (1210) in the y-axis direction.

[0222] A pitching guide ball (1520) can be placed on a pitching carrier (1310). A pitching guide ball (1520) can be placed on a pitching carrier (1310). A pitching guide ball (1520) can be movably placed on a pitching carrier (1310). A pitching guide ball (1520) can be in contact with a pitching carrier (1310). A pitching guide ball (1520) can be placed directly on a pitching carrier (1310). A pitching guide ball (1520) can be placed in a groove (1312a) of a pitching carrier (1310). A pitching guide ball (1520) can be overlapped with a pitching carrier (1310) in the y-axis direction.

[0223] The pitching guide ball (1520) can be formed in a spherical shape. The pitching guide ball (1520) can guide the pitching carrier (1310) to move in the pitch direction relative to the yawing carrier (1210).

[0224] The pitching guide ball (1520) may include a plurality of balls. The pitching guide ball (1520) may include a plurality of balls spaced apart from each other. The pitching guide ball (1520) may include four balls. The pitching guide ball (1520) may include first to fourth balls.

[0225] The camera device may include a yoke. The camera device may include a guide ball pressing member. The yoke can press the guide ball through an attractive force with a magnet. The yoke may be formed of metal. The yoke may have an attractive force with the magnet.

[0226] The camera device may include a yawing yoke (1610). The yawing yoke (1610) may be placed on a base (1110). The yawing yoke (1610) may be placed on the base (1110). The yawing yoke (1610) may be fixed to the base (1110). The yawing yoke (1610) may be coupled to the base (1110). The yawing yoke (1610) may be insert-molded into the base (1110). The yawing yoke (1610) may be inserted into the base (1110). The yawing yoke (1610) may be an insert yoke.

[0227] The yawing yoke (1610) can interact with the driving magnet (1410). The yawing yoke (1610) can correspond to the driving magnet (1410). The yawing yoke (1610) can be positioned at a location corresponding to the driving magnet (1410). The yawing yoke (1610) can face the driving magnet (1410). The yawing yoke (1610) can be opposite the driving magnet (1410). The driving magnet (1410) can move toward the yawing yoke (1610). The driving magnet (1410) can be pulled toward the yawing yoke (1610). The driving magnet (1410) can be pressed toward the yawing yoke (1610). Through this, the yawing carrier (1210) can be pressed toward the base (1110). Thus, the yawing guide ball (1510) can be maintained in contact with the yawing carrier (1210) and the base (1110). In other words, the yawing guide ball (1510) can be pressed between the yawing carrier (1210) and the base (1110) by the attractive force between the yawing yoke (1610) and the driving magnet (1410). The yawing yoke (1610) can overlap with the driving magnet (1410) in the direction of the optical axis.

[0228] The yawing yoke (1610) may include a portion having a curvature corresponding to the lower surface of the first magnet portion (1411). The yawing yoke (1610) may be bent to have a curvature. The yawing yoke (1610) may be formed in a curved shape. The yawing yoke (1610) may be formed in a strip shape. At least a portion of the yawing yoke (1610) may correspond to the curvature of the lower surface of the first magnet portion (1411) facing it.

[0229] The yawing yoke (1610) may include a first portion (1711) that is inserted into the base (1110). The yawing yoke (1610) may include a second portion (1712) that is exposed to the outside of the base (1110). A portion of the yawing yoke (1610) may be inserted into the base (1110), and another portion of the yawing yoke (1610) may protrude to the outside of the base (1110). A portion of the yawing yoke (1610) may be inserted into the base (1110).

[0230] The camera device may include a pitching yoke (1620). The pitching yoke (1620) may be placed on a pitching carrier (1310). The pitching yoke (1620) may be placed on the pitching carrier (1310). The pitching yoke (1620) may be fixed to the pitching carrier (1310). The pitching yoke (1620) may be coupled to the pitching carrier (1310). The pitching yoke (1620) may be in contact with the pitching carrier (1310). The pitching yoke (1620) may be bonded to the pitching carrier (1310) with adhesive. The pitching yoke (1620) may be placed in the second groove (1312b) of the rail guide portion (1312). The pitching yoke (1620) can be inserted into the second groove (1312b) of the rail guide part (1312). The pitching yoke (1620) may be a Ry force yoke.

[0231] The pitching yoke (1620) can interact with the preload magnet (1630). The pitching yoke (1620) can correspond to the preload magnet (1630). The pitching yoke (1620) can be positioned in a location corresponding to the preload magnet (1630). The pitching yoke (1620) can face the preload magnet (1630). The pitching yoke (1620) can be opposed to the preload magnet (1630). The preload magnet (1630) can move toward the pitching yoke (1620). The preload magnet (1630) can be pulled toward the pitching yoke (1620). The preload magnet (1630) can be pressed toward the pitching yoke (1620). The pitching yoke (1620) can move toward the preload magnet (1630). The pitching yoke (1620) can be pulled toward the preload magnet (1630). The pitching yoke (1620) can be pressed toward the preload magnet (1630). Through this, the pitching guide ball (1520) can be maintained in contact with the yawing carrier (1210) and the pitching carrier (1310). In other words, the pitching guide ball (1520) can be pressed between the yawing carrier (1210) and the pitching carrier (1310) by the attractive force between the pitching yoke (1620) and the preload magnet (1630). The pitching yoke (1620) can overlap with the preload magnet (1630) in the y-axis direction.

[0232] The camera device may include a preload magnet (1630). The preload magnet (1630) may be placed on the yawing carrier (1210). The preload magnet (1630) may be placed on the yawing carrier (1210). The preload magnet (1630) may be coupled to the yawing carrier (1210). The preload magnet (1630) may be fixed to the yawing carrier (1210). The preload magnet (1630) may be bonded to the yawing carrier (1210) with an adhesive.

[0233] Although it has been described above that the preload magnet (1630) is placed on the yawing carrier (1210) and the pitching yoke (1620) is placed on the pitching carrier (1310), as a variation, the preload magnet (1630) is placed on the pitching carrier (1310) and the pitching yoke (1620) is placed on the yawing carrier (1210) so that mutual attractive force can act.

[0234] The camera device may include a preload magnet cover (1635). The preload magnet cover (1635) may cover the preload magnet (1630). The preload magnet cover (1635) may be a yoke. The preload magnet cover (1635) may be placed on a yawing carrier (1210). The preload magnet cover (1635) may be placed on the yawing carrier (1210). The preload magnet cover (1635) may be coupled to the yawing carrier (1210). The preload magnet cover (1635) may be fixed to the yawing carrier (1210). The preload magnet cover (1635) may be bonded to the yawing carrier (1210). The preload magnet cover (1635) may be bonded to the yawing carrier (1210) with adhesive.

[0235] The camera device may include a camera module (1700). The camera module (1700) may be placed on a pitching carrier (1310). The camera module (1700) may be placed inside the pitching carrier (1310). The camera module (1700) may be placed on the pitching carrier (1310). The camera module (1700) may be fixed to the pitching carrier (1310). The camera module (1700) may be coupled to the pitching carrier (1310). The camera module (1700) may be bonded to the pitching carrier (1310) with adhesive. The camera module (1700) may move integrally with the pitching carrier (1310).

[0236] The camera device may include a printed circuit board (PCB). The camera module (1700) may include a printed circuit board. The camera device may include an image sensor. The camera module (1700) may include an image sensor. The image sensor may be placed on the printed circuit board. The camera device may include a lens. The camera module (1700) may include a lens. The lens may be placed on the image sensor. The optical axis of the lens may be aligned with the optical axis of the image sensor. That is, the optical axis of the lens is the same as the optical axis of the image sensor, and this may be referred to as the optical axis of the camera module (1700) or the optical axis of the camera device. Therefore, the optical axis direction of the lens, the optical axis direction of the image sensor, the optical axis direction of the camera module (1700), and the optical axis direction of the camera device may all coincide. Light passing through the lens may reach the image sensor. The light reaching the image sensor may be converted into an electrical signal and transmitted to a control unit.

[0237] The camera module (1700) may include an AF drive unit. The AF drive unit can perform an autofocus function. The AF drive unit can adjust the focus of a subject by moving a lens or image sensor in the direction of the optical axis. The AF drive unit may include a coil and a magnet.

[0238] A camera device may include a substrate (1710). A camera module (1700) may include a substrate (1710). The substrate (1710) may include a flexible substrate. The substrate (1710) may include a flexible printed circuit board (FPCB). The substrate (1710) may have flexibility. The substrate (1710) may have elasticity. The substrate (1710) may include an elastic member. The substrate (1710) may have elasticity. The substrate (1710) may have restoring force. The substrate (1710) may be electrically connected to the camera module (1700). The substrate (1710) may be electrically connected to the image sensor of the camera module (1700). The substrate (1710) may be understood as a component of the camera module (1700). Alternatively, the substrate (1710) can be understood as having a separate configuration from the camera module (1700).

[0239] The substrate (1710) may include a first portion (1711). The substrate (1710) may include a second portion (1712). The substrate (1710) may include a third portion (1713).

[0240] The substrate (1710) may include a first portion (1711) that overlaps at least 3 times in the direction of the x-axis. The substrate (1710) may include a first portion (1711) that overlaps at least 22 times in the direction of the x-axis. The substrate (1710) may include a first portion (1711) that overlaps at least 24 times in the direction of the x-axis.

[0241] The substrate (1710) may include a second portion (1712) that overlaps at least three times in the direction of the y-axis. The substrate (1710) may include a second portion (1712) that overlaps at least 22 times in the direction of the y-axis. The substrate (1710) may include a second portion (1712) that overlaps at least 24 times in the direction of the y-axis.

[0242] The first part (1711) may be positioned between the second part (1712) and the camera module (1700). A third part (1713) may be positioned between the first part (1711) and the second part (1712). The third part (1713) may connect the first part (1711) and the second part (1712).

[0243] The substrate (1710) may include a bend portion (1713a). The third portion (1713) may include a bend portion (1713a). The third portion (1713) of the flexible substrate (1710) may include a bend portion (1713a) that is bent around a diagonal axis. The diagonal axis may be parallel to a virtual plane defined by the x-axis and the y-axis and may have a direction different from each of the x-axis and the y-axis. In this case, the x-axis may be called the first axis, the y-axis may be called the second axis, and the diagonal axis may be called the third axis. The third axis may be perpendicular to the optical axis. The bend portion (1713a) may be bent with the diagonal axis between the x-axis and the y-axis as the bending axis.

[0244]

[0245] Hereinafter, the operation of a camera device according to a second embodiment of the present invention will be described with reference to the drawings.

[0246] FIG. 32 is a drawing for explaining the yawing and pitching drives of a camera device according to a second embodiment of the present invention. FIG. 33 is a drawing for explaining the yawing drive of a camera device according to a second embodiment of the present invention. FIG. 34 is a drawing for explaining the pitching drive of a camera device according to a modified example. FIG. 35 (a) is a cross-sectional perspective view of a camera device according to a second embodiment of the present invention, and (b) is a perspective view of a flexible substrate of a camera module.

[0247] In a camera device according to the second embodiment of the present invention, when current is applied to the yawing coil (1420), an electromagnetic field is formed around the yawing coil (1420), and the driving magnet (1410) can move relative to the yawing coil (1420) by means of electromagnetic interaction between the driving magnet (1410) and the yawing coil (1420). At this time, the driving magnet (1410) can be rotated or tilted around the x-axis (see yaw in FIG. 32). The yawing angle of the driving magnet (1410) can be plus or minus 3 degrees. When the driving magnet (1410) is rotated or tilted, the yawing carrier (1210), pitching carrier (1310), and camera module (1700) can also be rotated or tilted together with the driving magnet (1410).

[0248] When a forward current is applied to the yawing coil (1420) (see current direction in FIG. 33), a force may be applied to the driving magnet (1410) in one direction due to the electromagnetic interaction between the yawing coil (1420) and the driving magnet (1410) (see Fy in FIG. 33). Conversely, when a reverse current is applied to the yawing coil (1420), a force may be applied to the driving magnet (1410) in the other direction opposite to the one direction due to the electromagnetic interaction between the yawing coil (1420) and the driving magnet (1410). In this case, the forward current may be a current flowing upward in the inner end region of the yawing coil (1420). Conversely, the reverse current may be a current flowing downward in the inner end region of the yawing coil (1420).

[0249] The yawing coil (1420) may be formed by two coils spaced apart from each other as shown in FIG. 33. Since the yawing coil (1420) is also positioned on the opposite side of the part shown in FIG. 33, it may be formed with a total of four coils. The two coils may be formed in corresponding shapes.

[0250] In a camera device according to the second embodiment of the present invention, when current is applied to the pitching coil (1430), an electromagnetic field is formed around the pitching coil (1430), and the pitching coil (1430) can move relative to the driving magnet (1410) by means of electromagnetic interaction between the driving magnet (1410) and the pitching coil (1430). At this time, the pitching coil (1430) can be rotated or tilted around the y-axis (see pitch in FIG. 32). The pitching angle of the pitching coil (1430) can be plus or minus 3 degrees. When the pitching coil (1430) is rotated or tilted, the pitching carrier (1310) and the camera module (1700) can also be rotated or tilted together with the pitching coil (1430).

[0251] When a forward current is applied to the pitching coil (1430) (see current direction in FIG. 34), a downward force may act on the left region of the pitching coil (1430) and an upward force may act on the right region of the pitching coil (1430) due to the electromagnetic interaction between the pitching coil (1430) and the driving magnet (1410) (see Fz in FIG. 34). Conversely, when a reverse current is applied to the pitching coil (1430), an upward force may act on the left region of the pitching coil (1430) and a downward force may act on the right region of the pitching coil (1430) due to the electromagnetic interaction between the pitching coil (1430) and the driving magnet (1410). At this time, the forward current may be a current flowing from the right region of the pitching coil (1430) to the left region. Conversely, the reverse current may be a current flowing from the left region to the right region of the pitching coil (1430).

[0252] In a modified example, the driving magnet (1410) may include a first magnet part (1411) and a second magnet part (1412). The driving magnet (1410) may include a first magnet part (1411) arranged parallel to the y-axis and a second magnet part (1412) arranged perpendicularly to the inner surface of the first magnet part (1411). That is, in the modified example, the second magnet part (1412) may be additionally arranged compared to the second embodiment of the present invention. In the modified example, the Lorentz force between the driving magnet (1410) and the pitching coil (1430) may be strengthened by the second magnet part (1412). Through this, the driving force in the pitch direction of the pitching coil (1430) may be improved. In the direction of the optical axis, the second magnet part (1412) may overlap with the pitching coil (1430). The second magnet part (1412) may be formed in a pentagonal shape when viewed from the side. The second magnet part (1412) may be positioned below the pitching coil (1430). The second magnet part (1412) may be positioned to be in contact with the first magnet part (1411).

[0253] In the second embodiment of the present invention, when current is applied to the yawing coil (1420) and the camera module (1700) is driven in a yawing manner, the third part (1713) of the substrate (1710) can support the camera module (1700) movably (see yaw in FIG. 35 (a)). Additionally, when current is applied to the pitching coil (1430) and the camera module (1700) is driven in a pitching manner, the first part (1711) of the substrate (1710) can support the camera module (1700) movably. The third part (1713) of the substrate (1710) connects the first part (1711) and the second part (1712) and can support one or more of the yawing and pitching drives of the camera module (1700). The first to third portions (1711, 1712, 1713) of the substrate (1710) are arranged to overlap multiple times so that the overlapping portions move away from or closer to each other, thereby supporting the movement of the camera module (1700).

[0254]

[0255] The configuration of the robot according to the present embodiment is described below.

[0256] A robot may be a mechanical device capable of performing tasks autonomously or operating upon receiving external instructions. The robot may include a camera device according to the first embodiment of the present invention. The robot may include an eyeball that perceives the surroundings. The camera device according to the first embodiment of the present invention may be applied to the eyeball of the robot.

[0257] Robots may include industrial robots deployed on manufacturing and assembly lines. Robots may include service robots that perform tasks such as household assistance and medical assistance. Robots may include military and exploration robots that perform tasks such as investigating hazardous areas and space exploration.

[0258]

[0259] Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be implemented in other specific forms without changing its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive.

Claims

1. Bass; A first carrier disposed within the above base; A second carrier positioned between the base and the first carrier; A camera module that moves integrally with the first carrier; A first magnet disposed on the second carrier above; A first coil disposed on the first carrier and interacting with the first magnet; A second magnet disposed on the second carrier above; A second coil disposed on the base and interacting with the second magnet; A first yoke disposed on the first carrier and having an attractive force acting with the first magnet; and A camera device comprising a second yoke positioned on the base and engaging with the second magnet.

2. In Paragraph 1, Due to the interaction between the first coil and the first magnet, the first carrier is tilted around the first axis, and A camera device in which the first carrier and the second carrier are tilted together around a second axis by the interaction between the second coil and the second magnet.

3. In Paragraph 1, A first ball disposed between the first carrier and the second carrier; and A camera device comprising a second ball disposed between the base and the second carrier.

4. In Paragraph 1, A camera device in which at least a portion of the first magnet overlaps with the first coil in the direction of the optical axis of the camera module.

5. In Paragraph 2, The first magnet includes a first portion and a second portion that overlap with the first coil in the second axis direction, and The first coil is a camera device positioned between the first part and the second part of the first magnet in the direction of the second axis.

6. In Paragraph 1, The first magnet is disposed on the upper surface of the second carrier, and The second magnet is positioned on both sides of the second carrier, and The above-mentioned first magnet and the above-mentioned second magnet are spaced apart from each other in a camera device.

7. In Paragraph 6, The above second magnet includes a second-1 magnet and a second-2 magnet spaced apart from each other, and A camera device comprising a first magnet that overlaps the second-1 magnet and the second-2 magnet in a direction in which the second-1 magnet faces the second-2 magnet, and a portion disposed between the second-1 magnet and the second-2 magnet.

8. In Paragraph 2, A camera device in which the first magnet is formed roundly to have a curvature centered on the first axis.

9. In Paragraph 2, It includes a flexible substrate electrically connected to the above camera module, and The above substrate is a camera device that movably supports the camera module.

10. In Paragraph 9, The above substrate includes a first portion that is overlapped multiple times in the direction of the optical axis, a second portion that is overlapped multiple times in the direction of the optical axis, and a third portion connecting the first portion and the second portion. The first part is bent with respect to a plurality of virtual bending axes parallel to the first axis, and The above second part is a camera device that is bent about a plurality of virtual bending axes parallel to the above second axis.

Images