Camera with sensor displacement tilt actuator arrangement

Abstract

Various embodiments include a camera system having a tilt actuator device for tilting an image sensor. For example, a tilt actuator may be used to tilt the image sensor relative to a lens group of the camera system to provide tilt compensation and / or optical image stabilization (OIS). The tilt actuator device may include one or more voice coil motor (VCM) actuators. According to various embodiments, a VCM actuator may include a fixed drive magnet and a movable drive coil. The drive magnet may be coupled with a housing of the camera system. The drive coil may be coupled with a substrate, and the substrate may also be coupled with the image sensor to move the image sensor and the substrate together.

Description

BACKGROUND TECHNICAL FIELD

[0002] The present disclosure relates generally to a camera including a tilt actuator arrangement for tilting an image sensor, for example, to provide tilt compensation and / or optical image stabilization (OIS).

[0003] Related Art

[0004] The advent of small mobile multi-purpose devices such as smartphones and tablet or pad devices has led to a demand for high resolution small form factor camera integration in the devices. Some small form factor cameras can incorporate an optical image stabilization (OIS) mechanism that can sense and react to external excitation / disturbances by adjusting the position of an optical lens in the X and / or Y axes. Some small form factor cameras can incorporate an auto focus (AF) mechanism by which an object focal length can be adjusted to focus an object plane in front of the camera at an image plane captured by an image sensor. In some such auto focus mechanisms, the optical lens is moved as a single rigid body along the optical axis of the camera to refocus the camera. BRIEF DESCRIPTION OF DRAWINGS

[0005] FIGS. 1A-1B A view of an example camera system including an actuator arrangement is illustrated in accordance with some embodiments. FIG. 1A A perspective view of a camera system is shown. FIG. 1B A schematic side cross-sectional view of the camera system 100 taken at section line 1B-1B indicated in FIG. 1A A schematic side cross-sectional view of the camera system 100 taken at section line 1B-1B indicated in

[0006] FIG. 2 A schematic side cross-sectional view of an example camera system including a tilt actuator arrangement is illustrated in accordance with some embodiments.

[0007] FIG. 3 A schematic side cross-sectional view of an example camera system including an auto focus (AF) actuator arrangement is illustrated in accordance with some embodiments.

[0008] FIG. 4 A schematic side cross-sectional view of an example camera system including one or more motion damping arrangements is illustrated in accordance with some embodiments.

[0009] FIG. 5 A schematic view of an example fixed drive magnet arrangement relative to a lower side of a housing (e.g., a shield) is illustrated in accordance with some embodiments.

[0010] FIG. 6 A schematic view of an example drive coil arrangement relative to an upper surface of a substrate is illustrated in accordance with some embodiments.

[0011] FIGS. 7A-7B A view of an example camera system having an entirely enclosed interior portion is illustrated in accordance with some embodiments. FIG. 7A A schematic side cross-sectional view of a camera system is shown. FIG. 7B A schematic top view of a camera system is shown.

[0012] FIGS. 8A-8B A view of an example sensor shift suspension device (e.g., a flexure-based sensor shift suspension device) of a camera system that can include a tilt actuator, an AF actuator, and / or one or more damping devices is illustrated in accordance with some embodiments. FIG. 8A A schematic side cross-sectional view of a sensor shift suspension device including a flexure is shown. FIG. 8B A schematic top view of a flexure is shown.

[0013] FIG. 9 is a flowchart illustrating an example method of operating a camera system that enables tilt actuation and / or autofocus (AF) actuation in accordance with some embodiments.

[0014] FIG. 10 is a flowchart illustrating an example process of at least partially assembling a camera system that enables tilt actuation, autofocus (AF) actuation, and / or motion damping in accordance with some embodiments.

[0015] FIG. 11 A schematic representation of an example environment that includes a device that can include a camera system having a tilt actuator, an AF actuator, and / or one or more damping devices is illustrated in accordance with some embodiments.

[0016] FIG. 12 A schematic block diagram of an example environment that includes a computer system that can include a camera system having a tilt actuator, an AF actuator, and / or one or more damping devices is illustrated in accordance with some embodiments.

[0017] This Specification includes references to “one embodiment” or “an embodiment.” The appearance of the phrases “in one embodiment” or “in an embodiment” does not necessarily refer to the same embodiment. Particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0018] “includes,” the term is open-ended. As used in the appended claims as well as in the following detailed description, the term “includes” does not exclude the presence of other elements or steps. Rather the term “includes” means “comprises

[0019] “Configured to.” Various units, circuits, or other components can be described or claimed as “configured to” perform a task or tasks. In such contexts, “configured to” is used to connote structure by indicating that a unit / circuit / component includes structure (e.g., circuitry) that performs the task or tasks during operation. As such, the unit / circuit / component can be said to be configured to perform the task even when the specified unit / circuit / component is not currently operational (e.g., is not on). The units / circuits / components used with the “configured to” language include hardware— for example, circuitry, memory storing program instructions executable to implement the operation, etc. Reciting a

[0020] “First,”“second,” etc. As used herein, these terms are used as labels in their ordinal sense and do not necessarily connote any type of ordering (e.g., spatial, temporal, logical, etc.). For example, a buffer circuit can be described herein as performing a write operation of a “first” value and a “second” value. The terms “first” and “second” do not necessarily connote that the first value must be written before the second value.

[0021] “Based on.” As used herein, this term is used to describe one or more factors that affect a determination. This term does not foreclose additional, unrecited factors that can affect a determination. That is, a determination can be solely based on the recited factors or based at least in part on the recited factors. Consider the phrase “determine A based on B.” While in this case, B is a factor that affects the determination of A, such a phrase does not foreclose the determination of A from also being based on C. In other instances, a determination can be made based solely on B.

[0022] It will also be understood that, although the terms “first,” “second,” etc. can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first contact could be termed a second contact, and, similarly, a second contact could be termed a first contact, without departing from the intended scope. The first contact and the second contact are both contacts, but they are not the same contact.

[0023] The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and / or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “comprises” and / or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0024] As used herein, the term “if’ can be construed to mean “when” or “when a” or “in response to a determination” or “in response to detecting,” depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” can be construed to mean “upon a determination” or “in response to determining” or “upon detecting [a stated condition or event],” depending on the context. DETAILED DESCRIPTION

[0025] Various embodiments include camera systems having tilt actuator devices for tilting an image sensor, e.g., to provide tilt compensation / correction and / or optical image stabilization (OIS). In some embodiments, a camera system can include a lens group, an image sensor, a tilt actuator device (e.g., including one or more voice coil motor (VCM) actuators), and a substrate. The tilt actuator device can be used to tilt the image sensor, along with the substrate (which can be fixedly coupled with the image sensor), relative to the lens group.

[0026] A VCM actuator can include stationary drive magnets that are fixedly coupled with stationary components of the camera system. In some embodiments, the stationary drive magnets can be considered “corner” drive magnets, where each drive magnet can be positioned proximate to a respective corner of the camera system. Further, a VCM actuator can include drive coils that are fixedly coupled with the substrate. In some embodiments, the drive coils can be considered “corner” drive coils, where each drive coil can be positioned proximate to a respective corner of the camera system.

[0027] According to various embodiments, each respective drive coil can be positioned proximate to a respective stationary drive magnet, such that, when driven with electrical current, one or more of the drive coils can electromagnetically interact with one or more of the stationary drive magnets to tilt the image sensor relative to the lens group. In various embodiments, the VCM actuator can be capable of tilting the image sensor about multiple axes that are orthogonal to an optical axis of the camera system, e.g., to compensate for “pitch” and “yaw” tilting / rotation (and / or to provide OIS).

[0028] In various embodiments, the stationary drive magnets can have respective polarities along a vertical direction that is parallel to the optical axis. For example, each of the stationary drive magnets can be oriented such that one pole (e.g., a south magnetic pole S) is disposed above the other pole (e.g., a north magnetic pole N) in the vertical direction.

[0029] Additionally or alternatively, in various embodiments, the camera system can include an autofocus (AF) actuator arrangement. The AF actuator arrangement (e.g., including one or more VCM actuators) can be used to move / displace the image sensor, along with a substrate (which can be fixedly coupled with the image sensor), relative to the lens group, e.g., to provide AF.

[0030] According to various embodiments, the VCM actuator can include stationary drive magnets that are fixedly coupled with stationary components of the camera system. In some embodiments, the stationary drive magnets can be considered “corner” drive magnets, where each drive magnet can be positioned proximate to a respective corner of the camera system. Further, the VCM actuator can include drive coils that are fixedly coupled with the substrate. In some embodiments, the drive coils can be considered “corner” drive coils, where each drive coil can be positioned proximate to a respective corner of the camera system.

[0031] According to various embodiments, each respective drive coil can be positioned proximate to a respective stationary drive magnet, such that, when driven with electrical current, one or more of the drive coils can electromagnetically interact with one or more of the stationary drive magnets to move the image sensor in at least one direction that is parallel to the optical axis.

[0032] In various embodiments, the stationary drive magnets can have respective polarities along a vertical direction that is parallel to the optical axis. For example, each of the stationary drive magnets can be oriented such that one pole (e.g., a south magnetic pole S) is disposed above the other pole (e.g., a north magnetic pole N) in the vertical direction.

[0033] Additionally or alternatively, in various embodiments, the camera system can include one or more motion damping arrangements. For example, the camera system can include an electromagnetic damping arrangement and / or an air damping arrangement.

[0034] In some embodiments, the electromagnetic damping device can include one or more damping coils (e.g., closed loop passive coils). The damping coils can be fixedly coupled with the substrate. In various embodiments, each damping coil can be positioned relative to the fixed drive magnets such that, when there is relative motion between the fixed drive magnets caused by motion of the substrate, the fixed drive magnets induce a current in the damping coils. Due to Lenz’s law, the induced current can generate a magnetic field that is opposite to the motion of the substrate, thereby providing electromagnetic damping. The amount of electromagnetic damping can be proportional to the speed of the motion. Since the electromagnetic damping is entirely passive, no drive current needs to be directed to or provided to the damping coils.

[0035] In some embodiments, each respective damping coil can be vertically aligned with a respective fixed drive magnet. Additionally or alternatively, the damping coils and drive coils can be on opposite sides of the substrate. According to various embodiments, the camera system can include a plurality of corner damping coils. Each respective corner damping coil can be positioned proximate to a respective corner of the camera system.

[0036] In some embodiments, the air damping device can include a camera system that is sealed and further designed such that one or more movable components, when in motion, push air within the camera system, thereby creating air resistance. For example, the camera system can include a sealed environment, a portion of which can include a sealed interface between the lens group and the housing. In various embodiments, a desired amount of air damping can be achieved based at least in part on the size of the substrate, the size of the housing, and / or the size of the gap between the substrate and the housing.

[0037] In some other camera systems with sensor shift OIS, flexures can hold the substrate and image sensor while OIS coils on the substrate drive the image sensor in-plane to compensate for hand movement on the pitch and yaw axes. Thus, in such systems, there is a tradeoff between module footprint and compensation angle. Larger image sensors can require proportionally more travel to compensate for the same angle, which limits the ability to increase the size of the image sensor as well as the ability to improve OIS capabilities.

[0038] In those camera systems that use in-plane translation to compensate for pitch and yaw rotation, there is native optical distortion post-compensation. Furthermore, residual tilt between the lens and image sensor can be fixed after assembly, and there can be additional image sensor sag at different postures. This tilt cannot be corrected and can result in degraded image quality, especially for large image sensors. Furthermore, those camera systems can have drive magnets with polarity in-plane. For example, the polarity of a drive magnet can be perpendicular to the polarity of an adjacent drive magnet. This structure can cause magnetic impact to the position sensor, which can result in calibration drift.

[0039] With the camera systems disclosed herein, the polarity of the drive magnets can be along a vertical direction. For example, the camera system can include four drive coils at the four corners of the substrate. In some non-limiting embodiments, the drive coils can be used to tilt the substrate about the pitch and yaw axes, for example, up to 3 degrees each. Four position sensors (e.g., each surrounded by a respective drive coil) can track the substrate tilt in real time, and a controller can be used to drive the drive coils so that the image sensor is placed at a target tilt position.

[0040] In comparison to some other camera systems described previously, the tilt actuator of the camera systems disclosed herein can allow for enhanced OIS performance with larger image sensors without a significant increase in module footprint. Moreover, the tilt actuator of the camera systems disclosed herein can be able to correct for residual image sensor tilt from manufacturing and additional image sensor sag in different postures in real time. As residual image sensor tilt from manufacturing can be corrected in real time, the camera systems disclosed herein can allow for the removal of an active alignment station from the manufacturing process (which other camera systems can require to correct for residual image sensor tilt), providing a cost-saving opportunity. Moreover, in the tilt actuator of the camera systems disclosed herein, the drive magnets can have the same polarity direction, which reduces the risk of magnetic shock to the position sensors.

[0041] In some other camera systems with sensor shift OIS, autofocus (AF) can rely on driving the lens to a focus position while the image sensor is vertically stationary. This can impose a physical limit on the moving mass and can prevent adding more optical advanced technology on the lens (e.g., glass lens, variable aperture, zoom lens, etc.).

[0042] To move heavy lenses, some other camera system architectures have a relatively complex arrangement of drive coils, position sensor boards, and drivers. To track lens movement and tilt in real time, one or two AF position sensors and thermistors can be built in, which can require calibration at a station during the manufacturing process. From a process perspective, the AF drive current and position sensor signals can be routed through a jet solder joint between the position sensor board and flexure. This architecture can increase mechanical complexity, process challenges, and reliability risks. For example, a failure can occur on the jet solder interface, which can result in the lens being unable to focus.

[0043] Furthermore, such other camera systems can be limited by plastic lens elements, as lens focal length can vary significantly with temperature. This effect becomes more pronounced as lens size increases. Resolving this issue can require longer AF travel, increased module height, and degradation of minimum focus distance (macro). Plastic lens elements can be housed within a lens barrel, and some open space around the lens barrel can be required for lens movement. Open space around the lens barrel can be a pathway for particulate ingress, which can result in yield loss and field risk.

[0044] In contrast to some other camera systems described previously, the AF actuator of the camera system disclosed herein can include drive magnets with polarity in the vertical direction. For example, the camera system can include four drive coils at the four corners of the substrate. In some non-limiting embodiments, the drive coils can be used to move the image sensor plane to a target AF position. Four position sensors (e.g., each surrounded by a respective drive coil) can track the substrate position in real time with tilt information. In some embodiments, the drive magnets and the lens group can be fixedly coupled with the same housing, which can free the lens group from mass block constraints and improve module integrity.

[0045] The AF actuator of the camera system disclosed herein can enable the use of glass lenses, which can reduce optical aberrations and lower lens temperature coefficients. Module height and minimum focus distance can also be reduced. Furthermore, by reducing certain previously required processes and / or components, such as one or more drive coils, one or more position sensor boards, jet soldering, etc., system complexity can be reduced while improving reliability, which can also provide cost savings opportunities. As previously described, in various embodiments, the camera system disclosed herein can be fully sealed, mitigating particulate ingress and making the module more robust in storage.

[0046] In some other camera systems with sensor shift OIS, a damping mechanism can be utilized to avoid oscillation or overshoot when the image sensor moves in plane with the substrate (e.g., to compensate for hand shake). Similarly, a damping mechanism can be used for AF to prevent lens overshoot. For example, those camera systems can use a damping pin inside a damping gel to form a “brake” for the OIS and / or AF actuator.

[0047] However, there can be issues with using a damping pin inside a damping gel, such as process challenges to reliability issues. For example, the damping gel can migrate in some cases, which can result in premature controller failure after random vibration. If the damping gel does not provide enough damping, the user can experience unstable OIS after normal use.

[0048] The architecture of the camera systems disclosed herein can enable the use of electromagnetic damping and / or air damping compared to those other camera systems. Regarding electromagnetic damping, in various embodiments, the polarity of the drive magnets is along the vertical direction, thus there is a magnetic flux gradient along the vertical direction. By including a closed loop passive coil on the substrate that is aligned with the drive magnets, the closed loop passive coil will provide a resistance due to Lenz’s law. This electromagnetic damping can be completely passive and proportional to the velocity of the moving mass. Regarding air damping, the camera module can be completely sealed, and during the motion of the moving mass (e.g., including the substrate), the substrate pushes air, which creates a resistance.

[0049] These damping mechanisms can be used in the camera systems disclosed herein for motion damping during tilt correction, OIS, and / or AF motion, and can be more robust and improve reliability relative to the damping pins and damping gel mechanisms previously discussed. Additionally, by removing certain components such as AF damping pins, AF damping gel, OIS damping pins, and OIS damping gel, the damping mechanisms of the camera systems disclosed herein can provide a cost savings opportunity.

[0050] Reference will now be made in detail to implementations, examples of which are illustrated in the accompanying drawings. In the following detailed description of implementations, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, it will be apparent to one of ordinary skill in the art having the benefit of this disclosure that some implementations can be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the implementations.

[0051] FIGS. 1A-1B A view of an example camera system 100 including an actuator device is illustrated in accordance with some implementations. FIG. 1A A perspective view of the camera system 100 is shown. FIG. 1B A schematic side cross-sectional view of the camera system 100 taken at section line IB-IB indicated in FIG. 1A A schematic side cross-sectional view of the camera system 100 taken at section line IB-IB indicated in

[0052] According to various implementations, the camera system 100 can include a lens group 102, an image sensor 104, one or more voice coil motor (VCM) actuators (e.g., including a fixed / stationary drive magnet 106 and a drive coil 108), and / or a substrate 110 (also referred to herein as a “movable carrier”). Further, the camera system 100 can include a sensor shift suspension device (not shown), which in various implementations can include the substrate 110. The sensor shift suspension device can be used to suspend the substrate 110 (e.g., above a base structure of the camera system 100) while allowing motion of the substrate 110 to be achieved by the VCM actuators. Reference is made herein toFIGS. 8A-8B Non-limiting examples of flexure-based sensor-shift suspension apparatuses are described.

[0053] The lens group 102 can include one or more lens elements that define an optical axis 112 of the camera system 100. Additionally or alternatively, the image sensor 104 can define an optical axis of the camera system 100. For example, the optical axis can be an axis that is orthogonal to a light-receiving surface of the image sensor 104.

[0054] In various embodiments, the VCM actuator can include fixed drive magnets 106 and drive coils 108. As used herein, a “fixed drive magnet” refers to a magnet having a fixed position relative to a component of the camera system 100 that is selectively movable via actuation. As will be discussed in further detail herein (e.g., with reference to FIG. 2 ), the VCM actuator can be configured to tilt the image sensor 104 relative to the lens group 102, e.g., to provide tilt compensation and / or optical image stabilization (OIS). Additionally or alternatively, as will be discussed in further detail herein (e.g., with reference to FIG. 3 ), the VCM actuator can be configured to move the image sensor 104 relative to the lens group 102 in at least one direction parallel to the optical axis 112, e.g., to provide autofocus (AF).

[0055] In some embodiments, one or more of the fixed drive magnets 106 can have respective polarities along a vertical direction parallel to the optical axis 112. For example, as indicated by FIG. 1B each of the fixed drive magnets 106 can be oriented such that one pole (e.g., a south pole S) is disposed above the other pole (e.g., a north pole N) in the vertical direction.

[0056] According to various embodiments, the fixed drive magnets 106 can be fixedly coupled with stationary components of the camera system 100. For example, the camera system 100 can be enclosed in a housing (e.g., including a shield, such as the shield 314 in FIG. 3 In some embodiments, the fixed drive magnets 106 can be considered “corner” drive magnets, where each drive magnet can be positioned proximate to a respective corner of the camera system 100. For example, the housing can have sidewalls with surfaces that extend along planes parallel to the optical axis 112. Intersecting pairs of sidewalls can form corners at which or near which the fixed drive magnets 106 can be located. According to some embodiments, the substrate 110 can have a surface that is a quadrilateral that is orthogonal to the optical axis 112. In some embodiments, each of the fixed drive magnets 106 can be positioned proximate to a respective corner of the quadrilateral.

[0057] In various embodiments, the drive coils 108 can be fixedly coupled with the substrate 110. In some embodiments, the drive coils 108 can be considered “corner” drive coils, where each drive coil can be positioned proximate to a respective corner of the camera system 100. For example, the drive coils 108 can be positioned proximate to respective corners formed by the housing and / or formed by the substrate 110, e.g., similar to the corner positions previously described with respect to the corner drive magnets. In some embodiments, each respective drive coil 108 can be positioned between a respective fixed drive magnet 106 and the substrate 110 on a respective axis parallel to the optical axis 112.

[0058] In some embodiments, the camera system 100 can also include a flexible printed circuit (FPC) 114 on which the drive coils 108 can be disposed. As indicated, the FPC 114 can be coupled with the substrate 110. For example, in some embodiments, the FPC 114 can be on an upper surface of the substrate 110. FIG. 1B

[0059] As previously noted, the lens group 102 can include one or more lens elements. In some embodiments, the lens group 102 can include one or more glass lens elements. Additionally or alternatively, the lens group 102 can be a fixed lens group. For example, the lens group 102 can be fixedly attached to a stationary component of the camera system 100 (e.g., a shield). In some embodiments, the lens group 102 can be held within a lens barrel (e.g., the lens barrel 116 in FIG. 1A

[0060] According to some embodiments, in some embodiments, the camera system 100 can also include one or more motion damping devices. For example, the camera system 100 can include electromagnetic-based motion damping devices (e.g., including one or more closed loop passive coils 118; also referred to herein as “electromagnetic damping devices”) and / or air-based motion damping devices (also referred to herein as “air damping devices”), e.g., as discussed in further detail herein with reference to FIG. 4

[0061] In various embodiments, the camera system 100 can include an optical filter 120 (e.g., an infrared cut filter (IRCF)), a stiffener 122, and / or a base structure 124. The optical filter 120 can be positioned above the image sensor 104, e.g., such that light passes through the optical filter 120 before reaching the image sensor 104. The stiffener 122 can be positioned below the image sensor 104 and can provide structural support to the image sensor 104.

[0062] FIG. 2 A schematic side cross-sectional view of an example camera system 200 including a tilt actuator device is illustrated, according to some embodiments.​​​FIG. 2 An example Cartesian coordinate system used as a reference aid in describing embodiments of the present disclosure.

[0063] Camera system 200 can include a lens group 202, an image sensor 204, a tilt actuator arrangement (e.g., including one or more voice coil motor (VCM) actuators), and a substrate 206. The tilt actuator arrangement can be used to tilt image sensor 204, along with substrate 206 (which can be fixedly coupled with image sensor 204), relative to lens group 202, e.g., to provide tilt compensation and / or optical image stabilization (OIS). In various embodiments, one or more of the components of camera system 200 can be similar or identical to one or more corresponding components of camera system 100 (and / or other camera systems described herein).

[0064] As previously noted, the tilt actuator arrangement can include one or more VCM actuators. According to various embodiments, a VCM actuator can include a stationary drive magnet 208 fixedly coupled with a stationary component of camera system 200. Further, the VCM actuator can include a drive coil 210 fixedly coupled with substrate 206.

[0065] According to various embodiments, each respective drive coil 210 can be positioned proximate to a respective stationary drive magnet 208, such that, when driven with electrical current, one or more of drive coils 210 is capable of electromagnetically interacting with one or more of stationary drive magnets 208 to tilt image sensor 204 relative to lens group 202. The VCM actuator can be capable of tilting image sensor 204 about multiple axes that are orthogonal to an optical axis of camera system 200 (e.g., optical axis 112 in FIG. 1). In FIG. 2 As a non-limiting example, double-headed arrow 212 indicates that image sensor 204 is capable of tilting about the Y-axis. However, in various embodiments, the VCM actuator can be capable of tilting image sensor 204 about multiple axes along the X-Y plane, e.g., to compensate for “pitch” and “yaw” tilting / rotation (and / or to provide OIS).

[0066] In various embodiments, stationary drive magnets 208 can have respective polarities along a vertical direction (e.g., Z-axis direction) that is parallel to the optical axis. For example, as indicated by FIG. 2 each of stationary drive magnets 208 can be oriented such that one pole (e.g., a south pole S) is disposed above the other pole (e.g., a north pole N) in the vertical direction.

[0067] FIG. 3A schematic side cross-sectional view of an example camera system 300 including an autofocus (AF) actuator arrangement is illustrated in accordance with some embodiments. The camera system 300 can include a lens group 302, an image sensor 304, an AF actuator arrangement (e.g., including one or more voice coil motor (VCM) actuators), and a substrate 306. The AF actuator arrangement can be used to move / displace the image sensor 304 with the substrate 306 (which can be fixedly coupled with the image sensor 304) relative to the lens group 302, e.g., to provide AF. In various embodiments, one or more of the components of the camera system 300 can be similar or identical to one or more corresponding components of the camera system 100 (and / or other camera systems described herein).

[0068] As previously noted, the AF actuator arrangement can include one or more VCM actuators. In accordance with various embodiments, a VCM actuator can include a stationary drive magnet 308 that is fixedly coupled with a stationary component of the camera system 300. Further, the VCM actuator can include a drive coil 310 that is fixedly coupled with the substrate 306.

[0069] In accordance with various embodiments, each respective drive coil 310 can be positioned proximate to a respective stationary drive magnet 308 such that, when driven with electrical current, one or more of the drive coils 310 is capable of electromagnetically interacting with one or more of the stationary drive magnets 308 to move the image sensor 304 in at least one direction parallel to an optical axis of the camera system 300 (e.g., the optical axis 112 in FIG. 1). In FIG. 2 In the middle, the double-headed arrow 312 indicates that the image sensor 304 is capable of moving in the Z-axis direction to adjust focus. For example, the VCM actuator can be capable of moving the image sensor 304 upward (+Z-axis direction) toward the lens group 302. Further, the VCM actuator can be capable of moving the image sensor 304 downward (-Z-axis direction) away from the lens group 302.

[0070] In various embodiments, the stationary drive magnets 308 can have respective polarities along a vertical direction (e.g., the Z-axis direction) that is parallel to the optical axis. For example, as FIG. 3 indicated, each of the stationary drive magnets 308 can be oriented such that one pole (e.g., a south pole S) is disposed above the other pole (e.g., a north pole N) in the vertical direction.

[0071] In accordance with various embodiments, the camera system 300 can include a housing (e.g., a shield 314). In some embodiments, the housing can include multiple portions. For example, in FIG. 3In the illustrated non-limiting example, the shield 314 can include an upper shield portion 314a and a lower shield portion 314b. The upper shield portion 314a can enclose an upper portion of the camera system 300. The lower shield portion 314b can enclose a lower portion of the camera system 300. In some embodiments, the upper shield portion 314a and the lower shield portion 314b can overlap, e.g., as indicated by the overlap 316. The upper shield portion 314a can be attached to the lower shield portion 314b (e.g., at the overlap). FIG. 3

[0072] As discussed herein with reference to FIG. 4 and FIGS. 7A-7B , the internal components of the camera system 300 can be protected from particulate ingress, which can damage the camera system 300 and / or degrade image quality. For example, the interface between the lens group 302 and the shield 314 can form a seal (or otherwise mitigate exposure of the internal components to particulates). In some embodiments, the internal components of the camera system 300 can be completely enclosed and / or sealed from external particulates.

[0073] FIG. 4 A schematic side cross-sectional view of an example camera system 400 including one or more motion damping devices is illustrated in accordance with some embodiments. For example, in various embodiments, the camera system 400 can include electromagnetic damping devices and / or air damping devices.

[0074] The camera system 400 can include a lens group (e.g., the lens group 302 in FIG. 1 and / or other lens groups described herein), an image sensor 402, one or more voice coil motor (VCM) actuators, and a substrate 404. In various embodiments, one or more of the components of the camera system 400 can be similar or identical to one or more corresponding components of the camera system 100 (and / or other camera systems described herein). FIG. 3

[0075] The VCM actuators can include tilt actuators (e.g., as described herein with reference to FIG. 2 ) and / or autofocus actuators (e.g., as described herein with reference to FIG. 3 ). In various embodiments, the VCM actuators can include a fixed drive magnet 406 fixedly coupled with a stationary component of the camera system 400. Further, the VCM actuators can include a drive coil 408 fixedly coupled with the substrate 404.

[0076] In various embodiments, the fixed drive magnet 406 can have a respective polarity along a vertical direction (e.g., a Z-axis direction) that is parallel to an optical axis (e.g., the optical axis 112 in FIG. 1) of the camera system 400. For example, as FIG. 4 ​​As indicated, each of the stationary drive magnets 406 can be oriented such that one pole (e.g., a south pole S) is disposed vertically above the other pole (e.g., a north pole N). As indicated by magnetic field arrows B in FIG. 4 such a vertical pole orientation creates a magnetic flux gradient in the vertical direction.

[0077] In some embodiments, the electromagnetic damping device can include one or more damping coils 410 (e.g., closed loop passive coils). The damping coils 410 can be fixedly coupled with the substrate 404, e.g., as indicated. FIG. 4

[0078] In various embodiments, each damping coil 410 can be positioned relative to the stationary drive magnets 406 such that, when there is relative motion between the stationary drive magnets 406 caused by motion of the substrate 404, the stationary drive magnets 406 induce a current in the damping coils 410. Due to Faraday’s Law, the induced current can create a magnetic field that is opposite to the motion of the substrate 404, thereby providing electromagnetic damping. The magnitude of the electromagnetic damping can be proportional to the speed of the motion. Since the electromagnetic damping is entirely passive, no drive current needs to be directed to or provided to the damping coils 410.

[0079] In the non-limiting example shown in FIG. 4 image sensor motion direction arrow -Z indicates downward motion of the substrate 404 (along with components coupled with the substrate 404, such as the image sensor 402 and the damping coils 410) away from the stationary drive magnets 406. According to Faraday’s Law, a magnetic field is created that is opposite to the -Z motion, e.g., as indicated by resistance direction arrow +Z. In FIG. 4 , arrows +Z and -Z are used to indicate direction (not magnitude). In some embodiments, the image sensor motion can be in the +Z direction, and the resistance due to the electromagnetic damping can be in the -Z direction.

[0080] In some embodiments, each respective damping coil 410 can be vertically aligned with a respective stationary drive magnet 406. Additionally or alternatively, the damping coils 410 and the drive coils 408 can be on opposite sides of the substrate 404. For example, the drive coils 408 can be on a first side of the substrate 404. The damping coils 410 can be on a second side of the substrate 404. The first side of the substrate and the second side of the substrate can face in opposite directions.

[0081] According to various embodiments, the camera system 400 can include multiple damping coils 410. For example, in some embodiments, the damping coils 410 can be corner damping coils 410. Each respective corner damping coil 410 can be positioned proximate to a respective corner of the camera system 400.

[0082] ​In some embodiments, the damping coil 410 can include a first damping coil, a second damping coil, a third damping coil, and a fourth damping coil. A first axis parallel to the optical axis can intersect a first stationary drive magnet, an area within an outer periphery of the first drive coil, and an area within an outer periphery of the first damping coil. A second axis parallel to the optical axis can intersect a second stationary drive magnet, an area within an outer periphery of the second drive coil, and an area within an outer periphery of the second damping coil. A third axis parallel to the optical axis can intersect a third stationary drive magnet, an area within an outer periphery of the third drive coil, and an area within an outer periphery of the third damping coil. A fourth axis parallel to the optical axis can intersect a fourth stationary drive magnet, an area within an outer periphery of the fourth drive coil, and an area within an outer periphery of the fourth damping coil.

[0083] In some embodiments, the air damping device can include the camera system 400, which is sealed and further designed such that one or more movable components push air within the camera system 400 when in motion, thereby creating air resistance. For example, as FIGS. 7A-7B schematically indicated, the camera system 400 can include a sealed environment, e.g., including a housing 414 such as a shield. As further discussed herein with reference to FIG. 7A , a portion of the sealed environment can include a sealed interface between the housing 414 and a lens group (e.g., FIG. 4 the lens group 702 in FIG. 4 not shown in FIG. 4 In various embodiments, a desired amount of air damping can be achieved based at least in part on a size of the substrate 404, a size of the housing 414, and / or a size of a gap between the substrate 404 and the housing 414 (e.g., indicated as having a distance d in

[0084] In some embodiments, the substrate 404 can not be the longest component (in the X-axis direction) coupled with and capable of moving with the image sensor 402. In such cases, a desired amount of air damping can be achieved based at least in part on a gap between the longest component and the housing 414. For example, the gap can be the shortest distance in the X-axis direction from an outermost vertical surface of the longest component to an innermost vertical surface of the housing 414.

[0085] In FIG. 5 the non-limiting example shown, the lens group and drive magnets are stationary, and the image sensor (together with the substrate) and drive coils are movable. However, it should be appreciated that the motion damping devices described herein can be used in camera systems configured differently, e.g., camera systems having a movable lens group and a stationary image sensor and / or camera systems having stationary drive coils and movable drive magnets, etc.

[0086] For example, a camera system can include a lens group, an image sensor, a movable carrier coupled with the lens group of the image sensor, one or more VCM actuators, and one or more closed-loop passive coils. The VCM actuators can include one or more drive magnets and one or more drive coils. Each respective drive coil can be positioned proximate to a respective drive magnet such that, when driven with an electric current, the respective drive coil is capable of electromagnetically interacting with the respective drive magnet to move the movable carrier in at least one direction.

[0087] Each respective closed-loop passive coil can be positioned relative to a respective drive magnet such that, when there is relative motion between the drive magnet and the respective closed-loop passive coil caused by motion of the movable carrier, the respective drive magnet induces a current in the respective closed-loop passive coil. The induced current generates a magnetic field that opposes the motion of the movable carrier, thereby providing electromagnetic damping.

[0088] The movable carrier can have an outer periphery along a plane orthogonal to the optical axis that is spaced apart from an inner surface of the shield by a gap distance along the plane. The size of the gap distance can be determined based on a predetermined amount of desired air damping provided by a resistance from the movable carrier pushing air during motion. In different sizes of camera systems, the resistance can increase as the gap distance decreases.

[0089] FIG. 6 A schematic diagram of an example fixed drive magnet arrangement 500 relative to a lower side of a housing (e.g., a shield) is illustrated in accordance with some embodiments. The fixed drive magnet arrangement 500 can include fixed drive magnets 502 fixedly coupled with a housing 504. In various embodiments, the fixed drive magnets 502 can be corner drive magnets, where each corner drive magnet is fixedly coupled with the housing 504 at a respective corner of the lower side of the housing 504.

[0090] In some non-limiting embodiments, the fixed drive magnets 502 can include a first fixed drive magnet 502a, a second fixed drive magnet 502b, a third fixed drive magnet 502c, and a fourth fixed drive magnet 502d. The lower side of the housing 504 can include a first corner 506a, a second corner 506b, a third corner 506c, and a fourth corner 506d. The first fixed drive magnet 502a can be disposed at a first corner region 508a proximate to the first corner 506a. The second fixed drive magnet 502b can be disposed at a second corner region 508b proximate to the second corner 506b. The third fixed drive magnet 502c can be disposed at a third corner region 508c proximate to the third corner 506c. The fourth fixed drive magnet 502d can be disposed at a fourth corner region 508d proximate to the fourth corner 506d.

[0091] FIG. 9A diagram illustrating an example drive coil arrangement 600 relative to an upper surface of a substrate is shown, in accordance with some embodiments. The drive coil arrangement 600 can include drive coils 602 fixedly coupled with a substrate 604. In various embodiments, the drive coils 602 can be corner drive coils, where each corner drive coil is fixedly coupled with the substrate 604 at a respective corner of an upper surface of the substrate 604.

[0092] In some non-limiting embodiments, the drive coils 602 can include a first drive coil 602a, a second drive coil 602b, a third drive coil 602c, and a fourth drive coil 602d. The upper surface of the substrate 604 can include a first corner 606a, a second corner 606b, a third corner 606c, and a fourth corner 606d. The first drive coil 602a can be disposed at a first corner region 608a proximate the first corner 606a. The second drive coil 602b can be disposed at a second corner region 608b proximate the second corner 606b. The third drive coil 602c can be disposed at a third corner region 608c proximate the third corner 606c. The fourth drive coil 602d can be disposed at a fourth corner region 608d proximate the fourth corner 606d.

[0093] According to some embodiments, a camera system (e.g., the camera system 100 in FIG. 1 and / or other camera systems described herein) can include one or more position sensors 610. The position sensors 610 can be used to determine a position of an image sensor (e.g., the image sensor 104 in FIG. 1 and / or other image sensors described herein) coupled with the substrate 604. For example, a current position of the image sensor can be determined based at least in part on output from the position sensors 610, and the current position can be used to determine whether the position of the image sensor should be adjusted (e.g., via tilt actuation and / or AF actuation, as also described herein with reference to FIGS. 2-3) to a target position. The output from the position sensors 610 can be based at least in part on one or more magnetic fields sensed by the position sensors 610 (e.g., generated by fixed drive magnets). FIG. 6

[0094] ​In various non-limiting embodiments, each respective position sensor 610 can be encircled by a respective drive coil 602. In some non-limiting embodiments, the position sensors 610 can include a first position sensor 610a, a second position sensor 610b, a third position sensor 610c, and a fourth position sensor 610d. As previously described, the substrate 604 can include corner regions 608. In some embodiments, the first position sensor 610a can be disposed at a first corner region 608a proximate to the first corner 606a. The second position sensor 610b can be disposed at a second corner region 608b proximate to the second corner 606b. The third position sensor 610c can be disposed at a third corner region 608c proximate to the third corner 606c. The fourth position sensor 610d can be disposed at a fourth corner region 608d proximate to the fourth corner 606d. Additionally or alternatively, each respective position sensor 610 can be positioned proximate to a respective stationary drive magnet (e.g., stationary drive magnets 106 and / or other stationary drive magnets described herein) such that the respective position sensor is able to detect a magnetic field of the respective stationary drive magnet.

[0095] As FIGS. 7A-7B indicated, in some embodiments, each respective position sensor 610 can be encircled by a respective drive coil 602. For example, the first drive coil 602a can encircle the first position sensor 610a. The second drive coil 602b can encircle the second position sensor 610b. The third drive coil 602c can encircle the third position sensor 610c. The fourth drive coil 602d can encircle the fourth position sensor 610d.

[0096] FIG. 7A A view of an example camera system 700 having an interior portion that is completely enclosed is illustrated in accordance with some embodiments. FIG. 7B A schematic side cross-sectional view of the camera system 700 is shown. FIG. 4 A schematic top view of the camera system 700 is shown. The camera system 700 can include a lens group 702, an image sensor 704, and a housing 706 (e.g., including a shield). In various embodiments, one or more of the components of the camera system 700 can be similar or identical to one or more corresponding components of the camera system 100 (and / or other camera systems described herein).

[0097] According to various embodiments, the interior portion 708 can be fully encapsulated to protect the internal components (disposed within the interior portion) from particulate ingress. If particulate from the external environment (e.g., outside of the camera system 700) were allowed to enter the interior portion 708 of the camera system 700, these particulates can degrade image quality and / or camera performance. For example, if such particulates reached the image sensor 704, image quality can be negatively impacted. A fully encapsulated camera system 700 can mitigate particulate ingress and thus protect the image sensor 704 (and / or other internal components) from particulates.

[0098] In various embodiments, the interface 710 between the lens group 702 and the housing 706 can form a seal, in a sense that the interface 710 can mitigate particulate ingress between the lens group 702 and the housing 706. Some other camera systems can include a gap between the lens group and the housing, for example, to allow lens group movement for AF and / or OIS. Such a gap provides an open area through which particulates can enter those camera systems. In contrast, the camera systems described herein can be designed to move the image sensor (rather than the lens group) to achieve AF, tilt correction, and / or OIS, allowing for a fixed / stationary lens group and eliminating the previously described gap requirement of some other camera systems.

[0099] In various embodiments, a camera system 700 that is sealed as described herein can provide an opportunity for air damping, for example, as discussed herein with reference to FIGS. 8A-8B By fully encapsulating the interior portion 708, the air within the interior portion 708 must remain within the camera system 700 and can be used to provide air resistance for image sensor movement, thus enabling air-based motion damping.

[0100] FIG. 8A A view of an example sensor shift suspension device 800 (e.g., a flexure-based sensor shift suspension device) of a camera system (e.g., the camera system 100 of FIG. 1 and / or other camera systems described herein) that can include a tilt actuator, an AF actuator, and / or one or more damping devices is illustrated in accordance with some embodiments. FIG. 8B A schematic side cross-sectional view of the sensor shift suspension device 800 including a flexure 802 is shown. FIG. 8B A schematic top view of the flexure 802 is shown.

[0101] In some embodiments, the sensor shift suspension apparatus 800 can include a flexure 802 that can be configured to suspend an image sensor 804 (which can be fixedly coupled with a substrate 806) on one or more stationary components 808 (e.g., a base structure of a camera system) and allow for motion of the image sensor 804 effected by one or more voice coil motor (VCM) actuators of the camera system. According to various embodiments, the flexure 802 can include an inner frame 810, an outer frame 812, and one or more flexure arms 814. The inner frame 810 can be coupled with the substrate 806. The outer frame 812 can be coupled with the stationary components 808. The flexure arms 814 can extend from the inner frame 810 to the outer frame 812.

[0102] In FIG. 9 the flexure 802 includes four flexure arms 814 that are schematically represented. However, it should be appreciated that the number and arrangement of flexure arms 814 can vary in various embodiments. The flexure 802 and / or flexure arms 814 can be configured to provide sufficient rigidity to suspend the image sensor 804 on the stationary structure 806 and avoid unwanted motion, while also providing sufficient compliance to effectuate the intended motion caused by the VCM actuators.

[0103] In some embodiments, the flexure 802 and / or the sensor shift suspension apparatus 800 can be used to guide / convey electrical signals between components of the camera system. Such electrical signals can include, for example, image signals, power signals, and / or drive signals, among others. In some embodiments, electrical signals can be conveyed between the stationary components 808 and the image sensor 804 via the flexure 802 and the substrate 806. For example, electrical signals can be conveyed from the stationary components 808 to the outer frame 812, then from the outer frame 812 to the inner frame 810 via electrical traces (not shown) on the flexure arms 814, then from the inner frame 810 to the substrate 806, and then from the substrate 806 to the image sensor 804. In some embodiments, the same path can be taken in reverse to convey electrical signals from the image sensor 804 to the stationary components 808.

[0104] FIG. 6 is an example flow diagram illustrating an example method 900 of operating a camera system that can enable tilt actuation and / or autofocus (AF) actuation, in accordance with some embodiments.

[0105] At 902, the method 900 can include determining a position of an image sensor of a camera. For example, the position of the image sensor can be determined based at least in part on output from one or more position sensors of the camera, e.g., as discussed further herein with reference to FIG. 2 .

[0106] At 904, the method 900 can include determining whether to trigger tilt compensation and / or OIS motion. For example, a current position of the image sensor can be compared to a target tilt / OIS position of the image sensor. If the current position of the image sensor is different from the target tilt / OIS position, it can be determined to trigger tilt compensation and / or OIS motion. In some implementations, determining whether to trigger tilt compensation and / or OIS motion can include determining whether the current position of the image sensor is within a threshold of the target tilt / OIS position.

[0107] At 906, the method 900 can include determining whether to trigger focus (e.g., AF) motion. For example, a current position of the image sensor can be compared to a target focus position of the image sensor. If the current position of the image sensor is different from the target focus position, it can be determined to trigger AF motion. In some implementations, determining whether to trigger AF motion can include determining whether the current position of the image sensor is within a threshold of the target focus position.

[0108] If it is determined to trigger tilt compensation, OIS motion, and / or AF motion at 904 and / or 906, the method 900 can include moving the image sensor relative to a lens group of the camera using one or more voice coil motor (VCM) actuators of the camera (at 908). Moving the image sensor can include providing a current to at least one of the drive coils of the VCM actuators (e.g., via a controller). For example, if it is determined to trigger tilt compensation and / or OIS motion at 904, the method 900 can include implementing tilt actuation (at 910), e.g., as discussed herein with reference to FIGS. 5A-5C. FIG. 3 In some examples, implementing tilt actuation can include independently driving one or more of the drive coils to tilt the image sensor with the substrate about an axis that is orthogonal to the optical axis. The VCM actuators can be capable of tilting the image sensor about multiple axes.

[0109] Additionally or alternatively, if it is determined to trigger AF motion at 906, the method 900 can include implementing AF actuation (at 912), e.g., as discussed herein with reference to FIGS. 6A-6C. In some examples, implementing AF actuation can include providing a current to multiple ones of the drive coils to move the image sensor with the substrate in at least one direction that is parallel to the optical axis. FIG. 10

[0110] In various implementations, the method 900 can include continuously and / or periodically determining a current position of the image sensor (at 902), then checking whether to trigger tilt compensation, OIS motion, and / or AF motion (at 904 and 906), etc.

[0111] FIG. 4 ​is a flowchart illustrating an example process 1000 of at least partially assembling a camera system capable of tilt actuation, autofocus (AF) actuation, and / or motion damping, in accordance with some embodiments.

[0112] At 1002, the process 1000 can include forming a substrate sized for air damping. As discussed herein with reference to FIGS. 1-2, the substrate can be sized based at least in part on a size of the substrate, a size of the housing, and / or a size of a gap between the substrate and the housing (e.g., indicated as having a distance d in FIG. 1). FIG. 4 As discussed herein with reference to FIGS. 1-2, the substrate can be sized based at least in part on a size of the substrate, a size of the housing, and / or a size of a gap between the substrate and the housing (e.g., indicated as having a distance d in FIG. 1). FIGS. 7A-7B As discussed herein with reference to FIGS. 1-2, the substrate can be sized based at least in part on a size of the substrate, a size of the housing, and / or a size of a gap between the substrate and the housing (e.g., indicated as having a distance d in FIG. 1). FIG. 4 As discussed herein with reference to FIGS. 1-2, the substrate can be sized based at least in part on a size of the substrate, a size of the housing, and / or a size of a gap between the substrate and the housing (e.g., indicated as having a distance d in FIG. 1).

[0113] At 1004, the process 1000 can include coupling components with the substrate to form a first subassembly. For example, at 1006, the process 1000 can include coupling an image sensor with the substrate. At 1008, the process 1000 can include coupling a drive coil with the substrate. The drive coil can be part of one or more voice coil motor (VCM) actuators of the camera system. At 1010, the process 1000 can include coupling a position sensor with the substrate. At 1012, the process 1000 can include coupling a closed loop passive coil with the substrate. FIGS. 1-2, and their corresponding written description, indicate examples of components that can be coupled with the substrate and their relative positioning, in some non-limiting embodiments. FIG. 6 、 FIGS. 8A-8B 、 FIGS. 7A-7B As discussed herein with reference to FIGS. 1-2, the substrate can be sized based at least in part on a size of the substrate, a size of the housing, and / or a size of a gap between the substrate and the housing (e.g., indicated as having a distance d in FIG. 1).

[0114] At 1014, the process 1000 can include coupling components with the shield to form a second subassembly. For example, at 1016, the process 1000 can include coupling a stationary drive magnet with the shield. The stationary drive magnet can be part of a VCM actuator of the camera system. At 1018, the process 1000 can include coupling a lens group with the shield. For example, the lens group can be coupled with the shield using an adhesive. As discussed herein with reference to FIGS. 1-2, an interface between the lens group and the shield can form a seal, in a sense that the interface can mitigate particulate ingress between the lens group and the shield. FIGS. 8A-8B As discussed herein with reference to FIGS. 1-2, the substrate can be sized based at least in part on a size of the substrate, a size of the housing, and / or a size of a gap between the substrate and the housing (e.g., indicated as having a distance d in FIG. 1).

[0115] At 1020, the process 1000 can include coupling the first subassembly (formed at 1004) with the second subassembly (formed at 1014). In some implementations, coupling the first subassembly with the second subassembly can include coupling the substrate with one or more stationary components (e.g., a base structure coupled with the shield) via a suspension arrangement (at 1022). For example, as discussed herein with reference to FIGS. 1-2, the suspension arrangement can include a plurality of suspension wires. FIG. 11As discussed, the suspension arrangement can include a flexure that can be configured to suspend the image sensor on a stationary component and allow for motion of the image sensor by the VCM actuator.

[0116] FIGS. 1A-10 An illustrative representation of an example environment is illustrated that includes a device 1100 that can include one or more cameras. For example, the device 1100 can include a camera system with a tilt actuator, an AF actuator, and / or one or more dampening arrangements, e.g., as described herein with reference to FIG. 11 In some embodiments, the device 1100 can be a mobile device and / or a multi-function device. In various embodiments, the device 1100 can be any of various types of devices including, but not limited to, a personal computer system, desktop computer, laptop, notebook, tablet, all-in-one computer, slate, or netbook computer, mainframe computer system, handheld computer, workstation, network computer, camera, set-top box, mobile device, augmented reality (AR) and / or virtual reality (VR) headset, consumer device, video game console, handheld video game device, application server, storage device, television, video recording device, peripheral device such as a switch, modem, router, or generally any type of computing or electronic device.

[0117] In some embodiments, the device 1100 can include a display system 1102 (e.g., including a display and / or a touch-sensitive surface) and / or one or more cameras 1104. In some non-limiting embodiments, the display system 1102 and / or one or more front-facing cameras 1104a can be disposed at a front side of the device 1100, e.g., as indicated in FIG. 11 Additionally or alternatively, one or more rear-facing cameras 1104b can be disposed at a back side of the device 1100. In some embodiments that include multiple cameras 1104, some or all of the cameras 1104 can be the same as or similar to one another. Additionally or alternatively, some or all of the cameras 1104 can be different from one another. In various embodiments, the positions and / or arrangements of the cameras 1104 can be different from those indicated in FIG. 12 FIGS. 1A-1C.

[0118] In addition to the above, the device 1100 can include a memory 1106 (e.g., including an operating system 1108 and / or application / program instructions 1110), one or more processors and / or controllers 1112 (e.g., including a CPU, a memory controller, a display controller, and / or a camera controller, etc.), and / or one or more sensors 1114 (e.g., an orientation sensor, a proximity sensor, and / or a location sensor, etc.). In some embodiments, the device 1100 can communicate with one or more other devices and / or services, such as a computing device 1116, a cloud service 1118, etc., via one or more networks 1120. For example, the device 1100 can include a network interface (e.g., the network interface 710 in FIG. 7) that enables the device 1100 to send and receive data with the network 1120. Additionally, or alternatively, the device 1100 can be able to communicate with other devices via wireless communication using any of a variety of communication standards, protocols, and / or technologies.

[0119] FIGS. 1A-11 A schematic block diagram of an example environment is illustrated that includes a computer system 1200 that can include a camera system with a tilt actuator, an AF actuator, and / or one or more dampening devices, e.g., as described herein with reference to FIG. 11 In addition, the computer system 1200 can implement methods for controlling operation of a camera and / or for performing image processing on images captured with the camera. In some embodiments, additionally or alternatively, the device 1100 (described herein with reference to ​ In some embodiments, additionally or alternatively, the device 1100 (described herein with reference to

[0120] The computer system 1200 can be configured to perform any or all of the embodiments described above. In different embodiments, the computer system 1200 can be any of a variety of types of devices including, but not limited to: a personal computer system, desktop computer, laptop, notebook, tablet, all-in-one, slate, or netbook computer, mainframe computer system, handheld computer, workstation, network computer, camera, set-top box, mobile device, augmented reality (AR) and / or virtual reality (VR) headset, consumer device, video game console, handheld video game device, application server, storage device, television, video recording device, peripheral device such as a switch, modem, router, or, in general, any type of computing or electronic device.

[0121] In the illustrated embodiment, computer system 1200 includes one or more processors 1202 coupled to a system memory 1204 via an input / output (I / O) interface 1206. Computer system 1200 further includes a network interface 1210 coupled to I / O interface 1206, and one or more input / output devices 1212, such as cursor control device 1214, keyboard 1216, and display 1218. In some cases, it is contemplated that embodiments can be implemented using a single instance of computer system 1200 while in other embodiments multiple such systems, or multiple nodes making up a computer system 1200, can be configured to host different portions or instances of embodiments. For example, in one embodiment, some elements can be implemented via one or more nodes of computer system 1200 that are distinct from those nodes implementing other elements.

[0122] In various embodiments, computer system 1200 can be a uniprocessor system including one processor 1202, or a multiprocessor system including several processors 1202 (e.g., two, four, eight, or another suitable number). Processors 1202 can be any suitable processors capable of executing instructions including, for example, a general purpose processor or an embedded processor. In various embodiments, processors 1202 can be a general purpose processor or an embedded processor implementing any of a variety of instruction set architectures (ISAs), such as the x86, PowerPC, SPARC, or MIPS ISAs, or any other suitable ISA. In multiprocessor systems, each of the processors 1202 can typically, but is not required to, implement the same ISA.

[0123] System memory 1204 can be configured to store program instructions 1220 accessible to processor 1202. In various embodiments, system memory 1204 can be implemented using any suitable memory technology, such as static random access memory (SRAM), synchronous dynamic RAM (SDRAM), nonvolatile / Flash-type memory, or any other type of memory. In addition, existing camera control data 1222 of memory 1204 can include any of the information or data structures described above. In some embodiments, program instructions 1220 and / or data 1222 can be received, sent or stored upon different types of computer-accessible media or similar media, depending on the particular implementation. In various embodiments, some or all of the functionality described herein can be implemented via such a computer system 1200.

[0124] In one embodiment, I / O interface 1206 can be configured to coordinate I / O traffic between processor 1202, system memory 1204, and any peripheral devices in the device, including network interface 1210 or other peripheral interfaces, such as input / output devices 1212. In some embodiments, I / O interface 1206 can perform any necessary protocol, timing or other data transformations to convert data signals from one component (e.g., system memory 1204) into a format suitable for use by another component (e.g., processor 1202). In some embodiments, I / O interface 1206 can include support for devices attached through various types of peripheral buses, such as a variant of the Peripheral Component Interconnect (PCI) bus standard or the Universal Serial Bus (USB) standard, for example. In some embodiments, the functionality of I / O interface 1206 can be divided into two or more separate components, such as a northbridge and a southbridge, for example. In addition, in some embodiments some or all of the functionality of I / O interface 1206, such as an interface to system memory 1204, can be incorporated directly into processor 1202.

[0125] Network interface 1210 can be configured to allow data to be exchanged between computer system 1200 and other devices attached to a network 1224 (e.g., carrier or agent devices) or between nodes of computer system 1200. In various embodiments, network 1224 can include one or more networks, including, but not limited to, a local area network (LAN), a general wide area network (WAN) (e.g., the Internet), a wireless data network, some other electronic data network, or some combination thereof. In various embodiments, network interface 1210 can support communication via wired or wireless general data networks, such as any suitable type of Ethernet network, as well as for communication via telecommunications / telephony networks such as analog voice networks or digital fiber communications networks (e.g., a 5G network), via storage area networks such as Fibre Channel SANs, or via any other suitable type of network and / or protocol.

[0126] In some embodiments, input / output devices 1212 can include one or more display terminals, keyboards, keypads, touchpads, scanning devices, voice or optical recognition devices, or any other devices suitable to input or output data. Multiple input / output devices 1212 can be present in computer system 1200, or can be distributed on various nodes of computer system 1200. In some embodiments, similar input / output devices can be separate from computer system 1200, and can interact with one or more nodes of computer system 1200 through a wired or wireless connection, such as over network interface 1210.

[0127] Those skilled in the art will appreciate that the computer system 1200 is merely illustrative, and is not intended to limit the scope of embodiments. In particular, the computer system and devices can include any combination of hardware or software that can execute the indicated functions, including computers, network devices, internet appliances, PDAs, wireless telephones, pagers, etc. The computer system 1200 can also be connected to any of a variety of other devices, not expressly illustrated, or in the alternative, can operate as a stand-alone system. In addition, the functionality provided by the illustrated components can in some embodiments be combined in fewer components or distributed in additional components. Similarly, in some embodiments, the functionality of some of the illustrated components can not be provided and / or other additional functionality can be available.

[0128] Those skilled in the art will further appreciate that, while various items are illustrated as being stored in memory or on storage while being used, these items or portions of them can be transferred between memory and other storage devices for purposes of memory management and data integrity. Alternatively, in other embodiments some or all of the software components can execute in memory on another device and communicate with the illustrated computer system via inter-computer communication. Some or all of the system components or data structures can also be stored (e.g., as instructions or structured data) on computer-accessible media or a portable article to be read by a appropriate drive, as described above. In some embodiments, instructions stored on a computer-accessible medium separate from computer system 1200 can be transmitted to computer system 1200 via transmission media or signals such as electrical, electromagnetic, or digital signals, conveyed via a communication medium such as a network and / or a wireless link. Various embodiments can further include receiving, transmitting, or storing instructions and / or data implemented in accordance with the foregoing description upon a computer- accessible medium or portable article to be read by a appropriate drive. Generally, a computer-accessible medium can include a non-transitory computer-readable storage medium or memory medium such as magnetic or optical media, e.g., disk or DVD / CD-ROM, volatile or non-volatile media such as RAM (e.g. SDRAM, DDR, RDRAM, SRAM, etc.), ROM, etc. In some embodiments, a computer-accessible medium can include transmission media or signals, such as electrical, electromagnetic, or digital signals, conveyed via a communication medium such as a network and / or a wireless link.

[0129] Additional description of embodiments (example clauses):

[0130] Clause 1 : A camera comprising: a lens group; an image sensor; one or more voice coil motor (VCM) actuators comprising: stationary drive magnets; and drive coils; and a substrate coupled with the image sensor and the drive coils, wherein each respective drive coil is positioned proximate to a respective stationary drive magnet such that, when driven with a current, one or more of the drive coils can electromagnetically interact with one or more of the stationary drive magnets to tilt the image sensor relative to the lens group, and wherein the one or more VCM actuators can tilt the image sensor about a plurality of axes that are orthogonal to an optical axis of the camera.

[0131] Clause 2: The camera of clause 1, wherein each of the stationary drive magnets has a respective polarity along a vertical direction parallel to the optical axis.

[0132] Clause 3: The camera of clause 1 or clause 2, wherein the drive coils comprise: a first drive coil that can be driven with a first respective drive current; a second drive coil that can be driven with a second respective drive current; a third drive coil that can be driven with a third respective drive current; and a fourth drive coil that can be driven with a fourth respective drive current.

[0133] Clause 4: The camera of clause 3, wherein, when the image sensor is tilted using the one or more VCM actuators, the first respective drive current is different from at least one of: the respective second drive current; the respective third drive current; or the respective fourth drive current.

[0134] Clause 5: The camera of any one of clauses 1 to 4, wherein the stationary drive magnets are corner drive magnets, wherein each corner drive magnet is positioned proximate to a respective corner of the camera; the drive coils are corner drive coils, wherein each corner drive coil is positioned proximate to a respective corner of the camera; and each respective corner drive coil is positioned between a respective corner drive magnet and the substrate on a respective axis that is parallel to the optical axis.

[0135] Clause 6: The camera of any one of clauses 1 to 5, wherein the lens group comprises one or more glass lens elements; and the lens group is fixedly coupled with a stationary component of the camera.

[0136] Clause 7: The camera of clause 6, wherein the stationary component is a shield of the camera.

[0137] Clause 8: The camera of any one of clauses 1-7, wherein, when driven with a current, the drive coils are further capable of electromagnetically interacting with the stationary drive magnets to move the image sensor in at least one direction parallel to the optical axis.

[0138] Clause 9: A device comprising: one or more processors; memory storing program instructions executable by the one or more processors to control operation of a camera; and the camera comprising: a lens group; an image sensor; one or more voice coil motor (VCM) actuators comprising: stationary drive magnets; and drive coils; and a substrate coupled with the image sensor and the drive coils, wherein each respective drive coil is positioned proximate to a respective stationary drive magnet, such that, when driven with a current, one or more of the drive coils are capable of electromagnetically interacting with one or more of the stationary drive magnets to tilt the image sensor relative to the lens group, and wherein the one or more VCM actuators are capable of tilting the image sensor about multiple axes orthogonal to an optical axis of the camera.

[0139] Clause 10: The device of clause 9, wherein each of the stationary drive magnets has a respective polarity along a vertical direction parallel to the optical axis.

[0140] Clause 11: The device of clause 9 or clause 10, wherein each of the drive coils is independently drivable.

[0141] Clause 12: The device of any one of clauses 9-11, wherein the drive coils are oriented such that, when driven with a current, the current flows in multiple directions orthogonal to the optical axis.

[0142] Clause 13: The device of any one of clauses 9-12, wherein the camera further comprises: position sensors, wherein each respective position sensor is encircled by a respective drive coil.

[0143] Clause 14: The device of any one of clauses 9-13, wherein, when driven with a current, the drive coils are further capable of electromagnetically interacting with the stationary drive magnets to move the image sensor in at least one direction parallel to the optical axis.

[0144] Clause 15: The device of any one of clauses 9-14, wherein the camera further comprises: a closed loop passive coil coupled with the substrate and positioned relative to a fixed drive magnet of the fixed drive magnets such that when there is relative motion between the fixed drive magnet and the closed loop passive coil caused by motion of the substrate, the fixed drive magnet induces a current in the closed loop passive coil, wherein the current generates a magnetic field opposite the motion of the substrate, thereby providing electromagnetic damping.

[0145] Clause 16: The device of any one of clauses 9-15, wherein the camera further comprises: a housing providing a sealed environment for an interior portion of the camera, wherein the sealed environment protects the interior portion from particulate ingress, and wherein the housing comprises: a shield; and a sealed interface between the lens group and the shield, wherein the lens group is fixedly attached to the shield.

[0146] Clause 17: A system comprising: an image sensor; a substrate coupled with the image sensor; and drive coils of one or more voice coil motor (VCM) actuators of a camera, the drive coils coupled with the substrate, wherein each respective drive coil is positioned proximate to a respective fixed drive magnet of the one or more VCM actuators such that, when driven with a current, one or more of the drive coils are capable of electromagnetic interaction with one or more of the fixed drive magnets to tilt the image sensor, and wherein the one or more VCM actuators are capable of tilting the image sensor about multiple axes that are orthogonal to an optical axis of the camera.

[0147] Clause 18: The system of clause 17, wherein, when driven with a current, the drive coils are further capable of electromagnetic interaction with the fixed drive magnets to move the image sensor in at least one direction parallel to the optical axis.

[0148] Clause 19: The system of clause 17 or clause 18, further comprising: a closed loop passive coil coupled with the substrate and positioned relative to a fixed drive magnet of the fixed drive magnets such that when there is relative motion between the fixed drive magnet and the closed loop passive coil caused by motion of the substrate, the fixed drive magnet induces a current in the closed loop passive coil, wherein the current generates a magnetic field opposite the motion of the substrate, thereby providing electromagnetic damping.

[0149] Clause 20: The system of any of clauses 17-19, further comprising: a flexure suspending the substrate and allowing motion of the substrate by the one or more VCM actuators, wherein the flexure comprises: an inner frame coupled with the substrate; an outer frame coupled with one or more stationary components of the camera; and one or more flexure arms extending from the inner frame to the outer frame.

[0150] Clause 21 : A camera comprising: a lens group; an image sensor; one or more voice coil motor (VCM) actuators comprising: stationary drive magnets, wherein each of the stationary drive magnets has a polarity along a vertical direction parallel to an optical axis of the camera; and drive coils; and a substrate coupled with the image sensor and the drive coils, wherein each respective drive coil is positioned proximate to a respective stationary drive magnet such that, when driven with an electric current, one or more of the drive coils are capable of electromagnetic interaction with one or more of the stationary drive magnets to move the image sensor with the substrate relative to the lens group.

[0151] Clause 22: The camera of clause 21, wherein the one or more VCM actuators are capable of moving the image sensor in at least one direction parallel to the optical axis.

[0152] Clause 23: The camera of clause 21 or clause 22, wherein the one or more VCM actuators are further capable of tilting the image sensor about a plurality of axes orthogonal to the optical axis.

[0153] Clause 24: The camera of any of clauses 21-23, wherein: the stationary drive magnets are corner drive magnets, wherein each corner drive magnet is positioned proximate to a respective corner of the camera; the drive coils are corner drive coils, wherein each corner drive coil is positioned proximate to a respective corner of the camera; and each respective corner drive coil is positioned between a respective corner drive magnet and the substrate on a respective axis parallel to the optical axis.

[0154] Clause 25: The camera of any of clauses 21-24, wherein the lens group comprises one or more glass lens elements, and wherein the lens group is fixedly coupled with stationary components of the camera.

[0155] Clause 26: The camera of any of clauses 21-25, wherein the drive coils include: a first drive coil that is drivable with a first respective drive current; a second drive coil that is drivable with a second respective drive current; a third drive coil that is drivable with a third respective drive current; and a fourth drive coil that is drivable with a fourth respective drive current.

[0156] Clause 27: The camera of clause 26, wherein, in use of the one or more VCM actuators to tilt the image sensor, the first respective drive current is different from at least one of: the respective second drive current; the respective third drive current; or the respective fourth drive current.

[0157] Clause 28: The camera of any of clauses 21-27, wherein the drive coils are oriented such that, in drive with a current, the current flows in multiple directions that are orthogonal to the optical axis.

[0158] Clause 29: A device comprising: one or more processors; memory storing program instructions executable by the one or more processors to control operation of a camera; and the camera comprising: a lens group; an image sensor; one or more voice coil motor (VCM) actuators comprising: fixed drive magnets, wherein each of the fixed drive magnets has a polarity along a vertical direction parallel to an optical axis of the camera; and drive coils; and a substrate coupled with the image sensor and the drive coils, wherein each respective drive coil is positioned proximate to a respective fixed drive magnet such that, in drive with a current, one or more of the drive coils are capable of electromagnetically interacting with one or more of the fixed drive magnets to move the image sensor with the substrate relative to the lens group.

[0159] Clause 30: The device of clause 29, wherein the one or more VCM actuators are capable of moving the image sensor in at least one direction parallel to the optical axis.

[0160] Clause 31: The device of clause 29 or clause 30, wherein the one or more VCM actuators are further capable of tilting the image sensor about multiple axes that are orthogonal to the optical axis.

[0161] Clause 32: The apparatus of any of clauses 29-31, wherein the drive coils comprise: a first drive coil positioned proximate a first corner of the substrate; a second drive coil positioned proximate a second corner of the substrate; a third drive coil positioned proximate a third corner of the substrate; and a fourth drive coil positioned proximate a fourth corner of the substrate.

[0162] Clause 33: The apparatus of clause 32, wherein the camera further comprises: a first position sensor encircled by the first drive coil; a second position sensor encircled by the second drive coil; a third position sensor encircled by the third drive coil; and a fourth position sensor encircled by the fourth drive coil.

[0163] Clause 34: The apparatus of clause 32 or clause 33, wherein the stationary drive magnets comprise: a first stationary drive magnet proximate the first drive coil; a second stationary drive magnet proximate the second drive coil; a third stationary drive magnet proximate the third drive coil; and a fourth stationary drive magnet proximate the fourth drive coil.

[0164] Clause 35: The apparatus of clause 34, wherein the camera further comprises: a closed loop passive coil coupled with the substrate, wherein each respective closed loop passive coil is positioned such that when the substrate and the respective closed loop passive coil move relative to a respective stationary drive magnet, the respective stationary drive magnet induces a current in the respective closed loop passive coil, and wherein the current generates a magnetic field that opposes the motion of the substrate.

[0165] Clause 36: The apparatus of clause 35, wherein the closed-loop passive coils comprise: a first closed-loop passive coil, wherein a first axis parallel to the optical axis intersects the first fixed drive magnet, an area within an outer periphery of the first drive coil, and an area within an outer periphery of the first closed-loop passive coil; a second closed-loop passive coil, wherein a second axis parallel to the optical axis intersects the second fixed drive magnet, an area within an outer periphery of the second drive coil, and an area within an outer periphery of the second closed-loop passive coil; a third closed-loop passive coil, wherein a third axis parallel to the optical axis intersects the third fixed drive magnet, an area within an outer periphery of the third drive coil, and an area within an outer periphery of the third closed-loop passive coil; and a fourth closed-loop passive coil, wherein a fourth axis parallel to the optical axis intersects the fourth fixed drive magnet, an area within an outer periphery of the fourth drive coil, and an area within an outer periphery of the fourth closed-loop passive coil.

[0166] Clause 37: A method, the method comprising: moving an image sensor of a camera relative to a lens group of the camera using one or more voice coil motor (VCM) actuators of the camera, wherein: the image sensor is coupled with a substrate of the camera; the one or more VCM actuators comprise: fixed drive magnets, wherein each of the fixed drive magnets has a polarity along a vertical direction parallel to an optical axis of the camera; and drive coils coupled with the substrate, wherein each respective drive coil is positioned proximate to a respective fixed drive magnet such that, when driven with a current, one or more of the drive coils are capable of electromagnetically interacting with one or more of the fixed drive magnets to move the image sensor; and moving the image sensor comprises: providing a current to at least one of the drive coils.

[0167] Clause 38: The method of clause 37, wherein providing a current to at least one of the drive coils comprises: providing a current to a plurality of the drive coils to move the image sensor together with the substrate in at least one direction parallel to the optical axis.

[0168] Clause 39: The method of clause 37 or clause 38, wherein providing a current to at least one of the drive coils comprises: independently driving one or more of the drive coils to tilt the image sensor together with the substrate about an axis orthogonal to the optical axis, wherein the one or more VCM actuators are capable of tilting the image sensor about a plurality of axes orthogonal to the optical axis.

[0169] Clause 40: The method of any one of clauses 37-39, further comprising determining a position of the image sensor based at least in part on output from one or more position sensors, wherein the one or more position sensors comprise a position sensor encircled by a drive coil of the drive coils.

[0170] Clause 41 : A camera comprising: a lens group; an image sensor; a movable carrier coupled with the lens group or the image sensor; one or more voice coil motor (VCM) actuators comprising: a drive magnet; and a drive coil positioned proximate to the drive magnet such that, when driven with an electric current, the drive coil is capable of electromagnetically interacting with the drive magnet to move the movable carrier in at least one direction; and a closed loop passive coil positioned relative to the drive magnet such that, when there is relative motion between the drive magnet and the closed loop passive coil caused by motion of the movable carrier, the drive magnet induces an electric current in the closed loop passive coil, wherein the electric current generates a magnetic field that opposes the motion of the movable carrier, thereby providing electromagnetic damping.

[0171] Clause 42: The camera of clause 41, wherein a magnitude of the electromagnetic damping is proportional to a speed of the motion.

[0172] Clause 43: The camera of clause 41 or clause 42, further comprising: a shield that encloses at least a portion of the camera; wherein: the lens group is fixedly attached to the shield such that the shield abuts a portion of the lens group along an entire periphery of the portion; and the image sensor is fixedly coupled with the movable carrier.

[0173] Clause 44: The camera of clause 43, wherein: the lens group comprises one or more lens elements that define an optical axis; the movable carrier has an outer periphery along a plane that is orthogonal to the optical axis, the outer periphery being spaced apart from an inner surface of the shield along the plane by a gap distance, the gap distance having a magnitude that is based on a predetermined amount of desired air damping provided by a resistance from the movable carrier pushing air during motion.

[0174] Clause 45: The camera of clause 44, wherein the resistance increases as the gap distance decreases.

[0175] Clause 46: The camera of any one of clauses 41-45, wherein the drive magnet has a polarity along a vertical direction that is parallel to an optical axis of the camera.

[0176] Clause 47: The camera of any of clauses 41-46, wherein the image sensor, the drive coil, and the closed-loop passive coil are fixedly coupled with the movable carrier.

[0177] Clause 48: The camera of any of clauses 41-47, wherein: the drive coil is on a first side of the movable carrier; the closed-loop passive coil is on a second side of the movable carrier; and the first side and the second side face in opposite directions.

[0178] Clause 49: A device comprising: one or more processors; memory storing program instructions executable by the one or more processors to control operation of a camera; and the camera comprising: a lens group; an image sensor; a movable carrier coupled with the lens group or the image sensor; one or more voice coil motor (VCM) actuators comprising: a drive magnet; and a drive coil positioned proximate to the drive magnet such that, when driven with an electric current, the drive coil is capable of electromagnetically interacting with the drive magnet to move the movable carrier in at least one direction; and a closed-loop passive coil positioned relative to the drive magnet such that, when there is relative motion between the drive magnet and the closed-loop passive coil caused by motion of the movable carrier, the drive magnet induces an electric current in the closed-loop passive coil, wherein the electric current generates a magnetic field that opposes the motion of the movable carrier, thereby providing electromagnetic damping.

[0179] Clause 50: The device of clause 49, wherein the drive magnet has a polarity along a vertical direction that is parallel to an optical axis of the camera.

[0180] Clause 51: The device of clause 49 or clause 50, wherein: the lens group and the drive magnet are fixedly attached to a stationary component of the camera; and the image sensor, the drive coil, and the closed-loop passive coil are fixedly coupled with the movable carrier.

[0181] Clause 52: The device of any of clauses 49-51, the one or more VCM actuators comprising: a plurality of fixed drive magnets comprising the drive magnet; and a plurality of drive coils comprising the drive coil; and each respective drive coil of the plurality of drive coils is positioned proximate to a corresponding respective fixed drive magnet of the plurality of fixed drive magnets.

[0182] Clause 53: The device of any one of clauses 49-52, wherein each drive coil of the plurality of drive coils is independently drivable.

[0183] Clause 54: The device of any one of clauses 49-53, wherein the one or more VCM actuators are capable of tilting the image sensor about a plurality of axes that are orthogonal to an optical axis of the camera.

[0184] Clause 55: The device of any one of clauses 49-54, wherein the one or more VCM actuators are capable of moving the image sensor in at least one direction that is parallel to an optical axis of the camera.

[0185] Clause 56: The device of any one of clauses 49-55, wherein: the plurality of stationary drive magnets are corner drive magnets, wherein each corner drive magnet is positioned proximate to a respective corner of the camera; and the plurality of drive coils are corner drive coils, wherein each drive coil is positioned proximate to a respective corner of the camera.

[0186] Clause 57: The device of any one of clauses 49-56, wherein: the camera comprises a plurality of closed-loop passive coils, the plurality of closed-loop passive coils comprising the closed-loop passive coil; and each respective closed-loop passive coil of the plurality of closed-loop passive coils is a corner closed-loop passive coil positioned proximate to a respective corner of the camera.

[0187] Clause 58: A system comprising: an image sensor; a movable carrier coupled with the image sensor; a drive coil of a voice coil motor (VCM) actuator of a camera, the drive coil coupled with the movable carrier, wherein the drive coil is positioned such that, when the movable carrier is installed in the camera and when driven with an electric current, the drive coil is capable of electromagnetically interacting with a drive magnet of the VCM actuator to move the movable carrier; and a closed-loop passive coil coupled with the movable carrier, wherein the closed-loop passive coil is positioned such that, when the movable carrier is installed in the camera and when the closed-loop passive coil moves relative to the drive magnet, the drive magnet induces an electric current in the closed-loop passive coil, wherein the electric current generates a magnetic field that is opposite to the movement of the movable carrier.

[0188] Clause 59: The system of clause 58, wherein: the drive coil is on a first side of the movable carrier; the closed-loop passive coil is on a second side of the movable carrier; and the first side and the second side face in opposite directions.

[0189] Clause 60: The system of clause 58 or clause 59, further comprising: a flexure suspending the movable carrier and allowing movement of the movable carrier by the VCM actuator, wherein the flexure comprises: an inner frame coupled with the movable carrier; an outer frame coupled with one or more stationary components of the camera; and one or more flexure arms extending from the inner frame to the outer frame.

[0190] In different embodiments, the methods described herein can be implemented in software, hardware, or a combination thereof. Moreover, the order of the blocks of the methods can be changed, and various elements can be added, reordered, combined, omitted, modified, etc. Various modifications and changes can be made as would be obvious to a person skilled in the art having the benefit of this disclosure. The various embodiments described herein are intended to be illustrative and not restrictive. Many variations, modifications, additions, and improvements are possible. Accordingly, plural instances can be provided for components described herein as a single instance. Boundaries between various components, operations and data stores are somewhat arbitrary, and particular operations can be performed by a single component, in several components, or among others components. Additionally, the separation of various components in the embodiments described herein is for explanatory purposes only and other embodiments can combine components and / or subcomponents into a single component. Finally, although the examples contained herein involve specific configurations of hardware and software, those skilled in the art will recognize that other configurations are also possible. Departures in form and detail can be made in light of these disclosures without departing from the scope of the embodiments, which can be defined by the following claims.

Claims

1. A camera, comprising: Lens group; Image sensor; One or more voice coil motor (VCM) actuators, said voice coil motor (VCM) actuators comprising: Fixed drive magnet; and Drive coil; and A substrate coupled to the image sensor and the drive coils, wherein each respective drive coil is positioned close to a respective fixed drive magnet such that, when driven by current, one or more of the drive coils can electromagnetically interact with one or more of the fixed drive magnets to tilt the image sensor relative to the lens group, and wherein the one or more VCM actuators are capable of tilting the image sensor about a plurality of axes orthogonal to the optical axis of the camera.

2. The camera according to claim 1, wherein each of the fixed drive magnets has a corresponding polarity along a vertical direction parallel to the optical axis.

3. The camera according to claim 1, wherein the drive coil comprises: A first driving coil, which can be driven by a first corresponding driving current; The second driving coil can be driven by a second corresponding driving current; The third driving coil is capable of being driven by a third corresponding driving current; as well as A fourth driving coil, which can be driven by a fourth corresponding driving current.

4. The camera according to claim 3, wherein, When using the one or more VCM actuators to tilt the image sensor, the first corresponding drive current is different from at least one of the following: The corresponding second driving current; The corresponding third driving current; or The corresponding fourth driving current.

5. The camera according to claim 1, wherein: The fixed drive magnet is a corner drive magnet, wherein each corner drive magnet is positioned near a corresponding corner of the camera; The drive coil is a corner drive coil, wherein each corner drive coil is positioned near a corresponding corner of the camera; as well as Each corresponding corner drive coil is positioned on a corresponding axis parallel to the optical axis between the corresponding corner drive magnet and the substrate.

6. The camera of claim 1, wherein the lens group comprises one or more glass lens elements; and the lens group is fixedly coupled to a stationary component of the camera.

7. The camera according to claim 6, wherein the stationary component is a shielding cover for the camera.

8. The camera according to claim 1, wherein, When driven by an electric current, the drive coil can also interact electromagnetically with the fixed drive magnet to move the image sensor in at least one direction parallel to the optical axis.

9. An apparatus, the apparatus comprising: One or more processors; A memory that stores program instructions that can be executed by the one or more processors to control the operation of the camera; as well as The camera, the camera includes: Lens group; Image sensor; One or more voice coil motor (VCM) actuators, said voice coil motor (VCM) actuators comprising: Fixed drive magnet; and Drive coil; and A substrate coupled to the image sensor and the drive coils, wherein each respective drive coil is positioned close to a respective fixed drive magnet such that, when driven by current, one or more of the drive coils can electromagnetically interact with one or more of the fixed drive magnets to tilt the image sensor relative to the lens group, and wherein the one or more VCM actuators are capable of tilting the image sensor about a plurality of axes orthogonal to the optical axis of the camera.

10. The device according to claim 9, wherein each of the fixed drive magnets has a corresponding polarity along a vertical direction parallel to the optical axis.

11. The device of claim 9, wherein each of the drive coils can be driven independently.

12. The device according to claim 9, wherein the drive coil is oriented such that when driven by current, the current flows in a plurality of directions orthogonal to the optical axis.

13. The device of claim 9, wherein the camera further comprises: Position sensors, wherein each corresponding position sensor is surrounded by a corresponding drive coil.

14. The device according to claim 9, wherein, When driven by an electric current, the drive coil can also interact electromagnetically with the fixed drive magnet to move the image sensor in at least one direction parallel to the optical axis.

15. The device of claim 9, wherein the camera further comprises: A closed-loop passive coil is coupled to the substrate and positioned relative to one of the fixed drive magnets, such that when there is relative motion between the fixed drive magnet and the closed-loop passive coil caused by the motion of the substrate, the fixed drive magnet induces a current in the closed-loop passive coil, wherein the current generates a magnetic field opposite to the motion of the substrate, thereby providing electromagnetic damping.

16. The device of claim 9, wherein the camera further comprises: A housing that provides a sealed environment for the internal parts of the camera, wherein the sealed environment protects the internal parts from particle ingress, and wherein the housing comprises: Shielding cover; and A sealing interface is provided between the lens group and the shield, wherein the lens group is fixedly attached to the shield.

17. A system comprising: Image sensor; A substrate, the substrate being coupled to the image sensor; as well as A drive coil of one or more voice coil motor (VCM) actuators of a camera, the drive coils being coupled to the substrate, wherein each respective drive coil is positioned close to a respective fixed drive magnet of the one or more VCM actuators, such that when driven by current, one or more drive coils are capable of electromagnetic interaction with one or more fixed drive magnets to tilt the image sensor, and wherein the one or more VCM actuators are capable of tilting the image sensor about a plurality of axes orthogonal to the optical axis of the camera.

18. The system according to claim 17, wherein, When driven by an electric current, the drive coil can also interact electromagnetically with the fixed drive magnet to move the image sensor in at least one direction parallel to the optical axis.

19. The system of claim 17, further comprising: A closed-loop passive coil is coupled to the substrate and positioned relative to one of the fixed drive magnets, such that when there is relative motion between the fixed drive magnet and the closed-loop passive coil caused by the motion of the substrate, the fixed drive magnet induces a current in the closed-loop passive coil, wherein the current generates a magnetic field opposite to the motion of the substrate, thereby providing electromagnetic damping.

20. The system of claim 17, further comprising: A flexure element suspending the substrate and allowing movement of the substrate actuated by the one or more VCM actuators, wherein the flexure element comprises: An internal frame, which is coupled to the substrate; An external frame, said external frame being coupled to one or more stationary components of the camera; and One or more flexible arms, the one or more flexible arms extending from the inner frame to the outer frame.

Images