Wide-angle compact optical image stabilization for foldable cameras

Abstract

A folding camera module, comprising: an optical path folding element (OPFE) configured to fold light from a first optical path towards a second optical path substantially perpendicular to the first optical path; a lens having a lens optical axis along the second optical path and having an effective focal length in the range of 5 - 40 mm; an image sensor; a module frame having an inner wall pointing to the OPFE and having a module height H M , a module length L M and a module width W M ; and an OPFE actuator configured to rotate the OPFE about a first rotation axis and about a second rotation axis perpendicular to the first rotation axis to perform OIS of greater than ±1 degree about a first optical image stabilization (OIS) direction and a second OIS direction, respectively, wherein a minimum distance Y between the OPFE and the inner wall of the module frame at an extreme rotation OPFE position measured along a direction parallel to the second optical path Min satisfies Y Min ≤ 2 mm, where Y Min / L M ≤ 0.075, and wherein a minimum distance X between the OPFE and the inner wall of the module frame at an extreme rotation OPFE position measured along a direction perpendicular to both the first optical path and the second optical path Min satisfies X Min ≤ 3 mm, and wherein X Min / W M ≤ 0.25.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is related to and claims priority to U.S. Provisional Patent Application No. 63 / 485,071 filed on February 15, 2023, U.S. Provisional Patent Application No. 63 / 515,593 filed on July 26, 2023, and U.S. Provisional Patent Application No. 63 / 580,998 filed on September 7, 2023, all of which are incorporated herein by reference in their entirety. Technical Field

[0003] Examples disclosed herein relate generally to digital cameras, and in particular to optical stabilization of images acquired using a folded digital camera. Background Art

[0004] Compact digital cameras with folded optics, called "folded cameras", are known, see for example the commonly owned international patent application PCT / IB2016 / 057366. In handheld mobile electronic devices (or simply "mobile devices") such as smartphones, tablets, etc., a folded telephoto (T) camera (also referred to herein as "FTC") is typically part of a multi-camera system and is accompanied by one or more additional cameras, such as an ultra-wide (UW) camera and / or a wide (W) camera. The ultra-wide camera has a larger field of view (FOV) than the wide camera. W ) Larger field of view (FOV UW ), where FOV W Larger FOV than the folded telephoto camera T .

[0005] Figure 1A A camera 100 as known in the art is schematically shown in a perspective view. Dual camera 100 includes FTC 101 and a conventional (or vertical) camera 130. FTC 101 includes: an optical path folding element (OPFE) 102, an image sensor 106, and a lens (not shown) held in a lens barrel 110. The optical axis of the lens is marked as 108. OPFE 102 is operable to fold a first optical path (OP1) 112 into a second optical path (OP2) 114, wherein OP2 114 is substantially parallel to the lens optical axis 108. Camera 130 may be a W camera or a UW camera. Camera 130 includes: a lens 132 held in a lens barrel 134, and an image sensor 138. The optical axis of lens 132 is marked as 136 and is oriented parallel to OP1 112. On the xyz coordinate axis shown, OP1 112 is oriented parallel to the y axis, and OP2 114 is oriented parallel to the z axis.

[0006] Scanning zoom cameras (“SZ” cameras or “SZCs”) are known, see, for example, commonly owned International Patent Application PCT / IB2016 / 057366. Figure 1B The FOV 140 of the dual camera is schematically shown, which includes the FOV of the wide camera W 142 and scan zoom camera FOV SZ 144. As shown in the figure, FOV SZ 144 can be in FOV W 142 is scanned (or moved) in two dimensions, as indicated by the four arrows. A compact and cost-effective way to implement an SZC operable for scanning in two dimensions is to rotate (or "tilt") the OPFE (e.g., prism) of a folded zoom camera along two rotation axes. However, this introduces "point-of-view (POV) aberrations," which must be corrected after the corresponding SZC images are captured, as detailed, for example, in co-owned International Patent Application PCT / IB2021 / 056311. In general, the presence of POV aberrations increases the complexity of dual cameras and carries the risk of incomplete correction.

[0007] Modern cameras such as the dual camera 100 typically include optical image stabilization (OIS) to mitigate unwanted camera motion caused by the user's hand motion (commonly referred to as handshake). For OIS, the optical components are moved to reduce the movement of the imaged object on the image sensor of the camera. In other words, the FOV is moved so that it is stabilized on the image sensor. Typically, an OPFE such as OPFE 102 is moved relative to the lens and image sensor ("prismatic OIS") for OIS. An inertial measurement unit (IMU) as known in the art and included in a mobile device that also includes the dual camera 100 can provide motion data of the mobile device. For example, the motion data of the mobile device can be 6 degrees of freedom. The motion data of the mobile device can be used to provide OIS. For OIS along a first ("Yaw") direction, the OPFE 102 rotates around a yaw rotation axis 112 parallel to OP1 112. For OIS along a second (“pitch”) direction, OPFE 102 rotates about a pitch rotation axis 116 that is parallel to the x-axis and perpendicular to both OP1 112 and OP2 114. In order to improve the image quality of a folded camera such as folded camera 101 even in adverse situations such as relatively strong undesired camera motion, relatively large FOV motions, e.g., ±1 degree or more, in the yaw and pitch directions, respectively, are required. In order to provide relatively large FOV motions, relatively large actuators and / or large camera modules are typically required.

[0008] It is desirable and advantageous to have a large motion prism OIS actuator. Additionally, it is advantageous to have a dual camera including an SZC that does not produce POV aberrations. Summary of the invention

[0009] In various exemplary embodiments, a folded camera module is provided, comprising: an OPFE for folding light from a first optical path toward a second optical path substantially perpendicular to the first optical path; a lens having a lens optical axis along the second optical path, the lens having an effective focal length EFL in the range of 5-40 mm; an image sensor; a module frame surrounding the folded camera module, the module frame having a module height H measured along a direction parallel to the first optical path and pointing to an inner wall of the OPFE M , the module length L measured along the direction parallel to the second optical path M and a module width W measured along a direction perpendicular to both the first optical path and the second optical path M ; an OPFE actuator including a single voice coil motor (VCM) for rotating the OPFE about a first rotation axis and about a second rotation axis perpendicular to the first rotation axis to perform OIS about a first OIS direction and a second OIS direction, respectively, wherein the OIS is greater than ±1 degree about each of the first OIS direction and the second OIS direction, wherein a minimum distance Y between the OPFE at an extreme rotation OPFE position and an inner wall of the module frame measured along a direction parallel to the second optical path Min Meet Y Min ≤2mm, where Y Min / L M ≤0.075, where the minimum distance X between the OPFE at the extreme rotation OPFE position and the inner wall of the module frame measured in a direction perpendicular to both the first optical path and the second optical path is Min Satisfy X Min ≤3mm, and X Min / W M ≤0.25.

[0010] In some examples, rotation of the OPFE about the first rotation axis uses three support locations.

[0011] In some examples, the first rotation axis is located within a region that also includes the OPFE.

[0012] In some examples, the second axis of rotation is located within a region that also includes the OPFE.

[0013] In some examples, Y Min / L M ≤0.05. In some examples, X Min / W M≤0.2. In some examples, X Min ≤2.75mm and Y Min ≤1.75mm. In some examples, X Min ≤2.5mm and Y Min ≤1.5mm. In some examples, X Min ≤2.25mm and Y Min ≤1.25mm.

[0014] In some examples, the OIS may be greater than ±2 degrees around each of the first OIS direction and the second OIS direction. In some examples, the OIS may be greater than ±3 degrees around each of the first OIS direction and the second OIS direction. In some examples, the OIS may be greater than ±4 degrees around each of the first OIS direction and the second OIS direction. In some examples, the OIS may be greater than ±5 degrees around each of the first OIS direction and the second OIS direction.

[0015] In some examples, the OPFE is a prism.

[0016] In some examples, W M Can be in the range of 7.5-15mm and L M It can be in the range of 15-30 mm. In some examples, H M It can be in the range of 4-15 mm. In some examples, H M It can be in the range of 5-10mm.

[0017] In some examples, the OPFE has an OPFE height H measured along a direction parallel to the first optical path. P and the OPFE width W measured along the direction perpendicular to both the first optical path and the second optical path P , where in the zero rotation OPFE position, the OPFE is located at a horizontal distance hD away from the inner wall of the module frame PH and vertical distance vD PH Where, and where W P / hD PH >1.75 and H P / vD PH >1.75.

[0018] In some examples, W P / hD PH >2 and H P / vD PH >2. In some examples, W P / hD PH >2.5 and H P / vD PH>2.5. In some examples, W P / hD PH >3 and H P / vD PH >3. In some examples, W P / hD PH >3.25 and H P / vD PH >3.25.

[0019] In some examples, H M <H P +4mm. In some examples, H M <H P +2.5mm.

[0020] In some examples, the ratio H P / H M It can be in the range of 0.7-0.8.

[0021] In some examples, W P It can be in the range of 3-20mm.

[0022] In some examples, the EFL may be in the range of 10-25 mm.

[0023] In some examples, the OPFE actuator includes a yaw stage, a pitch stage, and a frame, and the yaw stage, the pitch stage, and the frame move relative to each other. In some examples, the pitch stage moves with the yaw stage.

[0024] In some examples, the yaw stage includes two magnets and the frame includes two coils: a first coil and a second coil. In some examples, the frame and the module frame are made of one part. In some examples, the yaw stage includes a position sensing unit, which includes one or more magnets. In some examples, the pitch stage includes a position sensing unit, which includes two or more magnets. In some examples, the relative movement between the yaw stage, the pitch stage and the frame is achieved by a plurality of ball bearings.

[0025] In some examples, to rotate the OPFE about the second rotation axis, the current in the first coil flows in the same direction as the current in the second coil. In some examples, to rotate the OPFE about the first rotation axis, the current in the first coil flows in the opposite direction as the current in the second coil.

[0026] In some examples, the folded camera module can be included in the mobile device. In some examples, the mobile device also includes a wide camera having a larger FOV T Wide camera field of view FOV WIn some examples, the mobile device further comprises an IMU. In some examples, the mobile device may be a smart phone. In some examples, the mobile device may be a tablet computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Non-limiting examples of the embodiments disclosed herein are described below with reference to the accompanying drawings listed after this paragraph. The drawings and descriptions are intended to illustrate and clarify the embodiments disclosed herein and should not be considered to be limiting in any way. In different drawings, the same elements may be represented by the same numerals.

[0028] Figure 1A A known dual camera including a folded camera is schematically shown;

[0029] Figure 1B schematically illustrates a known dual camera field of view including a folded scan zoom camera field of view;

[0030] Figure 2A A folded camera module including a folded camera usable for long-stroke OIS as disclosed herein is shown in perspective view;

[0031] Figure 2B The same view shows the top cover without the top cover. Figure 2A Folding camera module;

[0032] Figure 2C The top view shows Figure 2B Folding camera module;

[0033] Figure 3A The yaw stage is shown in a top view;

[0034] Figure 3B The yaw stage is shown in a bottom view;

[0035] Figure 3C The yaw stage is shown in perspective;

[0036] Figure 3D The top view shows FIG. 2A to FIG. 2C A frame (or housing) for a folding camera module;

[0037] Figure 3E The framework is shown in perspective;

[0038] Figure 3F Shown in side view Figure 2A Folding camera module;

[0039] Figure 3G The top view shows FIG. 2A to FIG. 2C The top of the folding camera module;

[0040] Figure 3Hshows the case with OPFE FIG. 2A to FIG. 2C The top of the folded camera module, where the OPFE is shown in the yaw rotation axis Max state;

[0041] Fig. 3I The yaw stage is shown without the OPFE, where the OPFE is at the Yaw position relative to the yaw rotation axis. Max state;

[0042] Figure 3J Shown is the OPFE FIG. 2A to FIG. 2C The top of the folded camera module, where the OPFE is shown at the "Yaw" position relative to the yaw rotation axis. Min "state;

[0043] Figure 3K The yaw stage is shown without the OPFE, where the OPFE is at the Yaw position relative to the yaw rotation axis. Min state;

[0044] Figure 3L A voice coil motor (VCM) disclosed herein is shown in perspective view;

[0045] Figure 3M Shown in bottom view FIG. 2A to FIG. 2C The folding camera module Figure 3L VCM;

[0046] Figure 3N The OPFE holder is shown in a perspective bottom view. Figure 3L VCM;

[0047] Figure 4A Shows FIG. 2A to FIG. 2C The pitch stage of the folded camera module including OPFE in front view;

[0048] Figure 4B Shown in side view Figure 4A The pitch stage and OPFE of FIG. 1 , wherein the OPFE is shown in a “pitch zero state” with respect to the pitch direction;

[0049] Figure 4C A pitch stage with an OPFE is shown in side view, wherein the OPFE is shown at a Pitch position relative to the pitch rotation axis. Max state;

[0050] Figure 4D A pitch stage with an OPFE is shown in side view, where the OPFE is shown at a Pitch position relative to the pitch rotation axis. Min state.

[0051] Figure 5A Another pitch stage disclosed herein is shown in side view, wherein the OPFE is shown in a yaw zero state relative to the yaw rotation axis;

[0052] Figure 5B Shown in perspective Figure 5A A pitch stage, wherein the OPFE is shown in a yaw zero state relative to the rotation axis;

[0053] Figure 5C The perspective view shows a yaw rotation axis in the frame. Min Status Figure 5A The pitch level;

[0054] Figure 5D The perspective view shows a yaw rotation axis in the frame. Max Status Figure 5A Pitch level.

[0055] Fig. 6A A scanning zoom camera (SZC) as disclosed herein is shown in perspective view;

[0056] Figure 6B Shown in side view Fig. 6A Components of the SZC shown in;

[0057] Figure 6C Shown in perspective Figure 6B The components shown in ;

[0058] Fig. 7A The perspective view shows the first extreme rotation state relative to the second rotation axis. Fig. 6A of SZC;

[0059] Figure 7B The perspective view shows the central rotation state about the second rotation axis. Fig. 6A of SZC;

[0060] Figure 7C The perspective view shows the second rotation limit state relative to the second rotation axis. Fig. 6A of SZC;

[0061] Fig. 8A The side view shows the first extreme rotation state relative to the second rotation axis. Figure 6B The components shown in ;

[0062] Figure 8B The side view shows the central rotation state about the second rotation axis. Figure 6B The components shown in ;

[0063] Figure 8C The side view shows the second rotation limit state relative to the second rotation axis. Figure 6B The components shown in ;

[0064] Fig.9A The side view shows the first rotational limit state relative to the first rotation axis. Figure 6B The components shown in ;

[0065] Fig. 9B The side view shows the centrally rotated state about the first rotation axis. Figure 6B The components shown in ;

[0066] Fig. 9C The side view shows the second extreme rotation state relative to the first rotation axis. Figure 6B The components shown in ;

[0067] Fig. 10A Shown in side view Fig. 6A Another component of the SZC shown;

[0068] Fig. 10B A first perspective view shows Fig. 10A The components shown in ;

[0069] Fig. 10C The second perspective view shows Fig. 10A The parts shown in . DETAILED DESCRIPTION

[0070] Figure 2A An embodiment of a folded camera module numbered 200 is shown in perspective view, the folded camera module including a folded camera that can be used for a large-stroke OIS as disclosed herein. The folded camera module 200 has a folded camera module 200 that is included in an OPFE holder 206 ( Figure 2B , Figure 2C ) is formed (or defined or determined) by the OPFE 204 in the folded camera module 200. The folded camera module 200 also includes a lens barrel 212 having a lens (not shown) and an image sensor 215 ( Figure 2C ), the lens having a lens optical axis 214. The lens may have an effective focal length ("EFL") in the range of 5 mm-40 mm or in the range of 10 mm to 25 mm. The folded camera module 200 is covered by a top shield 216. The length L of the folded camera module 200 is marked. M , Width W M , and height H M The folded camera module 200 is operable to perform long-range OIS by rotating the prism 204 ±1 degree or more around the first yaw rotation axis 222 and the second pitch rotation axis 224. Rotating the prism 204 around the two rotation axes can be used to achieve two effects:

[0071] 1. Changing the position of the FOV of the folding camera included in the folding camera module 200, that is, scanning the scene using the FOV of the folding camera.

[0072] 2. Alleviate undesirable handshake of a mobile device (around two axes) including a folded camera module 200.

[0073] Figure 2B The folded camera module 200 is shown in another perspective view without the top shield 216 . Figure 2C The folding camera module 200 is shown in a top view without the top shield 216. The folding camera module 200 is surrounded by a module frame (or simply referred to as "frame" or "housing") 218. The frame 218 has two different functions: 1) serving as a bottom shield (or housing) for the folding camera module 200, i.e., the frame 218 surrounds most of the camera components included in the folding camera module 200; and 2) serving as a fixed portion of the OPFE holder 206, which engages (or interacts) with the yaw and pitch stages 210 for actuating the OPFE 204, as described below. The frame 218 can be made of plastic, for example. Here, the OPFE 204 is a prism. In other examples, the OPFE 204 can be a mirror. The OPFE 204 has an OPFE (i.e., prism) length L P OPFE width W P and OPFE height H P , as indicated by the mark.

[0074] exist Figure 2B to Figure 2C , the OPFE 204 is shown in a zero rotation state. The "zero rotation state" herein refers to a state that indicates (1) the minimum pitch rotation angle Pitch Min and maximum pitch rotation angle Pitch Max The pitch rotation angle is defined by the center of the pitch rotation range, and (2) the minimum yaw rotation angle Yaw Min and the maximum pitch rotation angle Yaw Max The OPFE 204 is oriented parallel to the inner wall (or surface) 219 of the frame 218. In the zero position, the OPFE 204 is located at a "perpendicular" distance vD from the inner wall 219 of the frame 218. PH and the "horizontal" distance hD PH The same is true for all other boundaries mentioned.

[0075] Reference Figure 2C , "horizontal" here means measuring hD along the horizontal direction (parallel to the x-axis in the xyz coordinate system shown)PH The fact that "vertical" here means measuring vD in the vertical direction (parallel to the y-axis) PH The yaw rotation axis 222 is oriented perpendicular to Figure 2C 2, and the pitch rotation axis 224 is oriented parallel to the x-axis. The yaw rotation axis 222 is located (or positioned) within the region that also includes the OPFE 204. Rotating the OPFE 204 by 1 degree about the yaw rotation axis 222 and the pitch rotation axis 224, respectively, moves the FOV of the folded camera by 1 degree in the yaw rotation direction and by 2 degrees in the pitch rotation direction, as is known in the art. That is, in order to achieve a FOV movement of an angle α in both the yaw rotation direction and the pitch rotation direction, one rotates the OPFE 204 by α about the yaw rotation axis 222 and by 0.5xα about the pitch rotation axis 224. Here, the FOV movement will perform OIS.

[0076] For compact cameras, use vD PH and hD PH In some examples, the folded camera module 200 and the OPFE 204 may have the following dimensions:

[0077] -L M =29mm,W M =13.5mm, and H M =6.8mm.

[0078] -L P =H P =5mm,W P =7.8mm.

[0079] -vD PH =1.5mm,hD PH =2.2mm.

[0080] These produce the ratio W P / hD PH =3.5 and H P / vD PH =3.3, and H P / H M =0.74H M =H P +1.8mm. In other examples, the ratio H P / H M It can be in the range of 0.6-0.9 and can meet H M <H P +4mm. In other examples, the ratio H P / H MIt can be in the range of 0.7-0.8 and can meet H M <H P +2.5mm or H M <H P +2mm.

[0081] In other examples of a folded camera module including a folded camera operable for long-stroke OIS, the values ​​and ranges may be as given in Table 1.

[0082] The OPFE holder 206 is divided into three parts: the yaw stage 208, the frame 218 and the pitch stage 210, which can be rotatably moved relative to each other for actuating the OPFE 204. As described below, the relative movement is as follows:

[0083] The yaw stage 208 rotates relative to the frame 218 about a yaw rotation axis 222 for OIS about a first OIS direction (“yaw rotation direction”).

[0084] As the yaw stage 208 rotates relative to the frame 218 , the pitch stage 210 moves with (or “rides on”) the yaw stage 208 .

[0085] - The pitch stage 210 rotates about the pitch rotation axis 224 relative to the yaw stage 208 and relative to the frame 218 for OIS about a second OIS direction (the "pitch rotation direction"). In addition, the folded camera module 200 includes a lens actuator 220 that is operable to move the lens barrel 212 together with the lens. For example, the lens actuator 220 can move the lens barrel 110 along an axis parallel to the lens optical axis 214 for focusing.

[0086] Figure 3A The yaw stage 208 is shown in a top view. For better visibility, the yaw stage 208 is shown without the OPFE 204. The yaw stage 208 includes a yaw position sensing unit (PSU) 304 including a magnet 306 fixedly coupled to the yaw stage 208 and a magnetic flux measurement device (MFMD) 308 fixedly coupled to the frame 218. The yaw PSU 304 is operable to sense relative motion between the yaw stage 208 and the frame 218. The yaw stage 208 has a left arm 310, a right arm 312, and a center arm 320. The top side of the yaw stage 208 includes a slot 314 included in the left arm 310 and a cavity (or hole) 316 included in the right arm 312.

[0087] Figure 3BThe yaw stage 208 (with the OPFE 204) is shown in a bottom view. The bottom side of the yaw stage 208 includes a cavity 322 in the center arm 320, a first hole (or void) 324 in the left arm 310, and a second hole 326 in the right arm 312.

[0088] Figure 3C The yaw stage 208 is shown in a perspective view. The slot 314 included in the left arm 310 and the cavity 316 in the right arm 312 are visible.

[0089] Figure 3D The frame 218 of the folded camera module 200 is shown in a top view. Figure 3E The frame 218 is shown in a perspective view. The frame 218 includes a cavity 330, a third hole 332, and a fourth hole 334. The yaw stage 208 can move relative to the frame 218 by means of the following three ball bearings: a first ball bearing is formed by constraining a first ball (not shown) in a first closed volume formed by a first hole 324 (included in the yaw stage 208) and a third hole 332 (included in the frame 218); a second ball bearing is formed by constraining a second ball (not shown) in a second volume formed by a second hole 326 (included in the yaw stage 208) and a fourth hole 334 (included in the frame 218); and a third ball bearing is formed by constraining a third ball (not shown) in a third volume formed by a cavity 322 (included in the yaw stage 208) and a cavity 330 (included in the frame 218). The position of the first ball bearing is defined by the first hole 324, the position of the second ball bearing is defined by the cavity 316, and the position of the third ball bearing is defined by the cavity 322. When the prism 204 rotates about the yaw rotation axis 222, the third ball bearing acts as a pivot point (indicating a first support position), and both the first and second ball bearings act as rails (indicating a second support position and a third support position). This means that the overall rotation of the prism 204 about the yaw rotation axis 222 uses three support positions.

[0090] The third ball bearing (along the z-axis) is positioned at the first position "Z F1 ”, when compared with the positions of the first ball bearing and the second ball bearing, the first position “Z F1 ” is relatively close to the bottom of the frame 218, and “bottom” refers to the lowest dimension of the frame 218 along the z-axis. The first ball bearing and the second ball bearing (along the z-axis) are positioned at the same second elevated position “Z” relative to the third ball bearing. F2 ”, as shown in the figure. We call the first position the “first layer” and the second position the “second layer”. The first layer is at a first distance (or height) H from the second layer along the z-axis. 1 The second layer is at a second distance (or height) H from the top of the frame 218. 2 As shown in the figure, H1 ≈H 2 ≈H M / 2. Note that positioning the first ball bearing and the second ball bearing in the second layer is advantageous because it leaves free space or free volume in the first layer. The front surface of the first layer is labeled 331.

[0091] In some examples, as shown, the magnet 306 has a circular (or "spherical") shape. The circular shape can make the shape of the magnet 306 concentric with respect to the pivot point. The circular shape is advantageous for accurately measuring the rotation about the yaw rotation axis 222, i.e., for providing a precise yaw PSU 304. This is because the distance (air gap) between the magnet 306 and the MFMD 308 is relatively constant, i.e., it only changes by a relatively small amount. In other examples, the magnet 306 can have a rectangular (or "planar") shape. This planar shape is advantageous for manufacturing a low-cost folded camera module 200.

[0092] Figure 3F The frame 218 of the folded camera module 200 is shown in a side view. The frame 218 includes a first notch 336, a second notch 338, a third notch 340, a fourth notch 342, and a fifth notch 344. Due to the notch 336, the MFMD 308 can measure the magnetic field of the magnet 306.

[0093] Figure 3G The top of the folded camera module 200 is shown in a top view. The OPFE 204 is shown in a "yaw zero state" relative to the yaw rotation axis 222. The "yaw zero state" here refers to the OPFE yaw rotation state, which represents the minimum yaw rotation angle Yaw. Min and the maximum yaw rotation angle Yaw Max Defines the center of yaw rotation travel.

[0094] Figure 3H The top of the folded camera module 200 is shown with the OPFE 204 positioned at a yaw rotation axis 222. Max Here, "Yaw Max The "state" refers to the OPFE yaw rotation state that represents the first limit (here, the maximum) yaw rotation angle. Max In the state, the OPFE 204 is located away from the inner edge (or boundary) of the frame 218 at a minimum distance Y measured along the y-axis. Min , the first minimum distance X1 measured along the x-axis Min , and the second smallest distance X2 measured along the x-axis Min , as shown in the figure. In the folding camera module 200, Y Min =1.1mm,X1Min =2.0mm and X2 Min =1.9mm. When LM=29mm, the ratio Y Min / L M Y Min / L M =0.037. When W M = X1 at 13.5 mm Min / W M and X2 Min / W M The ratio is X1 Min / W M =0.148 and X2 Min / W M =0.141.

[0095] In other examples, the minimum distance, such as distance X1 Min and X2 Min It may be equal to or less than 5 mm, or more advantageously ≤ 3 mm, or ≤ 2.75 mm, or ≤ 2.5 mm or even 2.25 mm. Min / W M It can be in the range of 0.05 to 0.25. Min It may be ≤5 mm, or more advantageously ≤2 mm, or ≤1.75 mm, or ≤1.5 mm, or even ≤1.25 mm. Min / L M It can be in the range of 0.015 to 0.075.

[0096] Fig. 3I The yaw stage 208 is shown without the OPFE 204, which is at a yaw rotation axis 222. Max state. Fig. 3I Also shown is the position of magnet 306 relative to MFMD 308 in this state.

[0097] Figure 3J The top of the folded camera module 200 with the OPFE is shown, wherein the OPFE 204 is in the pitch rotation direction relative to the yaw rotation axis 222. Min Here, "Yaw Min The "state" refers to the OPFE yaw rotation state that represents the second limit (here, the minimum) yaw rotation angle. Min In the state, OPFE 204 is located at a minimum distance Y measured along the y-axis away from the inner boundary of the frame 218. Min , the first minimum distance X1 measured along the x-axis Min , and the second smallest distance X2 measured along the x-axis Min, as shown in the figure.

[0098] Figure 3K The yaw stage 208 is shown without the OPFE 204, wherein the OPFE 204 is at a "Yaw" relative to the yaw rotation axis 222. Min state". Figure 3K Also shown is the position of magnet 306 relative to MFMD 308 in this state.

[0099] exist Figure 3H and Figure 3J , it can be seen that a portion of the yaw stage 208 can enter one of the second notch 338 and the third notch 340 at the position of the mark 346, or enter the fourth notch 342 and the fifth notch 344 at the position of the mark 348. This is advantageous for realizing a compact folded camera module.

[0100] Figure 3L A VCM number 350 disclosed herein is shown in perspective view. Figure 3M The VCM 350 included in the folding camera module 200 is shown in a bottom view. Figure 3N The VCM 350 included in the OPFE holder 206 is shown in a perspective bottom view. The VCM 350 is operable to actuate rotational movement of the OPFE 204 around the yaw rotation axis 222 and the pitch rotation axis 224. The VCM 350 includes a first magnet 352 and a second magnet 354 (both fixedly coupled to the yaw stage 208) and a first coil 356 and a second coil 358 (both fixedly coupled to the frame 218). In addition, the VCM 350 includes a first yoke (or preload yoke) 360 and a second yoke (or preload yoke) 362. The two yokes are fixedly coupled to the frame 218. The yokes are operable to return the VCM 350 to a zero position and prevent the parts included in the OPFE holder 206 from detaching. The first magnet 352 has a first magnet dead zone (DZ) 352, and the second magnet 354 has a second magnet DZ 355. As shown in FIG. Figure 3M As shown approximately, the pitch rotation axis 224 coincides with the first magnet DZ 352 and the second magnet DZ 355. The first magnet 352 and the second magnet 354 together cover (or use) a relatively large bottom area of ​​the OPFE holder 206. The fact that the magnets cover a relatively large bottom area of ​​the OPFE holder 206 is advantageous because it allows for a relatively strong and fast but still compact VCM. This is achieved by placing the first ball bearing and the second ball bearing in the second layer. The free space or free volume created in the first layer can be used to position the magnets.

[0101] Figure 4AThe pitch stage 210 and the OPFE holder 206 with the OPFE 204 are shown in a front view. The pitch stage 210 includes a first pitch PSU 402 with a first pitch magnet 404 and a first pitch MFMD 406, and a second pitch PSU 408 with a second pitch magnet 410 and a second pitch MFMD 412.

[0102] Figure 4B The pitch stage 210 with the OPFE 204 is shown in a side view. The OPFE 204 is shown in a "pitch zero state" with respect to the pitch rotation direction. The "pitch zero state" herein refers to the state where the pitch rotation angle Pitch is the minimum. Min and maximum pitch rotation angle Pitch Max 4. The OPFE holder 206 includes an OPFE pitch rotation state that defines the center of pitch rotation travel. In the pitch zero state, the first pitch PSU 402 is in the zero state. The OPFE holder 206 includes a shock (or drop) absorber mechanism 414. The shock absorber mechanism 414 is operable to prevent the yaw stage 208 and the pitch stage 210 from disengaging from each other and / or from the OPFE holder 206. The pitch rotation axis 224 is oriented parallel to the x-axis (i.e., perpendicular to the coordinate system shown).

[0103] The first pitch PSU 402 and the second pitch PSU 408 are placed concentrically with respect to the yaw rotation axis 222. Note that the first pitch PSU 402 and the second pitch PSU 408 are at a relatively large distance from each other, and furthermore, they are at a relatively large distance from the yaw PSU 304. This is advantageous because there is virtually no electromagnetic crosstalk between each of the yaw PSU 304, the first pitch PSU 402, and the second pitch PSU 408. With respect to the direction along the y-axis, the pitch rotation axis 224 is placed (or positioned) within a region that also includes the OPFE 204.

[0104] Figure 4C The pitch stage 210 is shown in a side view, with the OPFE 204 being oriented relative to the pitch direction as shown in FIG. Max Here, "Pitch Max State" refers to the OPFE pitch rotation state indicating the maximum pitch rotation angle. Max state, the first pitch PSU 402 is in the maximum state.

[0105] Figure 4D The pitch stage 210 is shown in a side view, with the OPFE 204 being oriented relative to the pitch rotation direction as shown in FIG. Min "Pitch Status" is shown. MinHere, the "state" refers to the OPFE pitch rotation state indicating the minimum pitch rotation angle. Min In the state, the first pitch PSU 402 is in the minimum state.

[0106] exist Figure 3N , it can be seen that the magnet 404 has a circular shape. The circular shape can approximate that the shape of the magnet 404 is concentric with respect to the pivot point. The circular shape is advantageous for a precise first pitch PSU 402. This is because the distance between the magnet 404 and the MFMD 406 is relatively constant when rotating around the pitch rotation axis. In other embodiments, the magnet 404 can have a rectangular (or "planar") shape. This planar shape may be advantageous for a low-cost folded camera module 200. The pitch stage 210 can be moved relative to the yaw stage 208 by the following two ball bearings: the first ball bearing is formed by confining a fourth ball (not shown) in a fourth volume formed by a groove 314 (included in the yaw stage 208) and a groove (not shown, included in the pitch stage 210), and the second ball bearing is formed by confining a fifth ball (not shown) in a fifth volume formed by a cavity 316 (included in the yaw stage 208) and a cavity (not shown, included in the pitch stage 210).

[0107] Reference Figure 3L and Figure 3M , note that VCM 350 is configured to stop rotation of OPFE 204 both about a yaw rotation axis, such as yaw rotation axis 222, and about a pitch rotation axis, such as pitch rotation axis 224. That is, VCM 350 has a first operating mode operable for actuating yaw rotation, and VCM 350 has a second operating mode operable for actuating pitch rotation.

[0108] Actuating yaw rotation

[0109] To rotate OPFE 204 in the yaw rotation direction, current flowing through (or induced in) first coil 356 is directed oppositely to current flowing through coil 358 .

[0110] Actuated pitch rotation

[0111] To rotate the OPFE 204 in the pitch rotation direction, the current flowing through (or induced in) the first coil 356 is directed to be the same as the current flowing through the coil 358 .

[0112] Table 1 gives the values ​​and ranges for the components disclosed herein. M ,H M ,W M ,L P ,HP ,W P ,Y Min ,X1 Min ,X2 Min ,vD PH and hD PH Given in mm, Yaw Min ,Yaw Max ,Pitch Min ,Pitch Max ,Yaw FOV and Pitch FOV Given in degrees.

[0113]

[0114]

[0115] Table 1

[0116] Figure 5A Another pitch stage, numbered 500 , is shown in side view and is operably included in a folded camera module such as folded camera module 200 and includes OPFE 204 . Figure 5B The pitch stage 500 is shown in a perspective view. Figure 5A-Figure 5B , the OPFE 204 is shown in a "yaw zero state" relative to the yaw rotation axis. The yaw zero state is located at the center between the minimum yaw rotation position and the maximum yaw rotation position ( FIG. 5C to FIG. 5D ). The pitch stage 500 includes a first stopper 502 and a second stopper 504 , both of which are fixedly coupled to the pitch stage 500 .

[0117] Figure 5B An assembly of a first stop 502 and a second stop 504 is shown. The pitch stage 500 includes a hole 506 operable to receive the stop 502. Entering (or pushing) the stop 502 into the hole 506 may be sufficient to fixedly couple the stop 502 to the pitch stage 500. The pitch stage 500 also includes another hole (not shown) for receiving the stop 504. The stop 502 and the stop 504 may be made of a rubber material, for example.

[0118] Figure 5C The diagram shows a Yaw Min Another pitch level 500 of the state. In Yaw Min In the state, the stopper 502 contacts the front surface 331 of the first layer. This contact prevents the pitch stage 500 from rotating further in the yaw rotation direction. Figure 5D The Yaw Max Another pitch level 500 of the state. In YawMax In the yaw state, the stopper 504 (not visible here) may come into contact with the other front surface of the first layer, thereby preventing further rotation of the pitch stage 500 in the yaw rotation direction.

[0119] Fig. 6A The SZC 600 as disclosed herein is shown in a perspective view. The SZC 600 has an SZC FOV (“FOV SZC ”) and includes a static (or “fixed”) portion 602, a moving portion 604, and an SZC aperture 606. For a host device including the SZC 600, the static portion 602 does not move, and the moving portion 604 moves. The moving portion 604 rotates along a first rotational axis 608 oriented parallel to the x-axis and a second rotational axis 610 oriented parallel to the y-axis. The static portion 602 includes an opening (or “funnel”) 612.

[0120] Figure 6B The moving portion 604 is shown in a side view. The SZC 600 includes: a prism 614 representing the SZC aperture 606, a lens 616, and an image sensor 618. The moving portion 604 also includes a flexure (or "flex cable") 620 operable to electrically connect the moving portion 604 to the static portion 602. The moving portion 604 also includes a track set 640, which includes a first track 642, a second track 644, a third track 646, and a fourth track 648. The track set 640 can interact with another track set (not shown) included in the static portion 602 to allow rotational movement of the moving portion 604 relative to the static portion 602 about the second rotation axis 610.

[0121] The height "H", width ("W") and length ("L") of SZC 600 may be in the range of H = 5mm-30mm, W = 10mm-80mm and L = 10mm-100mm, advantageously H = 10mm-25mm, W = 20mm-50mm and L = 25mm-75mm. Lens 616 may have an effective focal length ("EFL") in the range of 2mm-40mm, advantageously the EFL is in the range of 2mm-20mm. Image sensor 618 may have an image sensor (full) diagonal ("SD") in the range of 2mm-20mm, advantageously the SD is in the range of 2mm-15mm. Here, SZC 600 has a FOV of approximately 75 degrees (approximately 28mm35mm equivalent focal length) SZC In other examples, FOV SZC It may be in the range of about 15 degrees to 100 degrees.

[0122] Figure 6CThe moving part 604 is shown in a perspective view. Here, the prism 614, the lens 616 and the image sensor 618 are covered by a cover 650. The SZC 600 includes a second rotary actuator 660, which is operable to actuate the rotation of the moving part 604 around the second rotation axis 610. Here, the second rotary actuator 660 is a voice coil motor (VCM) that includes a first coil 662 and a second coil 664, both of which are fixedly coupled to the static part 602. The second rotary actuator 660 also includes a first magnet 666 and a second magnet 668, both of which are fixedly coupled to the moving part 604.

[0123] 7A to 7C The SZC 600 is shown in perspective views in several rotational states relative to the second rotational axis 610 . FIG. 8A to FIG. 8C The SZC 600 is shown in perspective views in several rotational states relative to the second rotational axis 610 . Fig. 7A and Fig. 8A The SZC 600 is respectively shown in a first extreme rotation state. Figure 7B and Figure 8B The SZC 600 is shown in a centrally rotated state. In general, and with reference to the SZC 600 and the FOV W >FOV SZC The dual camera of the wide camera, in the center rotation state, FOV SZC With respect to the second rotation axis 610, FOV W As the center. Figure 7C and Figure 8C The SZC 600 is shown in a second extreme rotation state, respectively. The first extreme rotation state and the second extreme rotation state relative to the second rotation axis 610 can correspond to a rotation within a range of ±10 degrees to ±45 degrees, such as ±30 degrees or ±25 degrees. In some examples, the wide camera can capture the FOV W The camera controller may be configured to analyze the wide image data and utilize the FOV based on the analysis of the wide image data. SZC Scan the scene.

[0124] 9A to 9C The SZC 600 is shown in side view in several rotational states relative to a first rotational axis 608 . Fig.9A The SZC 600 is shown in a first extreme rotation state. Fig. 9B The SZC 600 is shown in a center rotation state. In general, and with reference to a dual camera including the SZC 600 and a wide camera, in the center rotation state, the FOV SZC With respect to the first rotation axis 608, the FOV W As the center. Fig. 9CThe SZC 600 is shown in a second extreme rotation state. The first extreme rotation state and the second extreme rotation state relative to the first rotation axis 608 can correspond to rotations in the range of ±5 degrees to ±30 degrees, such as ±7.5 degrees or ±15 degrees. We note that the SZC 600 does not produce perspective aberrations, which is advantageous.

[0125] Fig. 10A Part of the moving portion 604 is shown in side view. Fig. 10B Part of the moving part 604 is shown in a first perspective view. Fig. 10C Portions of the moving portion 604 are shown in a second perspective view. The SZC 600 includes a first rotary actuator 1010 operable to actuate rotation of a prism 614 about a first rotation axis 608. Here, the first rotary actuator 1010 is a VCM that includes a first coil 1012 and a second coil 1014, both of which are fixedly coupled to the moving portion 604. The first rotary actuator 1010 also includes a first magnet 1016 and a second magnet (not visible), both of which are fixedly coupled to the prism 614. The prism 614 is included in and fixedly coupled to a prism holder 1018. The prism holder 1018 includes a stray light mask 1020 operable to prevent unwanted stray light from reaching the image sensor 618.

[0126] Although the present disclosure has been described in terms of certain embodiments and generally associated methods, changes and permutations of the embodiments and methods will be apparent to those skilled in the art. The present disclosure should be understood not to be limited to the particular embodiments described herein, but only to the scope of the appended claims.

[0127] Unless otherwise stated, the use of the expression "and / or" between the last two members of a list of options for selection indicates that selection of one or more of the listed options is applicable and can be made.

[0128] It should be understood that when the claim or specification refers to "a" or "an" element, such reference should not be interpreted as there being only one of the element.

[0129] In addition, for the sake of clarity, the term "substantially" is used herein to imply the possibility of value variation within an acceptable range. According to one example, the term "substantially" as used herein should be interpreted as implying a possible variation of up to 5% above or below any specified value. According to another example, the term "substantially" as used herein should be interpreted as implying a possible variation of up to 2.5% above or below any specified value. According to another example, the term "substantially" as used herein should be interpreted as implying a possible variation of up to 1% above or below any specified value.

[0130] All patents and / or patent applications mentioned in this specification are incorporated by reference in their entirety into the specification to the same extent as if each individual reference was specifically and individually indicated to be incorporated by reference herein. In addition, the citation or identification of any reference in this application should not be construed as an admission that such reference is available as prior art to the present invention.

Claims

1. A folding camera module, comprising: an optical path folding element OPFE for folding light from a first optical path toward a second optical path substantially perpendicular to the first optical path, a lens having a lens optical axis along the second optical path, the lens having an effective focal length EFL in the range of 5-40 mm; Image sensor; A module frame surrounding the folded camera module, the module frame having a module height H measured along a direction parallel to the first optical path and pointing toward an inner wall of the OPFE. M , the module length L measured along the direction parallel to the second optical path M , and a module width W measured along a direction perpendicular to both the first optical path and the second optical path M ;as well as an OPFE actuator including a single voice coil motor (VCM) for rotating the OPFE around a first rotation axis and around a second rotation axis perpendicular to the first rotation axis to perform OIS around a first optical image stabilization (OIS) direction and a second OIS direction, respectively, wherein the OIS is greater than ±1 degree around each of the first OIS direction and the second OIS direction, The minimum distance Y between the OPFE at the extreme rotation OPFE position and the inner wall of the module frame measured along the direction parallel to the second optical path is Min Meet Y Min ≤2mm, The minimum distance X between the OPFE at the extreme rotation OPFE position and the inner wall of the module frame measured along a direction perpendicular to both the first optical path and the second optical path is Min Satisfy X Min ≤3mm, Among them, Y Min / L M The ratio of ≤0.075, and Among them, X Min / W M The ratio is ≤0.

25.

2. The folding camera module according to claim 1, wherein: The rotation of the OPFE about the first rotation axis uses three support positions.

3. The folding camera module according to claim 1, wherein: The first rotation axis is located in a region that also includes the OPFE.

4. The folding camera module according to claim 1, wherein: The second rotation axis is located in a region that also includes the OPFE.

5. The folding camera module according to claim 1, wherein: Y Min / L M ≤0.

05.

6. The folding camera module according to claim 1, wherein: X Min / W M ≤0.2。 7. The folding camera module according to claim 1, wherein: X Min ≤2.75mm, and where Y Min ≤1.75mm.

8. The folding camera module according to claim 1, wherein: X Min ≤2.5mm, and where Y Min ≤1.5mm.

9. The folding camera module according to claim 1, wherein: X Min ≤2.25mm, and where Y Min ≤1.25mm.

10. The folding camera module according to claim 1, wherein: The OIS is greater than ±2 degrees around each of the first OIS direction and the second OIS direction.

11. The folding camera module according to claim 1, wherein: The OIS is greater than ±3 degrees around each of the first OIS direction and the second OIS direction.

12. The folding camera module according to claim 1, wherein: The OIS is greater than ±4 degrees around each of the first OIS direction and the second OIS direction.

13. The folding camera module according to claim 1, wherein: The OIS is greater than ±5 degrees around each of the first OIS direction and the second OIS direction.

14. The folding camera module according to claim 1, wherein: The OPFE is a prism.

15. The folding camera module according to claim 1, wherein: W M In the range of 7.5-15mm, and L M In the range of 15-30mm.

16. The folding camera module according to claim 1, wherein: H M In the range of 4-15mm.

17. The folding camera module according to claim 1, wherein: H M In the range of 5-10mm.

18. The folding camera module according to claim 1, wherein: The OPFE has an OPFE height H measured along a direction parallel to the first optical path. P and the OPFE width W measured along a direction perpendicular to both the first optical path and the second optical path P , wherein, in the zero rotation OPFE position, the OPFE is located at a horizontal distance hD away from the inner wall of the module frame PH and vertical distance vD PH Where, and where W P / hD PH >1.75 and H P / vD PH >1.

75.

19. The folding camera module according to claim 18, wherein: W P / hD PH >2 and H P / vD PH >2.

20. The folding camera module according to claim 18, wherein: W P / hD PH >2.5 and H P / vD PH >2.

5.

21. The folding camera module according to claim 18, wherein: W P / hD PH >3 and H P / vD PH >3.

22. The folding camera module according to claim 18, wherein: W P / hD PH >3.25 and H P / vD PH >3.

25.

23. The folding camera module according to claim 18, wherein: H M <H P +4mm。 24. The folding camera module according to claim 18, wherein: H M <H P +2.5mm。 25. The folding camera module according to claim 18, wherein: Ratio H P / H M In the range of 0.7-0.

8.

26. The folding camera module according to claim 1, wherein: W P In the range of 3-20mm.

27. The folding camera module according to claim 1, wherein: The EFL is in the range of 10-25 mm.

28. The folding camera module according to claim 1, wherein: The OPFE actuator includes a yaw stage, a pitch stage, and a frame, and wherein the yaw stage, the pitch stage, and the frame move relative to each other.

29. The folding camera module according to claim 28, wherein: The pitch stage moves together with the yaw stage.

30. The folding camera module according to claim 28, wherein: The yaw stage comprises two magnets, and wherein the frame comprises two coils: a first coil and a second coil.

31. The folding camera module according to claim 28, wherein: The frame and the module frame are made from one part.

32. The folding camera module according to claim 28, wherein: The yaw stage comprises a position sensing unit comprising one or more magnets.

33. The folding camera module according to claim 28, wherein: The pitch stage includes a position sensing unit including two or more magnets.

34. The folding camera module according to claim 28, wherein: The relative movement between the yaw stage, the pitch stage and the frame is achieved by a plurality of ball bearings.

35. The folding camera module according to claim 30, wherein: To rotate the OPFE about the second rotation axis, the current in the first coil flows in the same direction as the current in the second coil.

36. The folding camera module according to claim 30, wherein: To rotate the OPFE about the first rotation axis, a current in the first coil flows in a direction opposite to a current in the second coil.

37. The folding camera module according to any one of claims 1 to 36, wherein: The folding camera module is included in a mobile device.

38. The folding camera module according to claim 37, wherein: The mobile device also includes a wide camera having a larger FOV T Wide camera field of view FOV W .

39. The folding camera module according to claim 37, wherein: The mobile device also includes an inertial measurement unit (IMU).

40. The folding camera module according to claim 37, wherein: The mobile device is a smartphone.

41. The folding camera module according to claim 37, wherein: The mobile device is a tablet computer.

Images