Pop-out mobile camera

Abstract

Various pop-up cameras are provided, which are at least in an extended operating position and a folded position via a pop-up mechanism, and include a shape-memory alloy (SMA) material. One camera may include a lens comprising a plurality of lens elements, an image sensor, and a pop-up mechanism configured to control at least one air gap between the plurality of lens elements or between the lens elements and the image sensor to allow the camera to enter an operational pop-up state and a folded state, wherein the pop-up mechanism includes at least one component made of a shape-memory alloy material.

Description

Pop-up mobile camera Cross-reference to related applications: This application claims priority to U.S. Provisional Patent Applications No. 63 / 224,131, filed Jul. 21, 2021; No. 63 / 243,256, filed Sep. 13, 2021; No. 63 / 276,072, filed Nov. 5, 2021; No. 63 / 293,274, filed Dec. 23, 2021; and No. 63 / 298,335, filed Jan. 11, 2022, the entire contents of which are incorporated herein by reference. The present invention relates to the field of digital cameras, and more particularly to pop-up compact multi-aperture cameras including shape memory alloy (SMA) actuators. Definitions: In this application, the following symbols and abbreviations are used for optical and other properties mentioned throughout the description and drawings, all of which are terms known in the art: Total track length (TTL): When the system is focused to an infinite object distance, measured along the axis parallel to the lens optical axis, the maximum distance between the point on the front surface S1 of the first lens element L1 and the image sensor. Back focal length (BFL): When the system is focused to an infinite object distance, measured along the axis parallel to the lens optical axis, the minimum distance between the point on the rear surface S2N of the last lens element LN and the image sensor. Effective focal length (EFL): In the lens (the assembly of lens elements L1 to LN), the distance between the rear principal point P' and the rear focal point F' of the lens. f-number, (f / #): The ratio of EFL to the entrance pupil diameter. Compact multi-cameras and their incorporation in mobile electronic devices (also referred to herein as host devices) are known, such as tablet computers and mobile phones (the latter are collectively referred to as smartphones hereinafter). A typical multi-camera system includes an ultra-wide-angle (or Ultra-Wide or UW) camera, a wide-angle (or Wide or W) camera, and a telephoto (or Tele or T) camera, where their fields of view (FOV) satisfy FOV UW > FOV W > FOV T 。 In the process of continuously trying to improve the acquired image quality, it is necessary to incorporate larger image sensors into multi-cameras. Larger sensors can improve low-light performance and more pixels, and thus can also improve spatial resolution. Other image quality characteristics, such as noise characteristics, dynamic range, and color fidelity, can also be improved with the increase in sensor size. To provide a large EFL in a telephoto camera, it is necessary to incorporate a lens with a large EFL. The incorporation of a large image sensor and the realization of a large EFL both require a lens with a large TTL. In terms of the industrial design of the host device, a large TTL is not desirable because it increases the thickness of the host device. Pop-up cameras allow the integration of large sensors and / or the realization of a large zoom factor without increasing the thickness of the host device. They combine the advantage of providing a large TTL when the camera is in use (pop-up state), and a thin design by folding the TTL into a folded TTL (c-TTL) when the camera is not in use (folded state). Pop-up cameras are described, for example, in co-owned International Patent Applications No. PCT / IB2020 / 058697 and No. PCT / IB2022 / 052194. In various embodiments or examples, a camera is provided, including: a lens, including a plurality of lens elements separated by an air gap between the plurality of lens elements; an image sensor; a pop-up mechanism configured to control at least one of the air gaps between the plurality of lens elements or between the lens element and the image sensor to bring the camera into an operating pop-up state and a folded state; and a shape memory alloy (SMA) actuator, including at least two pull-pull shape memory alloy wires and a lever, wherein the shape memory alloy actuator is configured to move the pop-up mechanism to bring the camera into the operating pop-up state and the folded state through the at least two pull-pull shape memory alloy wires and the lever. In various embodiments or examples, a camera is provided, including: a lens including a plurality of lens elements; an image sensor; a pop-up mechanism configured to control at least one air gap between the plurality of lens elements or between the lens element and the image sensor to cause the camera to enter an operational pop-up state and a folded state; and a shape memory alloy actuator including two, a first pair of antagonistic and a second pair of antagonistic groups, wherein at least one of the two pairs of antagonistic groups includes at least one shape memory alloy member, the at least one shape memory alloy member is made of a shape memory alloy material, and the shape memory alloy actuator is configured to move the pop-up mechanism to cause the camera to enter the operational pop-up state and the folded state through the two pairs of antagonistic groups. In some embodiments, the configuration of the shape memory alloy actuator that moves the pop-up mechanism through the two pairs of antagonistic groups to cause the camera to enter the operational pop-up state and the folded state includes passing an electric current through the at least one shape memory alloy member to move the pop-up mechanism along a first pop-up direction, and not passing an electric current through the at least one shape memory alloy member to move the pop-up mechanism along a second pop-up direction opposite to the first pop-up direction. In some embodiments, the camera further includes a locking mechanism configured to prevent the pop-up mechanism from moving when the camera is in the pop-up state or the folded state. In some embodiments, the locking mechanism is a mechanical locking mechanism. In some embodiments, the locking mechanism is a magnetic locking mechanism. In some embodiments, the mechanical locking mechanism includes a first recess, a second recess, and a circular edge configured to enter the first recess in the pop-up state and enter the second recess in the folded state to prevent the pop-up mechanism from moving. In some embodiments, the circular edge is further configured to perform a rotational movement around a pivot point. In some embodiments, the magnetic locking mechanism includes at least one magnetic lock, and the at least one magnetic lock includes a magnet and a magnetic yoke. In some embodiments, the magnetic locking mechanism includes at least one magnetic lock, and the at least one magnetic lock includes two magnets. In some embodiments, the at least two pairs of antagonistic shape memory alloy wires have the same length of the shape memory alloy wire and the same diameter of the shape memory alloy wire. In some embodiments, the length can be 10 to 100 millimeters. In other embodiments, the length can be 30 to 70 millimeters. In some embodiments, the diameter can be 0.025 to 0.5 millimeters. In other embodiments, the diameter can be 0.1 to 0.2 millimeters. In some embodiments, the lever has a short arm, a long arm, and a pivot point, wherein the shape memory alloy actuator is configured to pass an electric current through a first shape memory alloy wire of the at least two shape memory alloy wires and not pass an electric current through a second shape memory alloy wire of the at least two shape memory alloy wires to actuate the short arm of the lever along a first stroke, which causes the long arm of the lever to move along a second stroke to move the ejectable mechanism along a first ejection direction to eject the camera, and to pass an electric current through the second shape memory alloy wire of the at least two shape memory alloy wires and not pass an electric current through the first shape memory alloy wire of the at least two shape memory alloy wires to actuate the short arm of the lever along a third stroke, which causes the long arm of the lever to move along a fourth stroke to move the ejectable mechanism along a second ejection direction to fold the camera, wherein the first stroke and the third stroke are anti-parallel, and the second stroke and the fourth stroke are anti-parallel. In some embodiments, a lever ratio of a length of the short arm of the lever to a length of the long arm of the lever is from 1:10 to 1:2. In some embodiments, the lever ratio is from 1:3 to 1:5. In some embodiments, the shape memory alloy actuator includes a pull rod actuated by the at least two opposed-pull shape memory alloy wires, wherein the pull rod is connected to the short arm of the lever, and the ejectable mechanism is connected to the long arm of the lever. In some embodiments, the shape memory alloy actuator includes an actuator frame, a first pin, and a second pin, wherein the first pin connects the lever to the actuator frame and defines a position of the pivot point, and a distance between the first pin and the second pin defines the length of the short arm of the lever. In some embodiments, the lever includes a slot that connects the lever to the ejectable mechanism, and a distance between the first pin and the slot defines the length of the long arm of the lever. In some embodiments, the shape memory alloy actuator includes at least one Hall sensor and at least one magnet for measuring a relative position between the pull rod and the actuator frame. In some embodiments, the at least two opposed-pull shape memory alloy wires are symmetrically folded shape memory alloy wires. In some embodiments, the at least two opposed-pull shape memory alloy wires are made of nitinol. In some embodiments, the at least two opposed-pull shape memory alloy wires are attached to a heat sink. In some embodiments, the pop-up mechanism converts a rotational motion into a linear motion, wherein the direction of the linear motion is parallel to a lens optical axis, and the rotational motion is performed about a rotation axis parallel to the direction of the lens optical axis. In some embodiments, the pop-up mechanism converts a first linear motion into a second linear motion, the direction of the first linear motion being perpendicular to a lens optical axis, and the direction of the second linear motion being parallel to the lens optical axis. In some embodiments, the shape memory alloy actuator has a width, a height, and a length, wherein the width is 1 to 10 millimeters, the height is 2 to 15 millimeters, and the length is 10 to 50 millimeters. In other embodiments, the width is 2 to 4 millimeters, the height is 5 to 9 millimeters, and the length is 20 to 40 millimeters. A camera as above or below can be included in a multi-camera together with at least one additional camera. The additional one or more cameras can be foldable or non-foldable (upright) cameras. A camera as above or below and / or a multi-camera can be included in a mobile (portable) electronic device such as a smartphone. In various embodiments or examples, a method is provided, including providing an L-shaped metal plate; providing a shape memory alloy wire; providing an auxiliary wire; forming a first stamp in a rectangular shape; forming a second stamp in a non-rectangular shape; using the first stamp to form a first recess in the metal plate; using the auxiliary wire to bend the metal plate to form a second recess; inserting the shape memory alloy wire into the second recess; and using the second stamp to fix the shape memory alloy wire in the second recess such that an arc is applied to the shape memory alloy wire, thereby forming a crimp-shaped shape memory alloy wire assembly. In some embodiments, the crimp has a width, a height, and a length, wherein the width is 0.25 to 7.5 millimeters, the height is 0.25 to 7.5 millimeters, and the length is 0.5 to 10 millimeters. In other embodiments, the width is 0.5 to 2 millimeters, the height is 0.5 to 2 millimeters, and the length is 1.5 to 3 millimeters. FIG. 1A and FIG. 1B respectively show schematic diagrams of a known pop-up camera module 100 in an inactive (folded) state and an active (popped out) state. The camera module 100 may be included in a mobile electronic device such as, for example, a smart phone, a tablet computer, a personal digital assistant (PDA), etc. It should be noted that all embodiments disclosed herein are beneficially used in mobile devices, and their sizes are optimized to be relatively small, where "relatively" refers to a comparison with known embodiments. Generally, especially the height (or thickness) of a mobile device poses a strict constraint (or limitation) on the components used within the mobile device. The height of the mobile device, except for the example of a folding camera known in the art, is substantially parallel to the optical axis (OA) of the lens included in the camera of the mobile device, parallel to the TTL of the camera module, and parallel to the height of the camera module. Pop-up actuators such as the pop-up actuators 220, 320, 420, 450, 490, 4020, 520, 620, 720, 1020, and 1420 disclosed below may be included in the pop-up camera module 100. The pop-up camera module 100 includes a lens barrel 120, a carrier 130 configured to coaxially receive the lens barrel 120, and an image sensor 160. The lens barrel 120 includes an objective lens assembly that coaxially fixes one or more lens elements 125, and the lens elements 125 define an optical axis 101 of the camera module (here along the axis Z in the exemplary XYZ coordinate system). The pop-up camera module 100 includes a pop-up mechanism configured to convert rotational motion into linear motion, where the direction of the linear motion is parallel to the optical axis of the lens. The camera module 100 further includes a retractable cover window 150. The carrier 130 may be configured to form a sleeve around the lens barrel 120. The cover window 150 generally may include a protective surface having an aperture, preferably located at the center of the protective surface. The protective surface of the cover window 150 may be exposed to the external environment, i.e., become the element of the camera module 100 that is farthest from the image sensor 160. The cover window 150 may be configured to axially move between a retracted position and an extended position, which respectively correspond to a proximal axial position and a distal axial position of the cover window relative to the image sensor 160. The lens barrel 120 also has a popped out (or operative) state and a folded state, which respectively correspond to a proximal axial position and a distal axial position of the lens barrel relative to the image sensor 160. In the operating state of the lens barrel, the image sensor 160 can be located in a focal plane or an imaging plane of the objective lens assembly. In the active mode of the camera module, the cover window 150 can be in the extended position, and the lens barrel 120 can be in the operating state. In the inactive mode of the camera module, the cover window 150 can be in the retracted position, and the lens barrel 120 can be in the folded state. The movement of the cover window 150 and the lens barrel 120 between the retracted / extended positions and the folded / operating states can be coordinated to allow the camera module 100 to selectively operate in the active or inactive mode. In the inactive mode, the camera module can be disabled, that is, the camera module may not be able to image the field of view (FOV) of the objective lens assembly. The active mode corresponds to the pop-up state of the camera module 100, where the TTL (and module height) of the camera module is higher than the TTL (and module height) of the camera module in the folded state (also referred to as cTTL). The camera module 100 further includes an actuator 140 having a drive motor (or actuator) configured to operate the cover window pop-up assembly 110. The cover window 150 can be connected to a drive cam such that rotation of the drive cam in a first rotational direction can axially move the cover window 150 from the retracted position to the extended position. Rotation of the drive cam in a second opposite rotational direction can axially move the cover window 150 from the retracted position to the extended position. The rotation of the drive cam can be about a rotation axis parallel to the Z-axis, i.e., parallel to the optical axis. The camera module 100 can further include a housing (not shown) configured to receive the cover window pop-up assembly 110. The retractable cover window 150 can be configured to be axially movable relative to the housing. Generally, the camera module 100 can be configured to be waterproof. The camera module can include a protective seal configured to maintain the impermeability of the camera module in the folded state, operating state, and intermediate states of the camera module 100. The camera module 100 can also allow dust protection and is configured to meet the Ingress Protection code IP68 standard. Generally, the size of the camera module 100 can be in the following ranges: The camera module including the actuator can be installed in a circle with a diameter of 6 to 50 millimeters (mm). The diameter of the cover window can be 5 to 40 mm. The height of the camera module in the inactive (folded) state can be 6 to 18 mm, and in the active (pop-up) state can be 7 to 30 mm. The height change between the inactive mode and the active mode of the camera module can be between 1 and 15 mm. Figure 1C shows a perspective view of a known example of a frame 210' of a pop-up camera, as shown in the co-owned International Patent Application No. PCT / IB2020 / 058697 shown in Figure 14B. The frame 210' includes a pop-up mechanism configured to convert a first linear motion into a second linear motion, wherein the direction of the first linear motion is perpendicular to the optical axis of the lens included in the pop-up camera, and the direction of the second linear motion is parallel to the optical axis of the lens included in the pop-up camera. Pop-up actuators, such as actuators 220, 320, 420, 450, 490, 4020, 520, 620, 720, 1020, and 1420 disclosed below, may be included in the frame of the pop-up camera, such as frame 210' (e.g., a camera 200 as described below). The camera 200 as described below), for example, is positioned on one side of a side limiter 1406 or on both sides of a side limiter 1406. For example, a pop-up actuator 220 may be positioned on one side 102 of the side limiter 1406, and another pop-up actuator 220 may be positioned on one side 104 of the side limiter 1406. In the frame 210', a linear movement of a cam follower 1402 along an axis substantially parallel to the x-direction is used to control the air-gap between individual lens elements of a plurality of lenses or between the lens and the image sensor. All angled grooves 106 as shown in Figure 1C herein may have an angle of 30 to 60 degrees relative to the horizontal. Figure 2A shows an embodiment of a pop-up camera numbered 200, including a pop-up actuator of a first shape memory alloy (SMA) spring disclosed herein, and incorporated into a host device 206. The camera 200 is shown in the pop-up state, in which the camera 200 forms a distinct pop-up bump 202 relative to the outer surface 208 of the device 206. Here, "distinct" can be, for example, 1 to 25 mm. In the pop-up state, the camera 200 increases the height of the host device 206 to "a height in the pop-up state". This applies to all other pop-up cameras shown herein. The device 206 also includes a screen 218. The camera 200 includes a pop-up mechanism, a pop-up window frame 210 including an aperture 212 of the camera 200, a window frame 214, and a fixed frame 216. When switching between the pop-up and folded states, the window frame 214 moves while the fixed frame 216 remains stationary. As shown in the figure, the direction of the optical axis (OA) of the lens (not shown) included in the pop-up camera numbered 200 is parallel to the y-axis. Therefore, all the following references to "rotation about the y-axis" refer to rotation about the optical axis. Similarly, in a further embodiment, the optical axis represents the direction of the optical axis of the lens. The movement for switching between the pop-up and folded states is actuated by the pop-up actuator 220 disclosed herein. The pop-up actuator 220 includes a first spring 222 (top spring) and a second spring 224 (bottom spring). Both the spring 222 and the spring 224 are made of a shape memory alloy material, such as nitinol. Springs made of shape memory alloy materials have two different spring constants, depending specifically on the temperature of the material. Below a specific threshold temperature T S (e.g., T S is 50 to 150 degrees), the spring constant of the spring is k cold , above T S the spring constant is k hot , where k hot > k cold , e.g., k hot / k cold is 2 to 10. Heating can be done, for example, through resistive heating. It should be noted here that we are referring to a spring with the characteristic k hot > k coldShape memory alloy materials of the relationship. In other embodiments, different shape memory alloy materials may be used, characterized by k hot <k cold relationship. Spring 222 is connected to a pin 232 and a pin 234. Spring 224 is connected to a pin 236 and a pin 238. Pin 232 is fixedly connected to pin 238, and both are additionally fixedly connected to a member (not shown), such as a cam follower 1402, which means that pin 232, pin 238, and the member move together as a unit (assembly) relative to device 206. The collective movement of the assembly of pin 232, pin 238, and the member is along an axis substantially parallel to the x-axis in the shown coordinate system. This linear x-movement of the member is converted into a movement of the window frame 214 substantially parallel to the y-direction through an angled pin-slot mechanism (e.g., angled pin-slot mechanism 106). Pins 234 and 236 are fixedly connected to device 206. When the pop-up actuator 220 is activated by heating one of the springs 222 or 224, the heated spring has a stronger spring constant k hot , such that its force overcomes the force of the other unheated spring, causing the assembly of pin 232, pin 238, and the member to move relative to device 206. Thus, it can be said to be a first pair of pull-type spring actuators using two shape memory alloy springs. Herein, an "antagonistic actuator" refers to an actuator including two or more members, where a first force exerted by a first member and a second force exerted by a second member are anti-parallel to each other in direction. Actuation provided by an antagonistic actuator has two reasons: the first reason is that a locking mechanism opens, which prevented movement before opening, although the first force is stronger or weaker than the second force; the second reason is that the magnitude of the first force or the second force changes, such as by heating a shape memory alloy wire or a shape memory alloy spring. To heat springs 222 and 224 by resistive heating, pins 232, 234, 236, and 238 additionally act as electrical contacts for a circuit that allows current to conduct through the springs. Springs 222 and 232 can be made of the same material and have the same wire diameter, such as 0.05 to 1 mm, preferably 0.1 to 0.5 mm. The spring diameter can be 0.5 to 5 mm, preferably 1 to 2 mm. Figure 2B shows the pop-up camera 200 in a folded state, where the camera 200 forms a small folded bump 204 (c-bump) relative to an outer surface 208 of device 206. The height of the c-bump can be, for example, 0 to 3 mm. A locking mechanism such as locking mechanism 750 or locking mechanism 1405 disclosed herein locks the camera 200 in the ejected state and the folded state respectively, that is, ensures that the window frame 214 does not move, so that the camera 200 stays in the ejected state and the folded state respectively without actuation. When the camera 200 is in the ejected or folded state, no power is consumed. This means that only the switching between states requires operating the ejector actuator 220 (and consuming power), which is beneficial for low power consumption. The locking mechanism disclosed herein is characterized by relatively small size and is designed such that the size of the ejectable camera including the locking mechanism does not increase or only slightly increases. In addition, the locking mechanism disclosed herein is designed such that the force required to open (or overcome) the locking mechanism rapidly decays when away from the state where the ejectable camera is locked. Folded camera 200 - Switching the camera 200 from the ejected state to the folded state: For the folded camera 200, the locking mechanism is deactivated and the spring 224 is heated. The spring 222 is not heated. When the spring 224 changes from k cold to k hot After that, the force exerted by the spring 224 overcomes the force exerted by the spring 222, which causes the pin 238 to move in the negative x direction by an amplitude of Δs. Δs can be in the range of 0.5 to 15 mm, preferably Δs is 1 to 5 mm. Together with the pin 238, the pin 232 moves Δs in the same direction as the pin 238. Via an ejector mechanism, a member (such as the cam follower 1402) (not shown here) converts this movement into a movement of the window frame 214 in the negative y direction through an angled pin-slot mechanism (such as the pin-slot mechanism 106). When the folded state is reached, a locking mechanism (not shown) holds the camera 200 in the folded state without the need to operate the ejector actuator 220. Ejected camera 200 - Switching the camera 200 from the folded state to the ejected state: To eject the camera 200, the locking mechanism is deactivated and the spring 222 is heated. The spring 224 is not heated. When the spring 224 changes from k cold to k hotAfter that, the force applied by spring 222 overcomes the force applied by spring 224, which causes the pin 238 to move in the positive x direction by an amplitude of Δs (for the value of Δs, see above). Together with the pin 238, the pin 232 moves Δs in the same direction as the pin 238. Via a pop-up mechanism, a member (e.g., the cam follower 1402) (not shown here) converts this movement into the movement of the window frame 214 in the positive y direction through an angled pin-slot mechanism (e.g., the pin-slot mechanism 106). When the pop-up state is reached, a locking mechanism (not shown) holds the camera 200 in the pop-up state without the need to operate the pop-up actuator 220. Figure 2C shows a perspective view of the camera 200 in the pop-up state. The pop-up actuator 220 is included in the pop-up actuator housing 240. The pop-up actuator housing 240 can be filled or not filled with a material that exhibits effective heat conduction but not electrical conductivity, e.g., with a heat-conducting gel, to act as a heat sink. This is beneficial because it accelerates the cooling process of the shape memory alloy spring. Figure 2D shows the camera 200 in the same perspective view as Figure 2C, but with details of the actuator 220. The pop-up actuator housing 240 is removed so that the pop-up actuator 220 is visible. Figure 3A shows an embodiment of a pop-up camera numbered 300, including a pop-up actuator of a second shape memory alloy spring disclosed herein, and incorporated into a host device 306. The camera 300 is shown in a pop-up state and has a pop-up actuator 320, which is different from the pop-up actuator 220. Figure 3B shows the pop-up camera 300 in the folded state. A locking mechanism holds the camera in the pop-up state and the folded state respectively. The positioning of the pop-up actuator 320 can be the same as that of the pop-up actuator 220 in Figures 2A and 2B respectively. The pop-up actuator 320 includes the same pin structure and function as the pop-up actuator 220, but the pop-up actuator 320 includes different springs. A first spring 322 is made of a shape memory alloy material (e.g., nitinol) having two spring constants k hot and k cold , while a second spring 324 is made of a conventional material having a spring constant k, that is, a material that does not exhibit the behavior of two different spring constants of a shape memory alloy according to the spring temperature. The k of spring 324, the k hot and k cold are selected such that they satisfy k hot > k > k cold Here, it can be said that a first pair of pull-type spring actuators using a shape memory alloy spring and a conventional spring are used. In other words, it can also be said here that a first embodiment of a pull-type spring set including at least one spring made of a shape memory alloy material is provided. More generally, as used herein, a "pull-type set" refers to at least a pair of members (e.g., wires, springs, or wires and springs) used in an actuator to provide movement in two opposite directions. Some members of the pull-type set can be made of a shape memory alloy material, while other members can be made of a non-shape memory alloy material. Folded camera 300 - Switching the camera 300 from the popped-up state to the folded state: The locking mechanism is deactivated, and the shape memory alloy spring 322 is heated. When the spring 322 changes from k cold to k hot After that, the force exerted by the spring 332 (~k hot ) overcomes the force exerted by the conventional spring 324 (~k), which causes a pin 338 to move in the negative x-direction by an amplitude of Δs. Δs can be in the range of 0.5 to 15 mm, preferably, Δs is 1 to 5 mm. The movement of the pin and the locking mechanism is carried out as shown in FIGS. 2A and 2B. Popped-up camera 300 - Switching the camera 300 from the folded state to the popped-up state: The locking mechanism is deactivated, and the shape memory alloy spring 322 is not heated. When k > k cold At this time, the force exerted by the spring 322 (~k) overcomes the force exerted by the spring 324 (~k cold ), which causes the pin 338 to move in the positive x-direction by an amplitude of Δs (the value of Δs is as described above). The movement of the pin and the locking mechanism is completed as shown in FIGS. 2A and 2B. FIG. 4A shows in a top view an embodiment of a pop-up module numbered 400 in a popped-up state, which includes a pop-up actuator 420 of a first shape memory alloy wire disclosed herein. The pop-up module 400 includes a lens carrier (not shown) carrying a lens (not shown), having a lens optical axis labeled "OA" whose direction is perpendicular to the shown x-z coordinate system. The lens represents the aperture of the pop-up camera and includes a pop-up module 700, a housing 402, and a pop-up mechanism 410. The pop-up mechanism 410 includes a lens carrier (not shown), a pin ring 414, a transmission module (not shown), and a shape memory alloy actuator 420. The diameter of the pin ring 414 can be 5 to 40 mm, preferably 15 to 30 mm. The width (W) and length (L) of the pop-up module 400 can be W = 5 to 50 mm, L = 5 to 50 mm; and preferably, W = 25 to 35 mm, L = 25 to 35 mm. The shape memory alloy actuator 420 includes a shape memory alloy wire 422 folded three times (triple fold) around a first turning point around pin 427, a second turning point around pin 428, and a third turning point around pin 429. The diameter of each of the pins 427, 428, and 429 can be 0.5 to 7.5 mm; preferably, 2.5 to 5 mm. Each of the pins 427, 428, and 429 can be configured to rotate along a concentric rotation axis parallel to OA, that is, perpendicular to both the x-axis and the z-axis. The rotation can be achieved, for example, through bushing sliding bearings known in the art. The shape memory alloy wire 422 can have a force of approximately 1N to 10N; preferably, 3N to 6N. A first end of the shape memory alloy wire 422 is fixedly connected and electrically connected to the housing 402 at position 426. A second end of the shape memory alloy wire 422 is fixedly connected and electrically connected to the pin ring 414 at position 425. The shape memory alloy actuator 420 further includes a spring 424 having a spring constant k. For the shape memory alloy wire 422, a combination of material and wire diameter is selected to satisfy E hot >k>E cold 。 The folded pop-up module 400 - switching from the pop-up state to the folded state: The shape memory alloy wire 422 is heated. The force exerted by the wire 422 (~E hot)(~k), the force exerted by the spring 422 is overcome. This causes a first linear movement of the shape memory alloy wire 422, as shown by arrow 412, of approximately 0.5 to 7.5 mm; preferably, approximately 1 to 4 mm. The linear movement of the shape memory alloy wire 422 is transmitted to the pin ring 414, which rotates approximately 2.5 to 25 degrees, preferably approximately 7.5 to 20 degrees, in a first (e.g., clockwise) rotational direction about OA, as shown by arrow 413. The triple fold is beneficial because it allows the use of a relatively long shape memory alloy wire of approximately 20 to 150 mm, preferably 50 to 120 mm. A relatively long shape memory alloy wire is required to allow sufficient linear movement along arrow 412. The shape memory alloy wire 422 is mainly in contact with air, which is beneficial for thermal insulation and thus for rapid heating. The ejected ejectable module 400 - switching from the folded state to the ejected state: The shape memory alloy wire 422 is not heated. The force (~k) exerted by the spring 422 overcomes the force (~E) exerted by the wire 422 cold ). This results in a second linear movement of the shape memory alloy wire 422 (in a direction opposite to the first linear movement), as shown by arrow 712. The linear movement of the shape memory alloy wire 422 is transmitted to the pin ring 414, which rotates, for example, within 1 second, for example, in the counterclockwise rotational direction (opposite to the clockwise rotational direction). When the ejectable module 400 is in the ejected or folded state, a locking mechanism (not shown) can lock the state of the camera. Here, a second pair of pull-type actuators using one shape memory alloy wire and a conventional spring can be said to be used. Figure 4B shows in a top view an embodiment of an ejectable module numbered 430 in an ejected state, which includes a second shape memory alloy wire ejectable actuator 450 disclosed herein. Figure 4C shows the ejectable module 430 in a folded state. Except for the shape memory alloy wire ejectable actuator 450, the ejectable module 430 is the same as the ejectable module 400, that is, the linear movement driven by the shape memory alloy wire ejectable actuator 450 is converted into a rotational movement of the pin ring 414, as shown by the arrow 413. The shape memory alloy wire ejectable actuator 450 includes a plurality of single shape memory alloy wires. Specifically, it includes a first shape memory alloy wire 452, a second shape memory alloy wire 454, a third shape memory alloy wire 456 and a fourth shape memory alloy wire 458. The fourth shape memory alloy wire 458 is fixedly connected to the pin ring 414 at the position 435. The shape memory alloy wire ejectable actuator 450 further includes three levers, a first lever 460, a second lever 462 and a third lever 464. The levers allow the transmission of the force caused by the heated shape memory alloy wires 452 to 458 without a small bending radius. The shape memory alloy wires 452 to 458 are mainly in contact with air, which is beneficial for thermal isolation and thus rapid heating. The heating of the shape memory alloy wires 452 to 458 causes the pin ring 414 to rotate in a first (e.g., clockwise) rotational direction. In order to rotate the pin ring 414 in a second rotational direction (e.g., counterclockwise?) opposite to the first rotational direction, the shape memory alloy actuator 450 may additionally include a conventional spring (not shown here), for example, a spring 424 (Figure 4A) having a spring constant k. Figure 4D shows in a top view an embodiment of an ejectable module numbered 470 in an ejected state, which includes a third shape memory alloy wire ejectable actuator 490 disclosed herein. Except for the shape memory alloy wire ejectable actuator 490, the ejectable module numbered 470 is the same as the ejectable module numbered 400, that is, the linear movement actuated by the shape memory alloy wire ejectable actuator 490 is converted into a rotational movement of the pin ring 414, as shown by the arrow 413. The shape memory alloy actuator 490 includes a shape memory alloy wire 492 that can have a force of approximately 1 N to 10 N, preferably 3 N to 6 N. A first end of the shape memory alloy wire 492 is fixedly connected and electrically connected to the housing 402 at a position 496. A second end of the shape memory alloy wire 492 is fixedly connected and electrically connected to a lever 498 at a position 497. The lever 498 is fixedly connected to the pin ring 414 at the position 493 and rotates about the pivot point 499, as shown by the arrow 495. As shown in the figure, a lever ratio can be about 1:4, that is, a distance between the position 497 and the pivot point 499 can be 1 / 4 of a distance between the pivot point 499 and the position 493. In other embodiments, a lever ratio can be 1:10 to 1:2. Using a lever here is beneficial because a change in the length of the shape memory alloy wire due to heating above the shape memory alloy temperature threshold is limited to well below 10% of the actual length of the shape memory alloy wire, that is, a relative length change of the change in the shape memory alloy is much lower than 10%. Given a required movement stroke, a lever with a suitable lever ratio is used to amplify (or extend) this change in length, thereby providing actuation that exceeds the required movement stroke. The shape memory alloy actuator 490 also includes a spring 494 having a spring constant k. For the shape memory alloy wire 492, a combination of material and wire diameter is selected to satisfy E hot > k > E cold . The shape memory alloy wire 422 can have a force of approximately 1 N to 10 N, preferably 3 N to 6 N. A width (W) and a length (L) of the pop-up module 470 can be such that W is 5 to 50 mm and L is 5 to 50 mm; preferably W is 25 to 35 mm and L is 25 to 35 mm. Here, it can be said that a third pair of pull-type actuators using a shape memory alloy wire and a conventional spring is used. Figure 4E shows, in a top view, an embodiment of an ejectable module numbered 4000 in an ejected state, which includes a third shape memory alloy spring ejectable actuator 4020 disclosed herein. Except for the shape memory alloy spring ejectable actuator 4020, the ejectable module numbered 4000 is the same as the ejectable module numbered 400, that is, the linear movement actuated by the shape memory alloy spring ejectable actuator 4020 is converted into a rotational movement of the pin ring 414, as shown by the arrow 413. The shape memory alloy spring ejectable actuator 4020 includes a first shape memory alloy spring 4022, a second shape memory alloy spring 4023, a first conventional spring 4024, and a second conventional spring 4025. The first conventional spring 4024 and the second conventional spring 4025 may have the same spring constant k. The spring constants k hot and k cold of the first shape memory alloy spring 4022 and the second shape memory alloy spring 4023 may be the same and are selected to satisfy k hot > k > k cold . Here, it can be said to be a pull-pull type spring actuator using two shape memory alloy springs and two conventional springs, or a second embodiment including a pull-pull type spring set with at least one spring made of a shape memory alloy material. A width (W) and a length (L) of the ejectable module 490 may be such that W is 5 to 50 mm and L is 5 to 50 mm; and preferably W is 25 to 35 mm and L is 25 to 35 mm. Figure 4F shows, in a perspective view, an embodiment of an ejectable module numbered 4100 in an ejected state, which includes a fourth shape memory alloy wire ejectable actuator 4120 disclosed herein. Figure 4G shows the ejectable module 4100 in a folded state. The shape memory alloy wire ejectable actuator 4120 includes a first shape memory alloy wire 4122, a second shape memory alloy wire 4123, a first conventional spring 4124, and a second conventional spring 4125. The first conventional spring 4124 is fixedly connected to the first pin 4126, and the second conventional spring 4125 is fixedly connected to the second pin 4128. The first pin 4126 and the second pin 4128 are respectively restricted in a first guide rail 4127 and a second guide rail 4129 such that they can only move along the z-axis (parallel to the lens OA). The first pin 4126 and the second pin 4128 are fixedly connected to an ejectable mechanism 4110, which is configured to eject and fold an ejectable module numbered 4100 based on a movement actuated by the shape memory alloy wire ejectable actuator 4120. The first conventional spring 4124 and the second conventional spring 4125 may have the same spring constant k and are selected to push the first pin 4126 and the second pin 4128 upward, i.e., towards a more positive z value. The shape memory alloy wire 4122 and the shape memory alloy wire 4123 may be selected to satisfy E hot > k > E cold . Folded ejectable module 4100 - switching from the ejected state to the folded state: The shape memory alloy wire 4122 and the shape memory alloy wire 4123 are heated. The force exerted by the shape memory alloy wire 4122 and the shape memory alloy wire 4123 (~E hot ) overcomes the force exerted by the springs 4124 and 4125 (~k). This results in the contraction of the springs 4124 and 4125 and the linear downward movement of the first pin 4126 and the second pin 4128, i.e., towards a more negative z value. A locking mechanism may hold the ejectable mechanism 4110 in the folded state. Folded ejectable module 4100 - switching from the folded state to the ejected state: The shape memory alloy wire 4122 and the shape memory alloy wire 4123 are not heated. The force exerted by the springs 4124 and 4125 (~k) overcomes the force exerted by the shape memory alloy wire 4122 and the shape memory alloy wire 4123 (~E hotThis causes the expansion of springs 4124 and 4125 and the linear upward movement of the first pin 4126 and the second pin 4128, i.e., towards a more positive z value. A locking mechanism can hold the ejecting mechanism 4110 in the ejected state. Here, a pulling-type actuator using two shape memory alloy wires and two conventional springs can be said to be used. FIG. 5A shows a perspective view of an embodiment of an ejecting module numbered 500 in an ejected state, which includes a fifth shape memory alloy wire ejecting actuator 520 disclosed herein. FIG. 5B shows a perspective view of the ejecting module 500 in a folded state. The ejecting module 500 includes a housing 506, an ejecting mechanism 510, and a shape memory alloy wire ejecting actuator 520 including a shape memory alloy wire 522 disclosed herein. The ejecting mechanism 510 includes a lens carrier 512, a pin ring 514, a locking ring 518, an angled pin slot mechanism 530 formed by a first pair of pin slots 532, a second pair of pin slots 534, and a third pair of pin slots 536, and a guiding mechanism 540 formed by a first pair of pin slots 542, a second pair of pin slots 544, and a third pair of pin slots 546. Relative to the housing 506, the lens carrier 512 is configured to linearly move parallel to the OA line (i.e., perpendicular to the x-axis and the z-axis), the pin ring 514 is configured to rotate in the x-z plane, and the locking ring 518 is stationary. The shape memory alloy wire 522 is made of a shape memory alloy material, such as nitinol. The wire 522 has two different elastic moduli, depending on the temperature of the material. At T S (e.g., T S of 50 to 150 degrees), the wire 522 has an elastic modulus E cold , and above T S it has an elastic modulus E hot , where E hot < E cold。The shape memory alloy wire 522 is used for the rotational actuation of the pin ring 514 together with a return spring (not shown) having a spring constant k. The return spring can be a conventional spring, i.e., a spring not made of shape memory alloy material. The wire 522 is fixedly attached to the housing 506 and the pin ring 514. Electrical contacts are provided at contact points 528 (for contacting the pin ring 514) and 529 (for contacting the housing 506) for heating the wire 522 by resistive heating. The diameter of the shape memory alloy wire 522 can be from 0.025 to 0.5 mm, preferably from 0.05 to 0.15 mm. A combination of material and wire diameter is selected to satisfy E hot > k > E cold 。The contact point 528 is a movable electrical contact. When the ejectable module 500 is in the ejected or folded state, a locking mechanism (not shown) locks the camera state. In other embodiments, instead of using a single shape memory alloy wire, such as the shape memory alloy wire 522, multiple shape memory alloy wires, such as 2 to 6 shape memory alloy wires 522, are used. Using multiple shape memory alloy wires can be beneficial because it allows a greater force to be applied to each shape memory alloy wire and a smaller diameter to be used. This reduces the heating and / or cooling time, i.e., the time required for the shape memory alloy wire to heat to a wire temperature T > T S and / or cool to a wire temperature T < T S so that it can perform the functions described below within a shorter time range. "Accuracy tolerances" herein refers to the maximum variation in the distance between optical elements and between mechanical elements. "Repeatability tolerances" herein refers to the maximum variation in the distance between optical elements and between mechanical elements during different ejection cycles, i.e., the ability of the mechanical and optical elements to return to their previous positions (or fold) after one or more ejection events. The tolerances in the Y direction may be less important because changes in Y can be compensated by autofocusing through optical feedback and moving the lens. The folded ejectable module 500 - switching from the ejected state to the folded state: The locking mechanism is deactivated and the shape memory alloy wire 522 is heated. When the elastic modulus becomes E hot > k, the force exerted by the shape memory alloy wire 522 (~E hot)(~k), which causes the pin ring 514 to move clockwise by an amplitude of Δs, bringing the ejectable module 500 into a folded state. Δs can be 1 to 15 mm, preferably Δs is 1 to 5 mm. Ejectable module 500 - Switching from the folded state to the ejected state: The locking mechanism is deactivated. When k > E cold When, the force exerted by the return spring (~k) overcomes the force exerted by the shape memory alloy wire 522 (~E cold ), which causes the pin ring 514 to move counterclockwise by an amplitude of Δs, bringing the ejectable module 500 into the ejected state. In some embodiments and with respect to the springs involved, the ejectable module 500 can be operated in the reverse order, which means that the return spring folds the ejectable module 500, and the shape memory alloy wire 522 ejects the ejectable module 500. Figure 6A shows another embodiment of an ejectable module numbered 600 in a top view, which includes a sixth shape memory alloy wire ejector 620 disclosed herein. Except for the different shape memory alloy wires, the ejectable module 600 is the same as the ejectable module 500' in Figures 5E and 5F, except that the module 600 includes a different shape memory alloy wire 650. Figure 6B shows the ejectable module 600 in the folded state in the same view as Figure 6A. Figure 6C shows a perspective view of the ejectable module 600 in the ejected state. Figure 6D shows a perspective view of the ejectable module 600 in the folded state. Figure 6E shows a magnified perspective view of the ejectable module 600 in the ejected state. Figure 6F shows a magnified perspective view of the ejectable module 600 in the folded state. The sixth shape memory alloy wire ejector 620 includes a shape memory alloy wire 650 made of, for example, nitinol. Below T S (e.g., TS is 50 to 150 degrees), the wire 650 has an elastic modulus E cold , above T S then has an elastic modulus E hot , where E hot > E cold . Together with the return spring having a spring constant k and being a conventional spring not made of a shape memory alloy material (not shown), the wire 650 is used for the rotational actuation of the pin ring 524. The wire 650 is fixedly attached to a base 652 and is held taut by a hook 633. The hook 633 is part of the pin ring 524. The wire 650 is folded at the hook 633. The hook 633 and the wire 650 are visible in FIGS. 6C and 6F. A first end of the wire 650 is electrically connected to a first contact point 629 having a first electrical polarity and is folded around the hook 633. A second end of the wire 650 is electrically connected to a second contact point 631 having a second electrical polarity. Electrical contact is provided to the heating wire 650 by resistive heating. The diameter of the shape memory alloy wire 650 can be from 0.025 to 0.5 mm, preferably from 0.05 to 0.15 mm. The contact points 629 and 631 are non-moving (fixed) electrical contact points. A combination of materials and wire diameters is selected to satisfy E hot >k>E cold . When the ejectable module 600 is in the ejected or folded state, a locking mechanism (not shown) locks the camera in the ejected or folded state, respectively. Folded ejectable module 600 - switching from the ejected state to the folded state: The locking mechanism is deactivated and the shape memory alloy wire 650 is heated. When E hot >k, the force exerted by the wire 650 (~E hot ) overcomes the force exerted by the return spring (~k), which causes the pin ring 524 to move clockwise by an amplitude of Δs, thereby bringing the ejectable module 600 into the folded state. Δs can be from 1 to 10 mm, preferably Δs is from 1 to 5 mm. Ejectable module 600 - switching from the folded state to the ejected state: The locking mechanism is deactivated. Since k>E cold , the force exerted by the return spring (~k) overcomes the force exerted by the wire 650 (~E cold ), which causes the pin ring 524 to move counterclockwise by an amplitude of Δs, thereby bringing the ejectable module 600 into the ejected state. Here, this is referred to as a pull-pull actuator using one shape memory alloy wire and one or more conventional springs. In other embodiments, for example, to reduce the force requirements, a second shape memory alloy wire (e.g., wire 650) can be used instead of the return spring. In this case, a current can be applied to the second shape memory alloy wire to switch from the folded state to the ejected state. Here, this is referred to as a first pull-pull shape memory alloy wire actuator using two shape memory alloy wires. The embodiments will be described below with reference to FIGS. 7A and 7B and FIGS. 9A and 9B. FIG. 7A shows, in a top view, another embodiment of a pop-up module numbered 700 in a pop-up state, including a seventh shape memory alloy wire pop-up actuator 720 and a first locking mechanism 750 disclosed herein. FIG. 7B shows, in the same view as FIG. 7A, the pop-up module 700 in a folded state. The first locking mechanism 750 is referred to as a mechanical locking mechanism. The pop-up module 700 includes a lens carrier 702 that carries a lens (not shown), which forms an aperture of a pop-up camera, and includes the pop-up module 700, a housing 706, a top cover 704, and a pop-up mechanism 710. The pop-up mechanism 710 includes the lens carrier 702, a pin ring 714, a transmission module 716, a shape memory alloy actuator 720 (FIG. 9A), and a first locking mechanism 750 disclosed herein. The seventh shape memory alloy wire pop-up actuator 720 includes a top shape memory alloy wire 722 that is folded at a turning point 724 around a top pin 726. The two ends of the top shape memory alloy wire 722 (FIG. 9A) are fixedly connected and electrically connected to a top contact pad 728. Not visible here but visible in FIG. 9C, the shape memory alloy actuator 720 further includes a bottom shape memory alloy wire 732 that is guided (or folded) around a bottom pin (not shown) at a turning point 734. The two ends of the bottom shape memory alloy wire 732 are fixedly connected and electrically connected to a bottom contact pad 738. The shape memory alloy actuator 720 can move parallel to the x-axis (in the coordinate system shown in FIGS. 7A, 7B, 9A, and 9B) by rotating around a pivot point 739. In the illustrated embodiment, the shape memory alloy wires 722 and 732 can be made of the same material and can have the same wire diameter. For example, the shape memory alloy wires 722 and 732 can be made of nitinol. At T S (e.g., T S is 50 to 150 degrees), the wires 722 and 732 have an elastic modulus E cold , and above T S , they have an elastic modulus E hot , where E hot > Ec oldThe shape memory alloy wires 722 and 732 can have the same diameter between 0.025 and 1 mm, preferably between 0.1 and 0.3 mm, and the same length between 1 and 50 mm. In other embodiments, the shape memory alloy wire 722 can have a different diameter and / or a different length from the shape memory alloy wire 732. The shape memory alloy wires 722 and 732 provide the force for rotating the pin ring 714, which includes the pop-up camera of the pop-up module 700 switching from the pop-up state to the folded state, and vice versa. The transmission module 716 includes a first transmission rod 742 and a second transmission rod 744 connected through a pivot point 746. The transmission rod 744 is connected to the shape memory alloy actuator 720 through the pivot point 748. The first locking mechanism 750 includes a locking member 752 that can rotate around the pivot point 754. The locking member 752 has a circular edge 756 that enters a first recess 762 included in the pin ring 714. This entry locks the pop-up module 700 in the pop-up state (see FIG. 7A). To lock the pop-up module 700 in the folded state (see FIG. 7B), the circular edge 756 enters a second recess 764 included in the pin ring 714. In particular, the term "locking" applied to the pop-up module 700 here means that no power is consumed when the pop-up module 700 is in the pop-up state and the folded state respectively, which is ideal for achieving a pop-up camera with relatively low power consumption. A spring 758 is fixedly connected to the outer shell 706 on a first side and fixedly connected to the locking member 752 on a second side, and the spring 758 applies a restoring force to push the circular edge 756 into the first recess 762 or the second recess 764 respectively. The pop-up mechanism 710 also includes three (first, second, and third) angled pin slot mechanisms 770, 780, and 790. The first pin slot mechanism 770 includes a slot 772 and a pin 774. The second pin slot mechanism 780 includes a slot 782 and a pin 784. The third pin slot mechanism 790 includes a slot 792 and a pin 794. The pins 774, 784, and 794 are part of the pin ring 714 (or fixedly connected to the pin ring 714). The slots 772, 782, and 792 are formed in the lens carrier 702. The angled pin slot mechanisms 770, 780, and 790 convert the circular motion of the pin ring 714 in the x-z plane into a linear motion of the lens carrier 702 along the y-axis, as shown in FIGS. 8A to 8B. The arrows 711 and 712 respectively mark the linear movements of the transmission rod 744, the shape memory alloy actuator 720, and the first transmission rod 742. The shape memory alloy actuator 720 is only positioned on one side of the ejectable module 700. The transmission module 716 acts as a lever. The transmission module 716 is located on both sides of the ejectable module 700. As shown in the figure, the lever ratio can be approximately 1:4. For example, a lever ratio of 1:4 means that a movement of 1 unit (e.g., mm) of the short arm of the lever will be converted into a movement of 4 units (e.g., mm) of the long arm of the lever. In other embodiments, the lever ratio can be from 1:10 to 1:2. Figure 8A shows a perspective view of the lens carrier 702 and the pin ring 714 in the ejected state. Figure 8B shows a perspective view of the lens carrier 702 and the pin ring 714 of Figure 8A in the folded state. The angled pin slot mechanisms 770, 780, and 790 convert the circular motion of the pin ring 714 in the x-z plane into a linear motion of the lens carrier 702 along the y-axis, as indicated by arrow 802, which indicates the direction of the linear motion of the lens carrier 702. Figure 9A shows a top view of the pin ring 714 and the transmission module 716 in the ejected state. Figure 9B shows a top view of the pin ring 714 and the transmission module 716 of Figure 9A in the folded state. The turning point 724 of the shape memory alloy wire 722 is visible. The shape memory alloy wire 722 is partially surrounded by a sleeve 723 and a sleeve 725. The sleeves 723 and 725 may or may not be filled with a material that exhibits effective heat conduction but no electrical conductivity, such as a thermal gel, which serves as a heat sink. As shown in the figure, at a position near the turning point 724, the shape memory alloy wire 722 is not surrounded by a sleeve, so that it can be folded around the pin 726 (see Figures 7A and 7B). Figure 9C shows a perspective view of the pin ring 714 and the transmission module 716 of Figures 9A and 9B in the ejected state. Here, the entire shape memory alloy actuator 720 is visible. The bottom shape memory alloy wire 732 is guided (or folded) around a bottom pin (not shown) at a turning point 734, and both ends of the bottom shape memory alloy wire 732 are fixedly connected and electrically connected to the bottom contact pad 738. The bottom pin is the same size and function as the top pin 726. The shape memory alloy wires 722 and 732 have the same diameter and length. The folding of the shape memory alloy wire 722 and the shape memory alloy wire 732 is symmetric. Exemplarily, for the shape memory alloy wire 722, if the length of a first portion of the shape memory alloy wire 722 before the turning point 724 is the same as the length of a second portion of the shape memory alloy wire 732 after the turning point 724, then the folding of the shape memory alloy wire 722 is symmetric. The folded ejectable module 700 - switching from the ejected state to the folded state: The shape memory alloy wire 722 is heated, while the shape memory alloy wire 732 is not heated. Due to E hot> E cold , the force applied by wire 722 (~E hot ) overcomes the force applied by the shape memory alloy wire 732 (~E cold ). This results in a linear movement of the shape memory alloy actuator 720, as indicated by arrow 712. The linear movement of the shape memory alloy actuator 720 is transmitted to the pin ring 714, and the pin ring 714 rotates in the clockwise direction, which causes the lens carrier 702 to linearly move -Δs along the y-axis, placing the pop-up module 700 in the folded state. Δs can be in the range of 1 to 15 mm, preferably Δs is 1 to 5 mm. The circular edge 756 enters the second recess 764, locking the pop-up module 700 in the folded state. The popped-up pop-up module 700 - switching from the folded state to the popped-up state: The shape memory alloy wire 732 is heated, while the shape memory alloy wire 722 is not heated. Due to E hot > E cold , the force applied by wire 732 (~E hot ) overcomes the force applied by the shape memory alloy wire 722 (~E cold ), which results in a linear movement of the shape memory alloy actuator 720, as indicated by arrow 712. For popping up the pop-up module 700, the linear movement of the shape memory alloy actuator 720 is in the opposite direction to the linear movement for folding the pop-up module 700 described above. The linear movement of the shape memory alloy actuator 720 is transmitted to the pin ring 714, and the pin ring 714 rotates in the counterclockwise direction, which causes the lens carrier 702 to linearly move Δs along the y-axis, placing the pop-up module 700 in the popped-up (or operating) state. Δs can be in the range of 1 to 15 mm, preferably Δs is 1 to 5 mm. The circular edge 756 enters the first recess 762, locking the pop-up module 700 in the popped-up state. Figure 10A shows in perspective view another embodiment of a pop-up module numbered 1000 in the popped-up state, including the eighth shape memory alloy wire pop-up actuator 1020 disclosed herein. Figure 10B shows the pop-up module 1000 in the folded state in the same view as Figure 10A. The pop-up module together with an optical module including a folded pop-up lens and an image sensor forms a pop-up camera. This pop-up camera is advantageous for use in a smart phone. The pop-up module 1000 includes a lens carrier 1012, the lens carrier 1012 includes a lens 8 (not shown) forming an aperture 100 of a pop-up camera, and the pop-up camera includes the pop-up module 1000 covered by a glass window 1009. The pop-up module 1000 further includes a housing 1006, a top cover 1004, a pop-up mechanism 1010, and a pop-up actuator 1020 including a flexible member 1021. The flexible member 1021 includes one or more printed circuit boards and transmits power and control signals between the pop-up module 1000 and a mobile device carrying the pop-up camera including the pop-up module 1000. Figure 10C shows a bottom view of the pop-up module 1000 of Figures 10A and 10B in the pop-up state. Figure 10D shows the pop-up module 1000 of Figures 10A to 10C in the folded state in the same view as Figure 10C. Figure 10E shows a bottom cross-sectional view of the pop-up module 1000 of Figures 10A to 10D in the folded state. The pop-up mechanism 1010 includes a lens carrier 1012, a pin ring 1014, a locking ring 1018, a locking mechanism (not shown), and three angled pin slot mechanisms 1015, 1016, and 1017. With respect to the housing 1006, the lens carrier 1012 is configured to linearly move parallel to the z-axis, the pin ring 1014 is configured to rotationally move within the x-z plane, and the locking ring 1018 does not move. The three angled pin slot mechanisms 1015, 1016, and 1017 convert the rotational movement of the pin ring 1014 into the linear movement of the lens carrier 1012. The pop-up actuator 1020 includes a lever 1023 connected to the pin ring 1014. The pin ring 1014 includes a bottom pin 1019 (Figure 10E), and the lever 1023 includes a slot 1025 (Figure 10E). The connection between the lever 1023 and the pin ring 1014 is achieved by the bottom pin 1019 entering the slot 1025. The lever 1023 further includes a lever frame hole 1027 and a lever rod hole 1029. The short arm of the lever 1023 is formed between the lever frame hole 1027 and the lever rod hole 1029. The long arm of the lever 1023 is formed between the lever frame hole 1027 and the slot 1025. The pop-up actuator 1020 further includes a pull rod 1022, an actuator frame 1024, a pull rod pin 1026, a module frame pin 1028, and a guide pin 1037. The lever 1023 is connected to the actuator frame 1024 at a pivot point formed by the module frame pin 1028 entering the lever frame hole 1027, such that the lever 1023 can perform a rotational movement around the pivot point. The lever 1023 is connected to the pull rod 1022 by the pull rod pin 1026 entering the lever rod hole 1029, such that when the pull rod 1022 moves, the lever 1023 is actuated. The lever 1023 converts the linear movement generated by the pop-up actuator 1020 into the rotational movement of the pin ring 1014 for popping up or folding the pop-up module 1000. The pop-up actuator 1020 including the lever 1023 is only positioned on one side of the pop-up module 1000. The guide pin 1037 guides the movement of the pull rod 1022 and prevents the pull rod 1022 from leaving the frame 1024. In other embodiments, the lever 1023 may have a hole instead of the slot 1025 (see, for example, Figure 11A), where the connection between the lever 1023 and the pin ring 1014 is achieved by the bottom pin 1019 entering the hole. Figure 11A exemplarily shows a top view of the dimensions of the pop-up actuator 1020. The pop-up actuator 1020 includes a pivot point 1102 that can connect the lever 1023 to the pin ring 1014. Shows a center 1104 of the lever 1023 relative to the x-axis. Figure 11B exemplarily shows a side view of the dimensions of the shape memory alloy actuator 1020. Table 1 shows the values and ranges of the dimensions (in mm). The movement or stroke (S) of the lever 1023 is shown as a line, but in some embodiments, S can be arcuate. [Table 1] Figure 12A shows a perspective view of the pop-up actuator 1020 in a folded state. The pop-up actuator 1020 includes a lever 1023, a right cover 1202, a left cover 1204, a first wire cover 1206, and a second wire cover 1208. The right cover 1202 and the left cover 1204 are closed using a closing mechanism 1210. Figure 12B shows the pop-up actuator 1020 of Figure 12A in a folded state and without the right cover 1202 and the first wire cover 1206 in the same view as Figure 12A. The pop-up actuator 1020 further includes a right shape memory alloy wire 1220 that is folded (in Figures 13B and 13C) at a turning point 1302 and fixedly connected to a pull rod 1212, for example, through adhesion. Both ends of the top shape memory alloy wire 1220 are fixedly connected and electrically connected to a first right contact crimp 1222 and a second right contact crimp 1224. The contact crimp 1222 and the contact crimp 1224 can be book crimps known in the art and can be manufactured as shown in Figure 17. For example, for an image sensor included in a pop-up camera, the actuator frame 1024 does not move, but the pull rod 1212 moves. Arrow 1031 indicates the direction of the linear movement of the pull rod 1212, which is parallel to a symmetry axis of the pop-up actuator 1020. For example, the linear movement of the pull rod 1212 is parallel to the y-axis shown in Figures 10C and 10D and parallel to the x-axis shown in Figure 10E. Not visible here, but visible in Figures 12E and 12F, the pop-up actuator 1020 further includes a bottom shape memory alloy wire 1230 that is guided (or folded) at a turning point 1304 (in Figures 13B and 13C) and fixedly connected to the pull rod 1212. Figure 12C shows a side view of the shape memory alloy actuator 1020 of Figures 12A and 12B in a popped-up state. The lever 1023 forms an angle greater than 45 degrees with the x-axis. Figure 12D shows the shape memory alloy actuator 1020 of Figures 12A to 12C in a folded state in the same view as Figure 12C. The lever 1023 forms an angle less than 45 degrees with the x-axis. Figure 12E shows an exploded view of the pop-up actuator 1020 of FIGS. 12A to 12D. The top shape memory alloy wire 1220 and the bottom shape memory alloy wire 1230 are visible. Both ends of the bottom shape memory alloy wire 1030 are fixedly connected and electrically connected to a first left contact crimp 1232 and a second left contact crimp 1234. The contact crimps 1232 and 1234 can be book crimps known in the art and can be manufactured as shown in FIG. 17. Figure 12F shows another exploded view of the pop-up actuator 1020 of FIGS. 12A to 12E. The pop-up actuator 1020 further includes a Hall sensor 1236 and a magnet 1238. The Hall sensor 1236 and the magnet 1238 together form a position measurement unit for controlling the pulling stroke of the pull rod 1022 (and thus the movement of the pop-up actuator 1010). The magnet 1238 is fixedly connected to the pull rod 1022, so the magnet 1238 moves together with the pull rod 1212, for example, relative to the image sensor included in the pop-up camera. The Hall sensor 1236 is fixedly connected to the flexure 1021 and measures the magnetic field induced by the magnet 1238. The flexure 1021 is fixedly connected to the actuator frame 1024, so that the Hall sensor 1236 does not move relative to the image sensor included in the pop-up camera. The moving distance (pulling stroke) of the pull rod is about 0.2 to 2.5 mm. The lever 1023 converts the pulling stroke into a pop-up stroke. The pop-up stroke is about 2 to 10 times the pulling stroke, so the lever ratio of the lever 1023 is 2 to 10. Preferably, the pop-up stroke is about 3 to 5 times the pulling stroke. The shape memory alloy wires 1220 and 1230 can be made of the same material and can have the same wire diameter. For example, the shape memory alloy wires 1220 and 1230 can be made of nitinol. Below (e.g., T S is 50 to 150 degrees), the wires 1220 and 1230 have an elastic modulus E S while above T cold they have an elastic modulus E S where E hot is such that E hot > E coldThe shape memory alloy wires 1220 and 1230 can have the same wire diameter (DW) of 0.025 to 0.5 mm, preferably 0.1 to 0.2 mm, and the same wire length (LW) of 10 to 100 mm, preferably 30 to 70 mm. The shape memory alloy wires 1220 and 1230 can be or can not be surrounded by, for example, a silicon material for thermal and electrical isolation, such as a silicone resin material. The shape memory alloy wires 1220 and 1230 provide a force to linearly actuate the pull rod 1022, which causes the rotational movement of the lever 1023 and the rotational movement of the pin ring 1014. This switches the pop-up camera including the pop-up module 1000 from the pop-up state to the folded state by raising and lowering a window frame such as the window frame 214, and vice versa, as detailed below. Figure 13A shows a perspective view of the components of the pop-up actuator 1020 of Figures 12A to 12F. Figure 13B shows an exploded view of the components of the pop-up actuator 1020 of Figure 13A. The pop-up actuator 1020 further includes a first wire cover 1306 and a second wire cover 1308, which respectively cover the connection points of the shape memory alloy wires 1220 and 1230 with the pull rod 1022 at the turning points 1302 and 1304. In addition, the second wire cover 1308 holds the position of the pull rod pin 1026, that is, prevents the pull rod pin 1026 from leaving the lever rod hole 1029. The distance between the lever frame hole 1027 and the lever rod hole 1029 represents the short arm length of the lever 1023, called the short arm length, labeled as LSA. The distance between the lever frame hole 1027 and the slot 1025 represents the long arm length of the lever 1023, called the long arm length, labeled as LLA. As shown in the figure, the lever ratio, that is, the ratio of LSA to LLA can be about 1:4. In other embodiments, the lever ratio can be 1:10 to 1:2. Figure 13C shows another exploded view of the components of the pop-up actuator 1020 of Figure 13A. The folding of the shape memory alloy wire 1220 and the shape memory alloy wire 1230 is symmetric. Folding the pop-up module 1000 - switching from the pop-up state to the folded state: The shape memory alloy wire 1220 is heated, while the shape memory alloy wire 1230 is not heated. Since E hot > E cold , the force exerted by the wire 1220 (~E hot ) overcomes the force exerted by the shape memory alloy wire 1230 (~E cold ), so the shape memory alloy wire 1220 contracts and the shape memory alloy wire 1230 extends. The contraction and extension change the length of the wire by about 1% to 10%, preferably 2% to 5%. This causes a linear movement of the pull rod 1022 as shown by the arrow 1031 (Figure 12B). The linear movement of the pop-up actuator 1020 is transmitted to the pin ring 1014 through the lever 1023. The pin ring 1014 rotates counterclockwise (Figures 10C and 10D), such that the lens carrier 1012 linearly moves along the z-axis by -Δs (Figures 10A and 10B), bringing the pop-up module 1000 into the folded state. Δs can be from 1 to 10 mm, preferably Δs is from 1 to 5 mm. Pop-up of the pop-up module 1000 - switching from the folded state to the pop-up state: The shape memory alloy wire 1230 is heated, while the shape memory alloy wire 1220 is not heated. Since E hot > E cold , the force applied by the wire 1230 (~E hot ) overcomes the force applied by the shape memory alloy wire 1220 (~E cold ), which causes a linear movement of the pull rod 1022 as shown by the arrow 1033 (Figure 12B). The linear movement of the pull rod 1022 is in the opposite direction to the linear movement for folding the pop-up module 1000 described above. The linear movement of the pull rod 1022 is transmitted to the pin ring 1014 through the lever 1023. The pin ring 1014 rotates clockwise (Figures 10C and 10D), which causes the lens carrier 1012 to linearly move along the z-axis by Δs (Figures 10A and 10B), bringing the pop-up module 1000 into the pop-up (or operating) state. Herein, this is referred to as the second pair of pull-type shape memory alloy wire actuators using two shape memory alloy wires. Figure 14A shows in perspective view another embodiment of a pop-up module numbered 1400 in the pop-up state, the pop-up module including a ninth shape memory alloy wire pop-up actuator 1420 disclosed herein. Figure 14B shows the pop-up module 1400 in the folded state in the same view as Figure 14A. The pop-up module together with an optical module including a foldable pop-up lens and an image sensor forms a pop-up camera. The pop-up camera is advantageous for use in a smart phone. The pop-up module 1400 includes a lens carrier 1412 which includes a lens (not shown) forming an aperture 1008 of a pop-up camera. The pop-up camera includes the pop-up module 1400 covered by a glass window 1409. The pop-up module 1400 further includes a housing 1406, a top cover 1404, a pop-up mechanism 1410, the pop-up actuator 1420 disclosed herein, and the second locking mechanism 1405 disclosed herein. Except for the pop-up actuator 1420 and the locking mechanism 1405 including a first locking member 1411 and a second locking member 1415 (see FIGS. 14C to 14G), the pop-up module 1400 is the same as the pop-up module 1000. In particular, the function of the pop-up mechanism 1410 is the same as that of the pop-up mechanism 1010 (FIGS. 10C to 10E). The pop-up mechanism 1410 includes a lens carrier 1412, a pin ring 1414, and a locking ring 1418. The second locking mechanism 1405 is referred to as a magnetic locking mechanism. Among other magnetic locking mechanisms, one locking member or more than two locking members, such as three or more locking members, may be included. FIG. 14C shows a bottom view of the pop-up module 1400 of FIGS. 14A and 14B in the pop-up state. The locking member 1411 is open, and the locking member 1415 is closed. The locking member 1415 locks or holds the pop-up module 1400 in the pop-up state. FIG. 14D shows the pop-up module 1400 of FIGS. 14A to 14C in the folded state in the same view as FIG. 14C. The locking member 1411 is closed, and the locking member 1415 is open. The locking member 1411 locks or holds the pop-up module 1400 in the folded state. FIG. 14E shows a bottom cross-sectional view of the pop-up module 1400 of FIGS. 14A to 14D in the pop-up state. The locking member 1411 is open, and the locking member 1415 is closed. FIG. 14F shows a detailed bottom perspective view of a second locking member 1415 (locking member 1415 is open) of the pop-up module 1400 of FIGS. 14A to 14E in a folded state. Here, an exemplary second locking member 1415 is shown. However, all the details described herein also apply to the first locking member 1411. The second locking member 1415 includes a first arm 1416 and a second arm 1413. The first arm 1416 includes a yoke 1417, and the second arm 1413 includes a magnet 1419. Preferably, a yoke such as the yoke 1417 is included in a part that moves relative to the housing 1406, and a magnet such as the magnet 1419 is included in a part that does not move relative to the housing 1406 because the movement of the magnet may cause the magnetic field of the magnet to interfere with other magnetic fields in the camera, other magnetic field areas, such as those for sensing or actuation. In the shown pop-up state, the first arm 1416 and the second arm 1413 are located at a relatively large distance from each other, for example, 1 mm or more, such that the yoke 1417 and the magnet 1419 are only weakly attracted to each other. In the folded state, the first arm 1416 and the second arm 1413 are located at a relatively short distance from each other, that is, they are in a contact state, so the yoke 1417 and the magnet 1419 are strongly attracted to each other, and the locking pop-up device camera is in the folded state. Locking the pop-up camera in the folded state or the pop-up state means that based on the force applied by the locking mechanism 1405, the pop-up camera remains in its current state until the actuation of the pop-up actuator 1420 is triggered. If. In other embodiments, both the first arm 1416 and the second arm 1413 may include a magnet. FIG. 15A shows a perspective view of the pop-up actuator 1420 in a folded state. The pop-up actuator 1420 includes a top shape memory alloy wire 1520 (FIG. 15C), a bottom shape memory alloy wire 1530 (FIG. 15F), a lever 1423, a flexure 1421, a right cover 1502, and a left cover 1504, which are closed through a closing mechanism 1511. The lever 1423 has a slot 1425, a lever frame hole 1427, and a module frame pin 1428 inserted into the lever frame hole 1427. The connection between the lever 1423 and the pin ring 1414 is achieved by a bottom pin, such as bottom pin 1019, entering the slot 1425. The ejectable actuator 1420 includes a pull rod 1522, an actuator frame 1524, a pull rod pin 1526, and a module frame pin 1528. The lever 1423 is connected to the actuator frame 1524 at a pivot point where the module frame pin 1528 enters the lever frame hole 1427, enabling the lever 1423 to rotate around the pivot point. The lever 1423 is connected to the pull rod 1522 by the pull rod pin 1526 entering the lever rod hole 1429, such that when the pull rod 1422 moves, the lever 1423 is actuated. The lever 1423 converts the linear movement generated by the ejectable actuator 1420 into rotational movement of the pin ring 1414 for ejecting or folding the ejectable module 1400, as described in more detail below. The ejectable actuator 1420 including the lever 1423 is only positioned on one side of the ejectable module 1400. Figure 15B shows the ejectable actuator 1420 of Figure 15A in the folded state in the same view as Figure 15A, without the right cover 1502. The ejectable actuator 1420 also includes a right shape memory alloy protector 1503 and a left shape memory alloy protector 1505 (Figures 15F to 15G). Figure 15C shows the ejectable actuator 1420 of Figures 15A and 15B in the folded state in the same view as Figures 15A and 15B, without the right shape memory alloy protector 1403. The ejectable actuator 1420 also includes a pull rod 1522, an actuator frame 1524, and a right shape memory alloy wire 1520 that is folded at a turning point 1521 (Figure 15F) and is fixedly connected to the pull rod 1522, for example, by adhesion. Figures 15D and 15E respectively show top views of the ejectable actuator 1420 of Figures 15A to 15C in the ejected state and the folded state. The width (W) and length (L) of the ejectable actuator 1420 are shown. The positions of the lever 1423 in the ejected state and the folded state can be seen. FIG. 15F shows an exploded view of the pop-up actuator 1420 of FIGS. 15A to 15E. FIG. 15G shows another exploded view of the pop-up actuator 1420 of FIGS. 15A to 15F. The pop-up actuator 1420 further includes a left shape memory alloy wire 1530 that is folded at a turning point 1531 (FIGS. 13B and 13C) and fixedly connected to the pull rod 1522 and a Hall magnet sensor 1508. The Hall magnet sensor 1508 is fixedly connected to the flexible member 1421 and does not move relative to the actuator frame 1524. At the turning points 1521 and 1531 respectively, the shape memory alloy wire 1520 and the shape memory alloy wire 1530 are respectively covered by the wire covers 1523 and 1533. The shape memory alloy wire 1520 is fixedly connected and electrically connected to the actuator frame 1524 through the crimping members 1525 and 1527. The shape memory alloy wire 1530 is fixedly connected and electrically connected to the actuator frame 1534 through the crimping members 1535 and 1536. The crimping members 1525, 1527, 1535 and 1536 can be book crimps known in the art and can be manufactured as shown in FIG. 17. The folding of the shape memory alloy wire 1520 and the shape memory alloy wire 1530 is symmetric. A set of components including the above or below crimping members and shape memory alloy wires can be referred to as a crimping member-shape memory alloy wire assembly. FIG. 16A shows an exploded view of the components of the pop-up actuator 1420 of FIGS. 15A to 15G. FIG. 16B shows an exploded view of other components of the pop-up actuator 1420 of FIGS. 15A to 15G. FIG. 16C shows another exploded view of the components of the pop-up actuator 1420 of FIG. 16B. The pop-up actuator 1420 further includes a guide pin 1537, a first insulator 1542, a second insulator 1544, a magnet 1529, a pull rod pin 1526, and a module frame pin 1528. The guide pin 1537 guides the movement of the pull rod 1522 and prevents the pull rod 1522 from leaving the frame 1524. To achieve this, the guide pin 1537 enters a hole 1539 that is part of the pull rod 1522. The first insulator 1542 and the second insulator 1544 electrically insulate the shape memory alloy wires 1520 and 1530, as well as the crimps 1525, 1527, 1535, and 1536, from the actuator frame 1524. The magnet 1529 is fixedly connected to the pull rod 1522, i.e., it does not move relative to the latter. The magnet 1529 interacts with a Hall magnet sensor 1508 to measure the position of the pull rod 1522 relative to the actuator frame 1524. The lever 1423 is connected to the pull rod 1522 through the pull rod pin 1526 entering the lever rod hole 1429, such that the lever 1423 is actuated when the pull rod 1522 moves. The lever 1423 is connected to the actuator frame 1524 at a pivot point formed where the module frame pin 1528 enters the lever frame hole 1427, such that the lever 1423 can rotate about the pivot point. The short arm of the lever 1423 is formed between the lever frame hole 1427 and the lever rod hole 1429. The long arm of the lever 1423 is formed between the lever frame hole 1427 and the slot 1425. A distance between the lever frame hole 1427 and the lever rod hole 1429 represents the length of the short arm of the lever 1423, referred to as the short arm length and marked as "LSA" in FIG. 16B. A distance between the lever frame hole 1427 and the slot 1425 represents the length of the long arm of the lever 1423, referred to as the long arm length and marked as "LLA" in FIG. 16B. As shown in the figure, the lever ratio, i.e., the ratio of LSA to LLA, can be approximately 1:4. In other embodiments, the lever ratio can be from 1:10 to 1:2. Both ends of the top shape memory alloy wire 1520 are fixedly connected and electrically connected to the first right contact crimping member 1525 and the second right contact crimping member 1527. For example, for an image sensor included in a pop-up camera, the actuator frame 1524 does not move, but the pull rod 1522 moves. Arrow 1431 indicates the linear movement direction of the pull rod 1522, which is parallel to a symmetry axis of the pop-up actuator 1420. For example, the linear movement of the pull rod 1522 is parallel to the y-axis shown in FIGS. 14C and 14D. Here, this is called a third pair of pull-type shape memory alloy wire actuators using two shape memory alloy wires. [Table 2] FIG. 17 depicts a process numbered 1700 disclosed herein for manufacturing a book crimp (e.g., crimping members 1525, 1527, 1535, or 1536) that mechanically and / or electrically couples (or connects) a shape memory alloy wire to a contact. FIGS. 18A to 18M show the crimped states after various processing stages. This process is beneficial because it allows the manufacture of shape memory alloy crimping members with very small sizes or volumes, i.e., shape memory alloy crimping members having small W, H, and L as defined in FIGS. 18L to 18M, and still provides a strong mechanical connection between the shape memory alloy wire, such as the shape memory alloy wire 1520, and the mechanical (and / or electrical) contact. The characteristics of the strong mechanical connection can be maintaining a high stress, such as greater than 500 MPa, and no wire slipping off the crimping member. In the first step 1702, a suitable metal plate is provided. FIG. 18A shows a top view of an exemplary suitable metal plate 1800. FIG. 18B shows a perspective view of the metal plate 1800. The metal plate 1800 has a first region 1802 and a second region 1804 such that the metal plate 1800 forms an L shape. The metal plate 1800 can be made of, for example, brass. The first region 1802 represents the actual crimping region that will limit, for example, the shape memory alloy wire 1520, where the second region 1804 represents the region required as a mechanical and electrical anchor (or connection) region. In the second step 1704, a first recess is formed. FIG. 18C shows a top view of an exemplary first recess 1806 formed in the metal plate 1800. FIG. 18D shows a perspective view of the metal plate 1800 including the first recess 1806. The first recess 1806 is exemplary formed in the first region 1802 of the metal plate 1800. For example, the first recess 1806 can be rectangular. A die having a rectangular shape can be used to form the first recess 1806. In the third step 1706, the metal plate 1800 is bent. FIG. 18E exemplarily shows a top view of the bending of step 1706. FIG. 18F exemplarily shows a perspective view of the bending of step 1706. A turning point 1808 is generated through the bending. A first recess is formed in the first region 1802 of the metal plate 1800. In the fourth step 1708, a second recess is applied. FIG. 18G exemplarily shows how the second recess 1818 (FIG. 18H) can be formed. By using an auxiliary line 1812 in the perspective view. The auxiliary line 1812 can be made of steel, or can be made of any other metal that is stronger than the metal made of the metal plate 1800. Through the movement as shown by the arrow 1814 and the arrow 1816, the auxiliary line 1812 can be evenly pressed into a groove formed at the turning point 1808. This is done to form the second recess 1818. FIG. 18H shows a perspective view of the metal plate 1800 including the second recess 1818. The second recess 1818 is located in the first region 1802 of the metal plate 1800. Preferably, the second recess 1818 can be circular and is suitable for including a circular shape memory alloy wire, such as 1520. In the fifth step 1712, a shape memory alloy wire is fixed and a crimping member is formed. As a first sub-step, as shown in Fig. 18I, a shape memory alloy wire 1820 is introduced into a second recess 1818 and a forming die 1830 is provided. "Shaped" here means that the die 1830 does not have a rectangular shape, but the forming die 1830 includes a first part 1832 and a second part 1836, and the first part 1832 includes a forming die surface 1834. As a second sub-step, as shown in Fig. 18J, the forming die 1830 fixes the shape memory alloy wire 1820 to the second recess 1818 by applying a pressure on the second area 1802. Through the pressure, the first recess 1806 disappears, as shown by 1806'. Fig. 18K shows the completed crimping member 1840 including the shape memory alloy wire 1820, and a third recess 1838 is formed by the forming die surface 1834. Fig. 18L shows a side view of the completed crimping member 1840 including the shape memory alloy wire 1820. Arrows 1842 and 1844 indicate a cutting surface for providing a cross-sectional view as shown in Fig. 18M. A width (W) and a height (H) of the crimping member 1840 are indicated. Fig. 18M shows the crimping member 1840 in a cross-sectional view, as shown by arrows 1842 and 1844. A length (L) of the crimping member 1840 is indicated. L can be 0.5 to 10 mm (preferably, L is 1.5 to 3 mm), W can be 0.25 to 7.5 mm (preferably, W is 0.5 to 2 mm), and H can be 0.25 to 7.5 mm (preferably, W is 0.5 to 2.0 mm). It can be seen that by applying the first recess 1806 and using the forming die 1830, an arc (or wave) shape 1842 is applied to the shape memory alloy wire 1820. The center 1104 of the lever 1023 relative to the x-axis is shown. Fig. 11B exemplarily shows a side view of the dimensions of the shape memory alloy actuator 1020. Table 2 shows the dimension values and ranges (in mm) of the pop-up actuator 1420. The definitions of A, R, and S are shown in Fig. 11A. Unless otherwise specified, the expression "and / or" is used between the last two members of a list of options for selection to indicate that one or more of the listed options are appropriate and can be made. It should be understood that when a claim or specification refers to "a" or "an" element, such reference should not be construed as meaning only one of such elements. In addition, for clarity, the term "substantially" is used herein to imply the possibility of variation within an acceptable range. According to one embodiment, the term "substantially" as used herein shall be construed to imply a possible variation of up to 5% above or below any specified value. According to another embodiment, the term "substantially" as used herein shall be construed to imply a possible variation of up to 2.5% above or below any specified value. According to another embodiment, the term "substantially" as used herein shall be construed to imply a possible variation of up to 1% above or below any specified value. All patents and patent applications mentioned in this specification are hereby incorporated by reference in their entirety into this specification to the same extent as if each individual patent or patent application was specifically and individually indicated to be incorporated herein by reference. Additionally, the citation or identification of any reference in this application should not be construed as an admission that such reference is available as prior art to this disclosure. Although the present disclosure has been described in accordance with certain embodiments and methods that are generally associated therewith, variations and permutations of the embodiments and methods will be apparent to those skilled in the art. The present disclosure should be understood to be limited not by the specific embodiments described herein, but only by the appended claims for patent. 100: Camera modules 1000, 1400, 400, 430, 4000, 4100, 470, 500, 500’, 600, 700, 4100: Pop-up module 1004: Top cover 1006, 1406, 402, 506, 706: Housing 1008, 212: Aperture 1009, 1409: Glass window 101: Optical axis 1012, 512, 702, 1412: Lens carrier 1014, 1414, 414, 514, 524, 714: Pin ring 1015, 1016, 1017, 530, 770, 780, 790: Pin-slot mechanism 1018, 1418, 518: Locking ring 1019: Bottom pin 102, 104: One side 1020, 1420, 220, 320, 4020, 420, 450, 490, 520, 620, 720, 4120: Pop-up actuator 1021, 1421: Flexible member 1022, 1212, 1422, 1522: Pull rod 1023, 1423, 498: Lever 1024, 1524, 1534, 210’: Frame 1025, 1425, 772, 782, 792: Slot 1026, 1526: Pull rod pin 1027, 1427: Lever frame hole 1028, 1428, 1528: Module frame pin 1029, 1429: Lever rod hole 1030, 1220, 1230, 1520, 1530, 1820, 4122, 4123, 422, 492, 522, 650, 722, 732: Shape memory alloy wire 1031, 1033, 1431, 1814, 1816, 1842, 1844, 412, 413, 495, 711, 712, 802: Arrow 1037: Guide pin 106: Pin-slot mechanism 110: Cover window pop-up assembly 1102, 499, 739, 746, 748, 754: Pivot point 1104: Center 120: Lens barrel 1202, 1502: Right cover 1204, 1504: Left cover 1206, 1306: First wire cover 1208, 1308: Second wire cover 1210: Closing mechanism 1222: First right contact crimping part 1224: Second right contact crimping part 1232: First left contact crimping part 1234: Second left contact crimping part 1236: Hall sensor 1238, 1419, 1529: Magnet 125: Lens element 130: Carrier 1302, 1304, 1521, 1531, 1808, 724, 734: Inflection point 140: Actuator 1402: Cam follower 1403, 1503: Right shape memory alloy protection part 1404, 704: Top cover 1405, 750: Locking mechanism 1406: Limiter1010, 1410, 410, 4110, 510, 710: Pop-up mechanism 1411, 1415, 752: Locking member 1413: Second arm 1416: First arm 1417: Yoke 150: Cover window 1505: Left shape memory alloy protector 1508: Hall magnet sensor 1511: Closing mechanism 1523, 1533: Wire cover 1525, 1527, 1535, 1536, 1840: Crimping member 1537: Guide pin 1539: Hole 1542: First insulator 1544: Second insulator 160: Image sensor 1700: Process 1702: First step 1704: Second step 1706: Third step 1708: Fourth step 1712: Fifth step 1800: Metal plate 1802: First area 1804: Second area 1806, 762: First recess 1812: Auxiliary line 1818, 764: Second recess 1830: Die 1832: First part 1834: Forming die surface 1836: Second part 1838: Third recess 200, 300: Camera 202: Pop-up bump 204: Folding bump 206, 306: Host device 208: Outer surface 210: Pop-up window frame 214: Window frame 216: Fixed frame 218: Screen 222, 224, 322, 324, 332, 4124, 4125, 422, 424, 494, 758: Spring 232, 234, 236, 238, 338, 427, 428, 429, 774, 784, 794: Pin 240: Pop-up actuator housing 4022: First shape memory alloy spring 4023: Second shape memory alloy spring 4024: First conventional spring 4025: Second conventional spring 4120: Fourth shape memory alloy wire pop-up actuator 4126: First pin 4127: First guide rail 4128: Second pin 4129: Second guide rail 425, 426, 435, 493, 496, 497: Position 452: First shape memory alloy wire 454: Second shape memory alloy wire 456: Third shape memory alloy wire 458: Fourth shape memory alloy wire 460: First lever 462: Second lever 464: Third lever 528, 529, 629, 631: Contact point 532, 542: First pin slot pair 534, 544: Second pin slot pair 536, 546: Third pin slot pair 540: Guide mechanism 633: Hook 652: Base 716: Transmission module 723, 725: Sleeve 726: Top pin 738: Bottom contact pad 742, 744: Transmission rod 750: First locking mechanism 756: Circular edge 8: Lens The following describes non-limiting embodiments of the subject matter of the present disclosure with reference to the figures listed after this paragraph. The same structures, elements, or components that appear in more than one figure may be labeled with the same numeral in the figures in which they appear. The figures and the description are intended to illustrate and clarify the embodiments disclosed herein and should not be considered restrictive in any way. FIG. 1A exemplarily shows a known embodiment of a pop-up camera module in an active or folded state; FIG. 1B exemplarily shows the known embodiment of FIG. 1A in an inactive or folded state; FIG. 1C shows a perspective view of a known embodiment of the frame of a pop-up camera; FIG. 2A shows a pop-up camera in a pop-up state, including an embodiment including a first shape memory alloy spring disclosed herein, and incorporated into a host device; FIG. 2B shows the pop-up camera of FIG. 2A in a folded state; FIG. 2C shows a perspective view of the pop-up camera of FIGS. 2A and 2B in a pop-up state; FIG. 2D shows a perspective view of the same pop-up camera of FIGS. 2A and 2B as FIG. 2C, but with details of the pop-up actuator; FIG. 3A shows another embodiment of a pop-up camera in a pop-up state, including an embodiment including a second shape memory alloy spring disclosed herein, and incorporated into a host device; FIG. 3B shows the pop-up camera of FIG. 3A in a folded state; FIG. 4A shows an embodiment of a pop-up module including a first shape memory alloy wire disclosed herein; FIG. 4B shows an embodiment of a pop-up module including a second shape memory alloy wire in a pop-up state; FIG. 4C shows the pop-up module of FIG. 4B in a folded state; FIG. 4D shows an embodiment of a pop-up module including a third shape memory alloy wire disclosed herein; FIG. 4E shows an embodiment of a pop-up module including a third shape memory alloy spring disclosed herein; FIG. 4F shows an embodiment of a pop-up module including a fourth shape memory alloy wire disclosed herein in a pop-up state; FIG. 4G shows the pop-up module of FIG. 4F in a folded state; FIG. 5A shows in perspective another embodiment of a pop-up module including an embodiment including a fifth shape memory alloy spring disclosed herein; FIG. 5B shows the pop-up module of FIG. 5A in a folded state; FIG. 6A shows in a top view another embodiment of a pop-up module including an embodiment including a sixth shape memory alloy wire disclosed herein in a pop-up state; FIG. 6B shows the pop-up module of FIG. 6A in a folded state; FIG. 6C shows a perspective view of the pop-up module of FIG. 6A; FIG. 6D shows a perspective view of the pop-up module of FIG. 6B; FIG. 6E shows some enlarged details of FIG. 6C; FIG. 6F shows some enlarged details of FIG. 6D;Figure 7A shows, in a top view, another embodiment of an ejectable module in an ejected state, including the seventh shape memory alloy wire disclosed herein and the first locking mechanism disclosed herein; Figure 7B shows, in the same top view, the ejectable module of Figure 7A in a folded state; Figure 8A shows a perspective view of the lens carrier and the pin ring of the ejectable module of Figure 7A in an ejected state; Figure 8B shows a perspective view of the lens carrier and the pin ring of Figure 8A in a folded state; Figure 9A shows a top view of the pin ring and the transmission module of the ejectable modules of Figures 7A and 7B in an ejected state; Figure 9B shows a top view of the pin ring and the transmission module of Figure 9A in a folded state; Figure 9C shows a perspective view of the pin ring and the transmission module of Figures 9A and 9B in an ejected state; Figure 10A shows, in a perspective view, another embodiment of an ejectable module in an ejected state, including an embodiment of the eighth shape memory alloy wire disclosed herein and the second locking mechanism disclosed herein; Figure 10B shows, in the same view as Figure 10A, the ejectable module in a folded state; Figure 10C shows a bottom view of the ejectable modules of Figures 10A and 10B in an ejected state; Figure 10D shows, in the same view as Figure 10C, the ejectable modules of Figures 10A to 10C in a folded state; Figure 10E shows a bottom cross-sectional view of the ejectable modules of Figures 10A to 10D in a folded state; Figure 11A shows a top view of the dimensions of the shape memory alloy actuator disclosed herein; Figure 11B shows a side view of the dimensions of the shape memory alloy actuator of Figure 11A; Figure 12A shows a perspective view of the shape memory alloy actuator disclosed herein in a folded state; Figure 12B shows, in the same view as Figure 12A, the components of the shape memory alloy actuator of Figure 12A in a folded state; Figure 12C shows a side view of the shape memory alloy actuator of Figures 12A and 12B in an ejected state; Figure 12D shows, in the same view as Figure 12C, the shape memory alloy actuator of Figures 12A to 12C in a folded state; Figure 12E shows an exploded view of the shape memory alloy actuator of Figures 12A to 12D; Figure 12F shows another exploded view of the shape memory alloy actuator of Figures 12A to 12E; Figure 13A shows a perspective view of the components of the shape memory alloy actuator of Figures 12A to 12F; Figure 13B shows an exploded view of the components of the shape memory alloy actuator of Figure 13A; Figure 13C shows another exploded view of the components of the shape memory alloy actuator of Figure 13A; Figure 14A shows, in a perspective view, another embodiment of an ejectable module in an ejected state, including an embodiment of the ninth shape memory alloy wire disclosed herein.Figure 14B shows the pop-up module in the folded state in the same view as Figure 10A; Figure 14C shows a bottom view of the pop-up module of Figures 10A and 10B in the popped-up state; Figure 14D shows a bottom view of the pop-up module of Figures 10A and 10B in the folded state; Figure 14E shows a bottom cross-sectional view of the pop-up module of Figures 10A and 10B in the popped-up state; Figure 14F shows a detailed view of the second locking mechanism disclosed herein in the folded state; Figure 15A shows a perspective view of an embodiment of the ninth shape memory alloy wire disclosed herein in the folded state; Figure 15B shows a perspective view of the components of the pop-up module of Figure 15A in the folded state; Figure 15C shows another perspective view of the components of the pop-up module of Figures 15A and 15B in the folded state; Figure 15D shows a top view of the pop-up module of Figure 15A in the popped-up state; Figure 15E shows a top view of the pop-up module of Figure 15D in the folded state; Figure 15F shows an exploded view of the pop-up module of Figure 15A in the popped-up state; Figure 15G shows another exploded view of the pop-up module of Figure 15A in the popped-up state; Figure 16A shows an exploded view of some components of an embodiment of the ninth shape memory alloy wire disclosed herein; Figure 16B shows an exploded view of other components of the embodiment of the ninth shape memory alloy wire; Figure 16C shows another exploded view of the components of the embodiment of the ninth shape memory alloy wire shown in Figure 16B; Figure 17 shows a process for manufacturing a crimping member for connecting the shape memory alloy wire disclosed herein; Figure 18A shows a top view of a metal plate for starting the process of Figure 17; Figure 18B shows a perspective view of the metal plate of Figure 18A; Figure 18C shows a top view of an exemplary first recess (notch) (indent) applied to the metal plate; Figure 18D shows a perspective view of the metal plate including the first recess (notch) (indent); Figure 18E shows a top view of the bent metal plate; Figure 18F shows a perspective view of the bent metal plate; Figure 18G shows a perspective view of the metal plate having a second recess (notch) (indent) and auxiliary lines; Figure 18H shows a perspective view of the metal plate having the second recess (notch) (indent); Figure 18I shows the metal plate of Figure 18G, wherein the shape memory alloy wire is introduced into the second recess (notch) (indent) and has a forming die (stamp); Figure 18J shows fixing the shape memory alloy wire to the forming die (stamp) in the second recess (notch) (indent); Figure 18K shows the completed crimping member including the shape memory alloy wire and a third recess (notch) (indent) formed by the surface of the forming die (stamp);Figure 18L shows, in a side view, a completed crimping member including a shape memory alloy wire; and Figure 18M shows, in a sectional view, the completed crimping member.; 1020: Pop-up actuator 1021: Flexible member 1022: Pull rod 1023: Lever 1024: Frame 1031: Arrow 1037: Guide pin 1202: Right cover 1204: Left cover 1220, 1230: Shape memory alloy wire 1222: First right contact crimping member 1224: Second right contact crimping member 1232: First left contact crimping member 1234: Second left contact crimping member 1236: Hall sensor

Claims

1. A camera, comprising: a lens including a plurality of lens elements spaced apart by a plurality of air gaps; an image sensor; a pop-up mechanism configured to control at least one of the air gaps between the plurality of lens elements or between the lens elements and the image sensor to cause the camera to enter an operational pop-up state and a folded state; and a shape memory alloy actuator including at least two opposing shape memory alloy wires, a lever actuated through the at least two opposing shape memory alloy wires, the two opposing shape memory alloy wires being arranged parallel to each other, wherein the lever is connected to the lever, and the lever is connected to the pop-up mechanism; wherein... The shape memory alloy actuator is configured to move the pop-up mechanism to bring the camera into the pop-up and folded states of operation via the at least two opposing shape memory alloy wires, the pull rod, and the lever.

2. The camera as claimed in claim 1, wherein the camera further includes a locking mechanism configured to prevent movement of the pop-up mechanism when the camera is in the pop-up state or the folded state.

3. The camera as described in claim 2, wherein the locking mechanism is a mechanical locking mechanism.

4. The camera as claimed in claim 3, wherein the mechanical locking mechanism includes a first recess, a second recess, and a circular edge configured to enter the first recess in the pop-up state and the second recess in the folded state to prevent the pop-up mechanism from moving.

5. The camera as described in claim 4, wherein the circular edge is further configured to perform a rotational movement about a pivot point.

6. The camera as described in claim 2, wherein the locking mechanism is a magnetic locking mechanism.

7. The camera as claimed in claim 6, wherein the magnetic locking mechanism includes at least one magnetic lock, the at least one magnetic lock including a magnet and a magnetic yoke.

8. The camera as claimed in claim 6, wherein the magnetic locking mechanism includes at least one magnetic lock, the at least one magnetic lock including two magnets.

9. The camera as claimed in claim 1, wherein the at least two counter-stretched shape memory alloy wires have the same length and the same diameter.

10. The camera as described in claim 9, wherein the length is 10 to 100 millimeters.

11. The camera as described in claim 9, wherein the length is 30 to 70 millimeters.

12. The camera as claimed in claim 9, wherein the diameter is 0.025 to 0.5 mm.

13. The camera as claimed in claim 9, wherein the diameter is 0.1 to 0.2 mm.

14. The camera as claimed in claim 1, wherein the configuration of the shape memory alloy actuator includes passing a current through a first shape memory alloy wire of the at least two shape memory alloy wires and not passing a current through a second shape memory alloy wire of the at least two shape memory alloy wires to actuate a short arm of the lever along a first stroke, which causes a long arm of the lever to move along a second stroke to move the pop-up mechanism along a first pop-up direction to pop up the camera, and passing a current through the second shape memory alloy wire of the at least two shape memory alloy wires and not passing a current through the first shape memory alloy wire of the at least two shape memory alloy wires to actuate the short arm of the lever along a third stroke, which causes the long arm of the lever to move along a fourth stroke to move the pop-up mechanism along a second pop-up direction to fold the camera, wherein the first and third strokes are antiparallel, and the second and fourth strokes are antiparallel.

15. The camera as claimed in claim 14, wherein the ratio of the length of the short arm of the lever to the length of the long arm of the lever is 1:10 to 1:

2.

16. The camera as described in claim 15, wherein the lever ratio is 1:3 to 1:

5.

17. The camera as claimed in claim 14, wherein the lever is connected to the short arm of the lever and the pop-out mechanism is connected to the long arm of the lever.

18. The camera as claimed in claim 14, wherein the shape memory alloy actuator includes an actuator frame, a first pin and a second pin, wherein the first pin connects the lever to the actuator frame and defines a position of the pivot point, wherein the second pin connects the lever to a lever, and a distance between the first pin and the second pin defines the length of the short arm of the lever.

19. The camera as claimed in claim 18, wherein the lever includes a slot that connects the lever to the pop-out mechanism, and a distance between the first pin and the slot defines the length of the long arm of the lever.

20. The camera as claimed in claim 1, wherein the shape memory alloy actuator includes at least one Hall sensor and at least one magnet for measuring a relative position between a lever and an actuator frame.

21. The camera as claimed in claim 1, wherein the at least two counter-stretched shape memory alloy wires are symmetrically folded shape memory alloy wires.

22. The camera as claimed in claim 1, wherein the at least two counter-stretched shape memory alloy wires are made of nitinol.

23. The camera as claimed in claim 1, wherein the at least two counter-stretched shape memory alloy wires are attached to a heat sink.

24. The camera as claimed in claim 1, wherein the pop-out mechanism converts a rotational motion into a linear motion, wherein the direction of the linear motion is parallel to the optical axis of a lens, and the rotational motion is performed about a rotation axis in a direction parallel to the optical axis of the lens.

25. The camera as claimed in claim 1, wherein the pop-out mechanism converts a first linear motion into a second linear motion, the first linear motion being perpendicular to the optical axis of a lens, and the second linear motion being parallel to the optical axis of the lens.

26. The camera as claimed in claim 1, wherein the shape memory alloy actuator has a width, a height and a length, wherein the width is 1 to 10 mm, the height is 2 to 15 mm and the length is 10 to 50 mm.

27. The camera as claimed in claim 1, wherein the shape memory alloy actuator has a width, a height and a length, wherein the width is 2 to 4 mm, the height is 5 to 9 mm and the length is 20 to 40 mm.

28. The camera as described in any one of claims 1 to 27, wherein the camera is included in a multi-camera system together with at least one additional camera.

29. The camera as described in any one of claims 1 to 27, wherein the camera is included in a smartphone.

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