CN117768777A

CN117768777A - Sensor-shifted camera module with five degrees of freedom

Info

Publication number: CN117768777A
Application number: CN202311228865.9A
Authority: CN
Inventors: S·W·米勒; A·N·米里奥特; V·利斯玛; 郑好
Original assignee: Apple Inc
Current assignee: Apple Inc
Priority date: 2022-09-23
Filing date: 2023-09-22
Publication date: 2024-03-26

Abstract

The present disclosure relates to a sensor-shifted camera module having five degrees of freedom. The present invention relates to an actuator assembly for a camera module, the actuator assembly comprising a lateral actuator for moving an image sensor in one or more directions orthogonal to an optical axis of the camera module. The actuator assembly also includes an axial actuator for moving the image sensor in one or more directions parallel to the optical axis of the camera module. The actuator assembly further includes a common magnet for operating the lateral actuator to move the image sensor in one or more directions orthogonal to the optical axis and for operating the axial actuator to move the image sensor in one or more directions parallel to the optical axis. A portion of the lateral actuator and a portion of the axial actuator are configured to move with the image sensor. The motion of the common magnet relative to the image sensor is static.

Description

Sensor-shifted camera module with five degrees of freedom

The present application claims priority from U.S. provisional application Ser. No. 63/376,803, entitled "Sensor Shift Camera Module with Five Degrees of Freedom," filed on 9/23, 2022, which application is hereby incorporated by reference in its entirety.

Technical Field

The present disclosure relates generally to a sensor-shifted camera module for actuation in five axes.

Background

The advent of small mobile multi-purpose devices such as smartphones and tablet computers or tablet devices has led to a need for high resolution low profile cameras to be integrated into the device. Some cameras may incorporate an Optical Image Stabilization (OIS) mechanism that may sense and react to external stimuli/disturbances by adjusting the position of the optical lens and/or image sensor in the X-axis and/or Y-axis in an attempt to compensate for unwanted actions of the lens. In addition, some cameras may incorporate an Auto Focus (AF) mechanism by which the focal length of the subject may be adjusted to focus the plane of the subject in front of the camera at the image plane to be captured by the image sensor. In some such AF mechanisms, the optical lens and/or image sensor move as a single rigid body along the optical axis of the camera to refocus the camera.

Drawings

Fig. 1, 2, and 3 illustrate components of an exemplary camera having an actuator module or assembly that may be used, for example, to provide autofocus and/or optical image stabilization by image sensor movement in a low profile camera, in accordance with at least some embodiments. Fig. 1 shows a top perspective view of the exterior of a camera. Figure 2 shows a cross-sectional view of the camera across the A-A plane. Fig. 3 shows an isometric perspective view of a camera.

Fig. 4 illustrates a top perspective view of an exemplary camera having an actuator module or assembly that may be used, for example, to provide autofocus and/or optical image stabilization by image sensor movement in a low profile camera, in accordance with at least some embodiments.

Fig. 5 illustrates an isometric perspective view of an actuator assembly of an exemplary camera that can be used to provide autofocus and/or optical image stabilization, for example, by image sensor movement in a low-profile camera, in accordance with at least some embodiments.

Fig. 6 illustrates a cutaway perspective view of an actuator assembly of an exemplary camera that can be used to provide autofocus and/or optical image stabilization, for example, by image sensor movement in a low profile camera, in accordance with at least some embodiments.

FIG. 7 illustrates a cutaway perspective view of an exemplary camera across the A-A plane with an actuator module or assembly that may be used, for example, to provide autofocus and/or optical image stabilization by image sensor movement in a low profile camera, in accordance with at least some embodiments.

Fig. 8 illustrates an isometric perspective view of an exemplary camera that can be used, for example, to provide autofocus and/or optical image stabilization via image sensor movement in a low-profile camera, in accordance with at least some embodiments.

Fig. 9 illustrates a cutaway perspective view of an exemplary camera across the A-A plane with an actuator module or assembly that may be used, for example, to provide autofocus and/or optical image stabilization by image sensor movement in a low profile camera, in accordance with at least some embodiments.

Fig. 10 illustrates an isometric perspective view of an exemplary camera that can be used to provide autofocus and/or optical image stabilization, for example, by image sensor movement in a low-profile camera, in accordance with at least some embodiments.

Fig. 11 shows a schematic diagram of an exemplary device that may include a camera, according to some embodiments.

Fig. 12 illustrates a schematic block diagram of an exemplary computing device, referred to as a computer system, that may include or host an embodiment of a camera, according to some embodiments.

The present specification includes references to "one embodiment" or "an embodiment. The appearances of the phrase "in one embodiment" or "in an embodiment" are not necessarily referring to the same embodiment. The particular features, structures, or characteristics may be combined in any suitable manner consistent with the present disclosure.

The term "comprising" is open ended. As used in the appended claims, the term does not exclude additional structures or steps. Consider the claims referenced below: such claims do not exclude that the apparatus comprises additional components (e.g. a network interface unit, a graphics circuit, etc.).

Various units, circuits, or other components may be described or described as "configured to" perform a task or tasks. In such contexts, "configured to" implies that the structure (e.g., circuitry) is used by indicating that the unit/circuit/component includes the structure (e.g., circuitry) that performs the task or tasks during operation. As such, the unit/circuit/component may purportedly be configured to perform this task even when the specified unit/circuit/component is currently inoperable (e.g., not turned on). Units/circuits/components used with a "configured as" language include hardware-e.g., circuits, memory storing program instructions executable to perform operations, etc. References to a unit/circuit/component "being configured to" perform one or more tasks are expressly intended to not refer to the sixth paragraph of 35u.s.c. ≡112 for that unit/circuit/component. Further, "configured to" may include a general-purpose structure (e.g., a general-purpose circuit) that is manipulated by software and/or firmware (e.g., an FPGA or a general-purpose processor executing software) to operate in a manner that is capable of performing one or more tasks to be solved. "configured to" may also include adjusting a manufacturing process (e.g., a semiconductor fabrication facility) to manufacture a device (e.g., an integrated circuit) suitable for performing or executing one or more tasks.

"first", "second", etc. As used herein, these terms serve as labels for the nouns they precede and do not imply any type of ordering (e.g., spatial, temporal, logical, etc.). For example, the buffer circuit may be described herein as performing a write operation of a "first" value and a "second" value. The terms "first" and "second" do not necessarily imply that a first value must be written before a second value.

"based on". As used herein, the term is used to describe one or more factors that affect a determination. The term does not exclude additional factors affecting the determination. That is, the determination may be based solely on these factors or at least in part on these factors. Consider the phrase "determine a based on B". In this case, B is a factor affecting the determination of A, and such phrases do not preclude the determination of A from being based on C. In other examples, a may be determined based on B alone.

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

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

As used herein, the term "if" may be interpreted to mean "when..or" at..times "or" in response to a determination "or" in response to detection "depending on the context. Similarly, the phrase "if a condition or event is identified" or "if a condition or event is detected" may be interpreted to mean "upon identification of the condition or event," or "upon detection of the condition or event, depending on the context.

Detailed Description

Various implementations described herein relate to actuator assemblies that may be used in cameras having movable image sensors. In some examples, the camera may include camera equipment equipped with controls, magnets, flexures, and voice motors to improve the effect of the micro-actuation mechanism of the compact camera module. More specifically, in some implementations, the compact camera module includes an actuator for providing functions such as Auto Focus (AF) and Optical Image Stabilization (OIS). One approach to delivering very compact actuators for OIS and AF is to use a Voice Coil Motor (VCM) arrangement.

In some embodiments, the actuator assembly may be used to provide AF and/or OIS to the camera. In some aspects, the axial actuator may drive an optical assembly having one or more lenses in one or more directions (e.g., the z-direction) parallel to the optical axis to provide autofocus. The lateral actuator may drive the optical assembly and/or the image sensor in one or more directions (e.g., x-direction, y-direction) orthogonal to the optical axis to provide OIS. As described herein, an actuator assembly (hereinafter "actuator assembly") includes at least one axial actuator (e.g., a plurality of axial actuators) and at least one lateral actuator (e.g., a plurality of lateral actuators) to drive an image sensor in five different ranges of motion of AF, OIS, tilt about the x-direction (e.g., angular motion), and/or tilt about the y-direction (e.g., angular motion).

The actuator assembly may include an axial actuator for moving the image sensor in one or more directions parallel to the optical axis of the optical Assembly (AF), and a lateral actuator for moving the image sensor in one or more directions orthogonal to the optical axis of the optical assembly (OIS). In some aspects, the lateral and/or axial actuators may include a Voice Coil Motor (VCM) utilizing lorentz forces to move the image sensor in one or more directions relative to a fixed structure of the camera. For example, the lateral actuator may comprise one or more lateral motion (OIS motion) VCMs, and the axial actuator may comprise one or more axial motion (AF motion) VCMs. The actuator assembly may include a carrier mounted to the substrate and extending in a direction parallel to the optical axis. The carrier may hold a portion of the axial actuator. For example, the portion of the axial actuator held by the carrier mounted to the substrate may include one or more AF coils.

A portion of the lateral actuator may also be mounted to the base plate. For example, the portion of the lateral actuator may include one or more OIS coils mounted to the substrate. In some aspects, the axial actuator and the lateral actuator may share one or more magnets. The magnet may be another part of the axial actuator and another part of the lateral actuator. The magnet holder may hold one or more magnets in a position adjacent to both the AF coil and the OIS coil. As shown herein, the magnet holder may be fixedly attached to an inner surface of the shield (e.g., an upper portion of the shield adjacent to the optical assembly and/or a side portion of the shield) and hold (e.g., suspend) the magnet such that the magnet is in a position adjacent to the portion of the axial actuator and adjacent to the portion of the lateral actuator. Thus, the carrier and magnet may remain stationary while the image sensor, the portion of the axial actuator (e.g., the AF coil), and the portion of the lateral actuator (e.g., the OIS coil) move together in one or more directions as described herein.

When the one or more AF coils receive current, the magnetic field generated by the one or more common magnets may interact with the current (e.g., lorentz force) through the AF coils to drive the image sensor in a direction parallel to the optical axis of the camera and/or in an angular direction about an axis orthogonal to the optical axis of the camera. In some aspects, when the one or more OIS coils receive current, the magnetic field generated by the one or more common magnets may interact with the current (e.g., lorentz force) through the OIS coils to drive the image sensor in a direction orthogonal to the optical axis of the camera. In some cases, the magnets described herein may comprise bipolar magnets. In some aspects, the magnets may include a pair of magnets with the positive side of the first magnet facing the portion of the lateral actuator (e.g., OIS coil) and the negative side of the second magnet facing the portion of the lateral actuator (e.g., OIS coil).

The flexure may be used to inhibit movement of the image sensor. The flexure may include a static platform, a dynamic platform, and a plurality of flexure arms. The static platform may be fixedly coupled to the housing at an underside of the camera (e.g., opposite the optical assembly). In some aspects, the static platform may be fixedly attached to the mount, and the mount may be fixedly attached to the housing at the underside of the camera. The static platform may remain stationary relative to the movement of the image sensor. The dynamic platform may be fixedly coupled to the image sensor. In some aspects, the dynamic platform may be fixedly attached to the substrate, and the substrate may be fixedly attached to the image sensor. In some aspects, the dynamic platform may be fixedly attached to the substrate, and the substrate may be fixedly attached to the ceramic layer, and the ceramic layer may be fixedly attached to the image sensor. The dynamic platform may be movable relative to the static platform. The flex arm may mechanically attach the static platform to the dynamic platform. The flex arm may allow and/or inhibit movement of the dynamic platform (and thus the image sensor) relative to the static platform (and thus the rest of the camera). For example, the flex arm may inhibit movement of the image sensor in one or more directions parallel to the optical axis and in one or more directions orthogonal to the optical axis. In some aspects, the flexure arm may inhibit movement of the image sensor in one or more angular directions about an axis orthogonal to the optical axis. In some aspects, the flex arm may include electrical traces electrically coupling the static platform and the dynamic platform. For example, the electrical traces may transfer signals and power between one or more electronic components (e.g., image sensors) attached to the substrate and one or more other electronic components coupled to the static position of the camera.

Additionally or alternatively, suspension structures may be used to inhibit movement of the image sensor. The suspension structure may couple the substrate to the stationary portion of the camera and inhibit movement of the substrate (and thus the image sensor) relative to the stationary portion of the camera. In some aspects, the suspension structure may include a spring and a wire. The spring and wire may be attached at one end to a stationary portion of the camera (e.g., a shield). The spring may be attached to a carrier that holds the portion of the axial actuator (e.g., one or more AF coils). The wire may be attached to a substrate that holds the portion of the lateral actuator (e.g., one or more OIS coils). The spring may inhibit movement of the image sensor in one or more directions parallel to the optical axis, and the wire may inhibit movement of the image sensor in one or more directions orthogonal to the optical axis. In some aspects, the springs and wires may inhibit movement of the image sensor in one or more angular directions about an axis orthogonal to the optical axis.

Additionally or alternatively, another flexure may be used to inhibit movement of the image sensor. As previously described, the flexure may include a static platform, a dynamic platform, and a plurality of flexure arms. In this case, the static platform may be fixedly coupled to the housing at the upper side of the camera (e.g., the same side as the optical assembly). In some aspects, the static platform may be fixedly attached to a shield that forms the upper side of the camera. The static platform may remain stationary relative to the movement of the image sensor. The dynamic platform may be fixedly coupled to the image sensor. In some aspects, the dynamic platform may be fixedly attached to the carrier, the carrier may be fixedly attached to the substrate, and the substrate may be fixedly attached to the image sensor. In some aspects, the dynamic platform may be fixedly attached to the carrier, the carrier may be fixedly attached to the substrate, the substrate may be fixedly attached to the ceramic layer, and the ceramic layer may be fixedly attached to the image sensor. The dynamic platform may be movable relative to the static platform. The flex arm may mechanically attach the static platform to the dynamic platform. The flex arm may allow and/or inhibit movement of the dynamic platform (and thus the image sensor) relative to the static platform (and thus the rest of the camera). For example, the flex arm may inhibit movement of the image sensor in one or more directions parallel to the optical axis and in one or more directions orthogonal to the optical axis. In some aspects, the flexure arm may inhibit movement of the image sensor in one or more angular directions about an axis orthogonal to the optical axis.

As further described herein, the actuator assembly may include a plurality of lateral actuators and a plurality of axial actuators, wherein a portion of the respective lateral actuator is attached to the base plate and a portion of the respective axial actuator is retained by the carrier. For example, a portion of a first axial actuator of the plurality of axial actuators may be retained by the carrier, and a portion of a second axial actuator of the plurality of axial actuators may also be retained by the carrier. Also, a portion of the first lateral actuator may be held by the base plate, and a portion of the second lateral actuator may also be held by the base plate. The other part of the first axial actuator may also be another part of the first transverse actuator. For example, the portion of the first axial actuator may include one or more AF coils and the portion of the first lateral actuator may include one or more OIS coils. The other portion of the first axial actuator and the other portion of the first lateral actuator may include one other portion adjacent to and shared by both the first axial actuator and the first lateral actuator. For example, the other portion of the first axial actuator and the other portion of the first lateral actuator may include one or more common magnets (e.g., the same magnets). The one or more common magnets may be positioned adjacent to both the portion of the first axial actuator and the portion of the first lateral actuator. The one or more AF coils of the portion of the first axial actuator may drive the image sensor in one or more directions parallel to the optical axis using magnetic fields from the one or more common magnets, and the one or more OIS coils of the first lateral actuator may drive the image sensor in one or more directions orthogonal to the optical axis using magnetic fields from the same one or more common magnets.

Similarly, the other part of the second axial actuator may also be another part of the second lateral actuator. For example, the portion of the second axial actuator may include one or more AF coils, and the portion of the second lateral actuator may include one or more OIS coils. The other portion of the second axial actuator and the other portion of the second lateral actuator may comprise one other portion adjacent to and shared by both the second axial actuator and the second lateral actuator. For example, the other portion of the second axial actuator and the other portion of the second lateral actuator may include one or more common magnets (e.g., the same magnets). The one or more common magnets may be positioned adjacent to both the portion of the second axial actuator and the portion of the second lateral actuator. For example, the one or more AF coils of the portion of the second lateral actuator may drive the image sensor in one or more directions parallel to the optical axis using magnetic fields from the one or more common magnets, and the one or more OIS coils of the second lateral actuator may drive the image sensor in one or more directions orthogonal to the optical axis using magnetic fields from the same one or more common magnets.

In some aspects, the actuator assembly may include a plurality of axial actuators and a plurality of lateral actuators. The plurality of axial actuators and the plurality of lateral actuators may be positioned around or about the image sensor. As shown herein, the plurality of axial actuators may include four axial actuators, and the plurality of lateral actuators may include four lateral actuators. The four axial actuators and the four lateral actuators may be paired together such that the first axial actuator is paired with the first lateral actuator and shares a first set of one or more magnets, the second axial actuator is paired with the second lateral actuator and shares a second set of one or more magnets, the third axial actuator is paired with the third lateral actuator and shares a third set of one or more magnets, and the fourth axial actuator is paired with the fourth lateral actuator and shares a fourth set of one or more magnets. Respective pairs of axial and lateral actuators may be positioned at or near corners of the base plate. For example, the substrate may include a rectangular shape (e.g., square shape) and have four corners: a first corner, a second corner, a third corner, and a fourth corner. A first axial actuator paired with the first lateral actuator and sharing a first set of one or more magnets may be positioned at or near the first corner. A second axial actuator paired with the second lateral actuator and sharing a second set of one or more magnets may be positioned at or near the second corner. A third axial actuator paired with the third lateral actuator and sharing a third set of one or more magnets may be positioned at or near the third corner. A fourth axial actuator paired with a fourth lateral actuator and sharing a fourth set of one or more magnets may be positioned at or near the fourth corner.

Due to the plurality of axial actuators and the plurality of lateral actuators, an axial movement of the image sensor, a lateral movement of the image sensor and/or a tilting movement of the image sensor may be performed at the sensor level by a single axial actuator or a single lateral actuator and/or by a combination of one or more axial actuators and/or one or more lateral actuators. The one or more axial actuators and/or the one or more lateral actuators are operable to move the image sensor in one or more directions relative to the optical assembly. For example, all four axial actuators may be activated to move the image sensor in a direction along the optical axis towards the optical assembly or in a direction along the optical axis away from the optical assembly. In some aspects, one or more of the axial actuators (e.g., four axial actuators) may include a position sensor (e.g., a hall sensor) to detect movement and/or change in position of the actuator assembly (and thus the image sensor) along the optical axis. As another example, one or more lateral actuators may be activated to move the image sensor in a direction orthogonal to the optical axis. In some aspects, one or more of the lateral actuators (e.g., two lateral actuators) may include a position sensor (e.g., a hall sensor) to detect movement and/or a change in position of the lateral assembly (and thus the image sensor) in one or more directions orthogonal to the optical axis. As another example, one or more axial actuators may be activated to tilt the image sensor in an angular direction about an axis orthogonal to the optical axis. For example, axial actuators positioned in corners of the substrate opposite each other may be activated to tilt the image sensor. One axial actuator may be activated to drive the image sensor in a direction parallel to the optical axis and toward the optical assembly, and the other axial actuator may be activated to drive the image sensor in another direction parallel to the optical axis and away from the optical assembly such that the image sensor is tilted about an axis orthogonal to the optical axis.

The actuator assembly integrated with one or more axial actuators and one or more lateral actuators may provide enhanced image stabilization with complex lateral, axial, rotational, and tilt corrections, and may give the camera the ability to compensate for user handshake and dynamic tilt in five axes. An actuator assembly having one or more axial actuators and one or more lateral actuators may provide attitude compensation and may allow for improved coplanarity adjustment between the image sensor and the optical plane. While dynamic optical assemblies including AF may be used with the actuator assemblies described herein, the actuator assemblies may alternatively be used with static optical assemblies (e.g., fixed lenses, glass lenses, electrochromic lenses) such that more complex lens designs and additional variable aperture mechanisms may be implemented in the camera module. In some cases, implementing a static optical component enabled by an actuator component may omit a lens activation alignment step during model assembly. In addition, the angular compensation provided by the plurality of axial actuators and the plurality of lateral actuators may help reduce and/or eliminate module manufacturing residual tilt. In some aspects, the actuator assembly may have a higher frequency at the primary mode, and thus a higher bandwidth in interference suppression. The actuator assembly may not provide or provide reduced secondary image sensor motion (e.g., in the z-direction) due to at least one of a suspension assembly or a suspension structure (e.g., top AF suspension structure, bottom AF suspension structure). The actuator assembly may not provide an increase in shoulder height (e.g., the shoulder height of the shield) as compared to other camera module designs. In some aspects, the actuator assembly may provide active control and dynamic tilting. In some aspects, the actuator assembly may provide tip-tilt active suspension and gravity sag compensation. In some aspects, the actuator assembly may reduce particle entry paths and risk of stray light.

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

Fig. 1, 2, and 3 illustrate components of an exemplary camera 100 having an actuator module or assembly that may be used, for example, to provide autofocus and/or optical image stabilization by image sensor movement in a low profile camera, in accordance with at least some embodiments. Fig. 1 shows a top view of the exterior of a camera 100. The camera 100 shown in fig. 1 may also be used to describe one or more components of the camera 700 shown in fig. 7 and 8 and one or more components of the camera 900 shown in fig. 9 and 10. Fig. 2 shows a cross-sectional view of camera 100 across A-A. Fig. 3 shows an isometric perspective view of the camera 100. The camera 100 may include one or more features that are the same as or similar to the features described or illustrated with respect to fig. 4, 5, 6, 7, 8, 9, 10, 11, and 12. The exemplary X-Y-Z coordinate systems shown in fig. 1, 2, and 3 are used to discuss aspects of the components and/or systems, and may be applicable to the embodiments described throughout this disclosure.

In various implementations, the camera 100 can include an optical assembly 102 having one or more lenses 102b defining an optical axis 102a, a first corner 101a, a second corner 101b, a third corner 101c, a fourth corner 101d, a flexure 220, an actuator assembly 201, a shield 110, a substrate 234 (e.g., OIS FPC, printed circuit board, etc.), a filter 222, an image sensor 208, a mount 214, and a housing 113. The flexure 220 may be connected to a bottom surface of the base 214. In some examples, the base 214 may define one or more recesses and/or openings having a plurality of different profiles. For example, a lower portion of the base 214 and/or an upper portion of the base 214 may define a recess and/or opening having a cross-section sized to accommodate the flexure 220. The shield 110 may be mechanically attached to the base 214. The shield 110 may be mechanically coupled to the base 214 via a housing 113 attached to both the shield 110 and the base 214.

The flexure 220 may include a dynamic stage 221, a static stage 215, and a plurality of flexure arms 224. The plurality of flex arms 224 may provide a flexible mechanical coupling between the static platform 215 and the dynamic platform 221. For example, the flexure arm 224 may allow the dynamic platform 221 to move in one or more directions orthogonal to the optical axis 102a relative to the static platform 215 (e.g., the rest of the camera 100) using one or more lateral actuators 203, and may allow the dynamic platform 221 to move in one or more directions parallel to or along the optical axis 102a relative to the static platform 215 (e.g., the rest of the camera 100) using one or more axial actuators 205. Additionally, the flexure arm 224 may allow the dynamic platform 221 to move in one or more angular directions about one or more axes orthogonal to the optical axis 102a relative to the static platform 215 (e.g., the rest of the camera 100) using one or more axial actuators 205. In some aspects, flexure arm 224 may include electrical traces 216 for transferring electrical power and electrical signals between dynamic platform 221 (e.g., one or more electronic components mounted on substrate 234 (e.g., electronic component 239), image sensor 208 mounted on substrate 234, one or more electronic components mounted to dynamic platform 221, etc.) and static platform 215. The stationary platform 215 may be in electrical communication with one or more other components of the camera 100 via electrical connections for performing one or more camera operations.

In some non-limiting examples, the image sensor 208 may be attached to or otherwise integrated into the substrate 234 such that the image sensor 208 is connected to the OIS frame or flexure 220 via the substrate 234. For example, dynamic platform 221 may hold substrate 234 for mounting one or more electronic components 239 and/or image sensors 208. The substrate 234 may include an opening having a cross-sectional dimension that allows light to pass through while also receiving or retaining the filter 222 and the image sensor 208. The upper surface of the top layer of the substrate 234 may hold the filter 222 around the perimeter of the opening, and the lower surface of the lower layer of the substrate 234 may hold the image sensor 208 around the perimeter of the opening. In some aspects, a ceramic layer below an underlying layer of the substrate 234 may couple the image sensor 208 to the substrate 234. In some aspects, the lower layer of the substrate 234 may include a ceramic material that may couple the image sensor 208 to the substrate 234. In the case where the lower surface of the lower layer of the substrate 234 holds the image sensor 208 around the perimeter of the opening, the image sensor 208 may be connected (e.g., mechanically and/or electrically) to the flexure 220 via the substrate 234. Such a configuration may allow the substrate 234 to hold the image sensor 208 (and the filter 222) while also allowing light to pass from the lens of the optical assembly 102 through the filter 222 and be received by the image sensor 208 for image capture. In other embodiments, the substrate 234 and the image sensor 208 may be separately attached to the OIS frame or flexure 220. For example, the first set of one or more electrical traces 216 may be routed between the substrate 234 and the OIS frame or flexure 220. A second, different set of one or more electrical traces 216 may be routed between the image sensor 208 and the OIS frame or flexure 220. In some aspects, the AF coil may be integrated or embedded within the substrate 234.

As described herein, the actuator assembly 201 (hereinafter "actuator assembly") may include at least one axial actuator 205 (e.g., a plurality of axial actuators) and at least one lateral actuator 203 (e.g., a plurality of lateral actuators) to drive the image sensor in five different ranges of motion of AF, OIS, tilt about the x-direction (e.g., angular motion), and/or tilt about the y-direction (e.g., angular motion). The actuator assembly 201 may include an axial actuator 205 for moving the image sensor 208 in one or more directions parallel to the optical axis 102a of the optical assembly 102 (AF) and a lateral actuator 203 for moving the image sensor 208 in one or more directions orthogonal to the optical axis 102a of the optical assembly 102 (OIS). In some aspects, the lateral actuator 203 and/or the axial actuator 205 may include a Voice Coil Motor (VCM) utilizing lorentz force to move the image sensor 208 in one or more directions relative to a fixed structure of the camera 100. For example, the lateral actuator 203 may comprise one or more lateral motion (OIS motion) VCMs, and the axial actuator 205 may comprise one or more axial motion (AF motion) VCMs. The actuator assembly 102 may include a carrier 228 mounted to the substrate 234 and extending in a direction parallel to the optical axis 102a, as shown in fig. 3. The carrier 228 may hold a portion of the axial actuator 205. For example, the portion of the axial actuator 205 that is held by the carrier 228 that is mounted to the substrate 234 may include one or more AF coils 218. A portion of the lateral actuator 203 may also be mounted to the base plate 234. For example, the portion of the lateral actuator 203 may include one or more OIS coils 217 mounted to a substrate 234.

In some aspects, the axial actuator 205 and the lateral actuator 203 may share one or more magnets 216. The magnet 216 may be another part of the axial actuator 205 and another part of the lateral actuator 203. The magnet holder 206 may hold the one or more magnets 216 in a position adjacent to both the AF coil 218 and OIS coil 217. As shown in fig. 2, the magnet retainer 206 may be fixedly attached to an inner surface of the shield 110 (e.g., an upper portion of the shield 110 adjacent the optical assembly 102 and/or a side portion of the shield 110) and retain (e.g., suspend) the magnet 216 such that the magnet 216 is in a position adjacent the portion of the axial actuator 205 and adjacent the portion of the lateral actuator 203. Thus, the carrier 228 and magnet 216 may remain stationary while the image sensor 208, the portion of the axial actuator (e.g., the AF coil 218), and the portion of the lateral actuator (e.g., the OIS coil 217) move together in one or more directions as described herein. When the one or more AF coils 218 receive current, the magnetic field generated by the one or more magnets 216 may interact with the current (e.g., lorentz force) through the AF coils 218 to drive the image sensor 208 in a direction parallel to the optical axis 102a of the camera 100 and/or in an angular direction about an axis orthogonal to the optical axis 102a of the camera 100. In some aspects, when the one or more OIS coils 217 receive a current, the magnetic field generated by the one or more magnets 216 may interact with the current (e.g., lorentz force) through the OIS coils 217 to drive the image sensor 208 in a direction orthogonal to the optical axis 102a of the camera 100. In some cases, magnets 216 described herein may include bipolar magnets. In some aspects, the magnet 216 may comprise a pair of magnets with the positive side of the first magnet facing the portion of the lateral actuator (e.g., OIS coil 217) and the negative side of the second magnet facing the portion of the lateral actuator (e.g., OIS coil 217).

The flexure 220 may inhibit movement of the image sensor 208. As described herein, the flexure 220 may include a static platform 215, a dynamic platform 221, and a plurality of flexure arms 224. The static platform 215 may be fixedly coupled to the housing 113 on an underside of the camera 100 (e.g., opposite the optical components). In some aspects, the static platform 215 may be fixedly attached to the mount 214, and the mount 214 may be fixedly attached to the housing 113 on the underside of the camera 100. The static platform 215 may remain stationary relative to the movement of the image sensor 208. Dynamic platform 221 may be fixedly coupled to image sensor 208. In some aspects, the dynamic platform 221 may be fixedly attached to the substrate 234, and the substrate 234 may be fixedly attached to the image sensor 208. In some aspects, dynamic platform 221 may be fixedly attached to substrate 234, substrate 234 may be fixedly attached to a ceramic layer, and the ceramic layer may be fixedly attached to image sensor 208. Dynamic platform 221 may be movable relative to static platform 215. The flex arm 224 may mechanically attach the static platform 215 to the dynamic platform 221. The flex arm 224 may allow and/or inhibit movement of the dynamic platform 221 (and thus the image sensor 208) relative to the static platform 215 (and thus the rest of the camera 100). For example, the flexure arm 224 may inhibit movement of the image sensor 208 in one or more directions parallel to the optical axis 102a and in one or more directions orthogonal to the optical axis 102 a. In some aspects, the flexure arm 224 may inhibit movement of the image sensor 208 in one or more angular directions about an axis orthogonal to the optical axis 102 a.

Fig. 4 illustrates a top perspective view of an exemplary camera 100 having an actuator module or assembly that may be used, for example, to provide autofocus and/or optical image stabilization by image sensor movement in a low profile camera, in accordance with at least some embodiments. The camera 100 may include one or more features that are the same as or similar to the features described or illustrated with respect to fig. 1, 2, 3, 5, 6, 7, 8, 9, 10, 11, and 12. The exemplary X-Y-Z coordinate system shown in fig. 4 is used to discuss aspects of the component and/or system and may be applicable to the embodiments described throughout this disclosure.

The actuator assembly 100 may include a plurality of axial actuators 205 and a plurality of lateral actuators 203. The plurality of axial actuators and the plurality of lateral actuators may be positioned around or about the optical axis 102a (e.g., and at the image sensor 208). As shown in fig. 4, the plurality of axial actuators 205 may include four axial actuators 205 and the plurality of lateral actuators 203 may include four lateral actuators 203. The four axial actuators 205 and the four lateral actuators 203 may be paired together such that the first axial actuator 205 is paired with the first lateral actuator 203 and shares a first set of one or more magnets 216, the second axial actuator 205 is paired with the second lateral actuator 203 and shares a second set of one or more magnets 216, the third axial actuator 205 is paired with the third lateral actuator 203 and shares a third set of one or more magnets 216, and the fourth axial actuator 205 is paired with the fourth lateral actuator 203 and shares a fourth set of one or more magnets 216. Respective pairs of axial actuators 205 and lateral actuators 203 may be positioned at or near corners of the base plate. For example, the substrate 208 may include a rectangular shape (e.g., square shape) and have four corners: a first corner 101a, a second corner 101b, a third corner 101c and a fourth corner 101d. A first axial actuator 205 paired with the first lateral actuator 203 and sharing a first set of one or more magnets 216 may be positioned at or near the first corner 101 a. A second axial actuator 205 paired with the second lateral actuator 203 and sharing a second set of one or more magnets 216 may be positioned at or near the second corner 101 b. A third axial actuator 205 paired with a third lateral actuator 203 and sharing a third set of one or more magnets 216 may be positioned at or near the third corner 101 c. A fourth axial actuator 205 paired with a fourth lateral actuator 203 and sharing a fourth set of one or more magnets 216 may be positioned at or near the fourth corner 101d.

Fig. 5 illustrates an isometric perspective view of an actuator assembly 500 of an exemplary camera that can be used to provide autofocus and/or optical image stabilization, for example, by image sensor movement in a low-profile camera, in accordance with at least some embodiments. The actuator assembly 500 may be the same as or at least similar to the actuator assembly 201 shown in fig. 1, 2, 3, 4, 7, and 9, and may include one or more components that are the same as or similar to the actuator assembly 201 shown in fig. 1, 2, 3, 4, 7, and 9. The actuator assembly 500 may be the same as or at least similar to the actuator assembly 600 shown in fig. 6, and may include one or more components that are the same as or similar to the actuator assembly 600 shown in fig. 6. The actuator assembly 500 may be implemented with the camera 100 shown in fig. 1, 2, 3, and 4, the camera 700 shown in fig. 7 and 8, and/or the camera 900 shown in fig. 9 and 10. The exemplary X-Y-Z coordinate system shown in fig. 5 is used to discuss aspects of the component and/or system and may be applicable to the embodiments described throughout this disclosure.

As shown in fig. 5, the actuator assembly 500 may include a plurality of axial actuators 205 and a plurality of lateral actuators 203. In some aspects, a portion of the axial actuator 205 may include one or more corresponding AF coils 218 and a portion of the lateral actuator 203 may include one or more corresponding OIS coils 217. For example, the actuator assembly 500 may include a first OIS coil 217a and a first AF coil 218a positioned in the first corner 101 a. The actuator assembly 500 may further include a second OIS coil 217b and a second AF coil 218b positioned in the second corner 101 b. The actuator assembly 500 may further include a third OIS coil 217c and a third AF coil 218c positioned in the third corner 101 c. In addition, the actuator assembly 500 may include a fourth OIS coil 217d and a fourth AF coil 218d positioned in the fourth corner 101 d. As described herein, each of the AF coil and OIS coil pairs in the respective corners may share one or more magnets for driving the image sensor along five different ranges of motion: one or more directions along the optical axis (z direction), a direction orthogonal to the optical axis (y direction), a direction orthogonal to the optical axis (x direction), an angular direction around the direction orthogonal to the optical axis (y direction), and an angular direction around the direction orthogonal to the optical axis (x direction).

Due to the plurality of axial actuators 205 and the plurality of lateral actuators 203, axial movement of the image sensor 208, lateral movement of the image sensor 208, and/or tilting movement of the image sensor 208 may be performed at the sensor level by a single axial actuator 205, a single lateral actuator 203, and/or by a combination of one or more axial actuators 205 and/or one or more lateral actuators 203. The one or more axial actuators 205 and/or the one or more lateral actuators 203 are operable to move the image sensor 208 in one or more directions relative to the optical assembly 102. In some cases, all four axial actuators 205 may be activated to move the image sensor 208 in a direction along the optical axis 102a toward the optical assembly 102 or in a direction along the optical axis 102a away from the optical assembly 102. For example, a first AF coil 218a paired with one or more magnets 216 common to the first OIS coil 217a, a second AF coil 218b paired with one or more magnets 216 common to the second OIS coil 217b, a third AF coil 218c paired with one or more magnets 216 common to the third OIS coil 217c, a fourth AF coil 218d paired with one or more magnets 216 common to the fourth OIS coil 217d may together receive current for activation to drive the image sensor 208 in a direction parallel to the optical axis 102a and toward the optical assembly 102 and/or to drive the image sensor 208 in a direction parallel to the optical axis 102a and away from the optical assembly 102. In some aspects, one or more of the axial actuators (e.g., four axial actuators) may include a position sensor (e.g., a hall sensor) to detect movement and/or change in position of the respective axial actuator 205 (and thus the image sensor) along the optical axis (e.g., the z-direction). For example, the first AF coil 218a may include a first AF position sensor 241a, the second AF coil 218b may include a second AF position sensor 241b, the third AF coil 218c may include a third AF position sensor 241c, and the fourth AF coil 218d may include a fourth AF position sensor 241d. Each individual AF position sensor may sense a change in magnetic field to determine the z-position of each individual axial actuator 205 (e.g., a portion of axial actuator 205, AF coil 218).

In some cases, one or more lateral actuators may be activated to move the image sensor in a direction orthogonal to the optical axis. For example, a first OIS coil 217a paired with one or more magnets 216 common to the first AF coil 218a and a third OIS coil 217c paired with one or more magnets 216 common to the third AF coil 218c may be used to drive the image sensor 208 in one or more directions along an axis (e.g., x-axis) orthogonal to the optical axis 102a (e.g., z-axis). Similarly, a second OIS coil 217b paired with one or more magnets 216 common to the second AF coil 218b and a fourth OIS coil 217d paired with one or more magnets 216 common to the fourth AF coil 218d may be used to drive the image sensor 208 in one or more directions along an axis (e.g., y-axis) orthogonal to the optical axis 102a (e.g., z-axis). As another example, a first OIS coil 217a paired with one or more magnets 216 common to the first AF coil 218a and a third OIS coil 217c paired with one or more magnets 216 common to the third AF coil 218c (which is used in combination with a second OIS coil 217b paired with one or more magnets 216 common to the second AF coil 218 b) may be used to drive the image sensor 208 in one or more directions along an axis (e.g., between the x-axis and the y-axis) orthogonal to the optical axis 102a (e.g., the z-direction). As yet another example, a second OIS coil 217b paired with one or more magnets 216 common to the second AF coil 218b and a fourth OIS coil 217d paired with one or more magnets 216 common to the fourth AF coil 218d in combination with a first OIS coil 217a paired with one or more magnets 216 common to the first AF coil 218a may be used to drive the image sensor 208 in one or more directions along an axis (e.g., between the y-axis and the x-axis) orthogonal to the optical axis 102a (e.g., the z-axis).

In some aspects, one or more of the lateral actuators 203 (e.g., at least two lateral actuators 203) may include a position sensor (e.g., a hall sensor) to detect movement and/or positional change of the respective lateral actuator 203 (and thus the image sensor) along the x-axis and the y-axis. For example, the first OIS coil 217a may include a first OIS position sensor 242a and the second OIS coil 217b may include a second OIS position sensor 242b. Each individual OIS position sensor may sense a change in the magnetic field to determine the x-position and/or y-position of each individual lateral actuator 203 (e.g., a portion of the lateral actuator 203, OIS coil 217).

In some aspects, one or more axial actuators 205 may be activated to tilt the image sensor 208 in an angular direction about an axis orthogonal to the optical axis. In some cases, axial actuators 205 positioned in corners opposite each other on substrate 234 may be activated to tilt image sensor 208. One axial actuator may be activated to drive the image sensor in a direction parallel to the optical axis and toward the optical assembly, and the other axial actuator may be activated to drive the image sensor in another direction parallel to the optical axis and away from the optical assembly such that the image sensor is tilted about an axis orthogonal to the optical axis. For example, both a first AF coil 218a paired with one or more magnets 216 in common with a first OIS coil 217a in a first corner 101a and a third AF coil 218c paired with one or more magnets 216 in common with a third OIS coil 217c in a third corner 101c may receive current for activation to drive the image sensor 208. For example, the first AF coil 218a may receive current to drive the image sensor 208 in a direction parallel to the optical axis 102a and toward the optical assembly 102, and the third AF coil 218c may receive current to drive the image sensor 208 in a direction parallel to the optical axis 102a and away from the optical assembly 102, thereby causing angular rotation (e.g., tilting) of the image sensor 208 about the y-axis (θy). In this case, the first AF position sensor 241a may sense that the first AF coil 218a is at a first height, and the third AF position sensor 241c may sense that the third AF coil 218c is at a second height different from the first height, for determining that the image sensor 208 is tilted about the y-axis.

As another example, both the second AF coil 218b paired with the one or more magnets 216 in common with the second OIS coil 217b in the second corner 101b and the fourth AF coil 218d paired with the one or more magnets 216 in common with the fourth OIS coil 217d in the fourth corner 101d may receive current for activation to drive the image sensor 208. For example, the second AF coil 218b may receive current to drive the image sensor 208 in a direction parallel to the optical axis 102a and toward the optical assembly 102, and the fourth AF coil 218d may receive current to drive the image sensor 208 in a direction parallel to the optical axis 102a and away from the optical assembly 102, thereby causing angular rotation (e.g., tilting) of the image sensor 208 about the x-axis (θx). In this case, the second AF position sensor 241b may sense that the second AF coil 218b is at a third height, and the fourth AF position sensor 241d may sense that the fourth AF coil 218d is at a fourth height different from the third height, for determining that the image sensor 208 is tilted about the x-axis. The axial actuators 205 may be simultaneously and individually activated for moving the image sensor 208 in different magnitudes and/or directions (e.g., along the optical axis 102 a) to tilt the image sensor 208 in a variety of different ways.

Fig. 6 illustrates a cutaway perspective view of an actuator assembly 600 of an exemplary camera 100 that may be used, for example, to provide autofocus and/or optical image stabilization through image sensor movement in a low profile camera, in accordance with at least some embodiments. The actuator assembly 600 may be the same as or at least similar to the actuator assembly 201 shown in fig. 1, 2, 3, 4, 7, and 9, and may include one or more components that are the same as or similar to the actuator assembly 201 shown in fig. 1, 2, 3, 4, 7, and 9. The actuator assembly 600 may be the same or at least similar to the actuator assembly 500 shown in fig. 5 and may include one or more components that are the same or similar to the actuator assembly 500 shown in fig. 5. The actuator assembly 600 may be implemented with the camera 100 shown in fig. 1, 2, 3, and 4, the camera 700 shown in fig. 7 and 8, and/or the camera 900 shown in fig. 9 and 10.

As similarly described herein, the actuator assembly 600 may include an axial actuator 205 for moving the image sensor 208 in one or more directions parallel to the optical axis 102a of the optical assembly 102 (AF) and a lateral actuator 203 for moving the image sensor 208 in one or more directions orthogonal to the optical axis of the optical assembly (OIS). In some aspects, the lateral actuator 203 and/or the axial actuator 205 may include a Voice Coil Motor (VCM) utilizing lorentz force to move the image sensor 208 in one or more directions relative to a fixed structure of the camera. For example, the lateral actuator 203 may comprise one or more lateral motion (OIS motion) VCMs, and the axial actuator 205 may comprise one or more axial motion (AF motion) VCMs.

A portion of the lateral actuator 203 may include one or more OIS coils 217 and a portion of the axial actuator 205 may include one or more AF coils 218. Another portion of the lateral actuator 203 and another portion of the axial actuator 205 may include one or more shared magnets 216. As shown in fig. 6, the one or more common magnets 216 may include a first magnet 216a and a second magnet 216b. The first magnet 216a and the second magnet 216b may be arranged such that their respective magnetic fields reach both the one or more OIS coils 217 and the one or more AF coils 218 and their respective polarities face in opposite directions. For example, the first magnet 216a may have a positive charge on the first magnet 216a at a location facing away from the OIS coil 217 and a negative charge on the first magnet 216a at a location facing toward the OIS coil 217, thereby generating a magnetic field 610 that moves in a first direction 650 a. Conversely, the second magnet 216b may have a negative charge on the second magnet 216b at a location facing away from the OIS coil 217 and a positive charge on the second magnet 216b at a location facing toward the OIS coil 217, thereby generating a magnetic field 610 that moves in a second direction 650b opposite the first direction 650 b.

As described herein, when the AF coil 218 receives current, the magnetic field generated by the common magnet 216 may interact with the current (e.g., lorentz force) through the AF coil 218 to drive the image sensor 208 in a direction parallel to the optical axis 102a of the camera 100 and/or in an angular direction about an axis orthogonal to the optical axis 102a of the camera 100. For example, when the AF coil 218 receives current that flows out of the page on a first side of the AF coil 218a and into the page on a second side of the AF coil 218b, the AF coil 218 (and the image sensor 208) can move in a first vertical direction 601 (relative to the magnet 216, relative to the optical assembly 102). Conversely, when the AF coil 218 receives current that enters the page on a first side of the AF coil 218a and exits the page on a second side of the AF coil 218b, the AF coil 218 (and the image sensor 208) can move in the second vertical direction 602 (relative to the magnet 216, relative to the optical assembly 102). An AF position sensor 241 (e.g., a hall sensor) may be used to detect movement and/or positional change of the AF coil 218 (and thus the image sensor) along the optical axis (e.g., the z-direction). The AF position sensor 241 can sense the change in the magnetic field to determine the z-position of the AF coil 218.

As described herein, when the OIS coil 217 receives a current, the magnetic field generated by the common magnet 216 may interact with the current (e.g., lorentz force) through the OIS coil 217 to drive the image sensor 208 in a direction orthogonal to the optical axis 102a of the camera 100. For example, the OIS coil 217 (and image sensor 208) may be moved in a first horizontal direction 603 (relative to the magnet 216, relative to the optical assembly 102) when the OIS coil 217 receives current flowing out of the page on a first side of the OIS coil 217a and into the page on a second side of the OIS coil 217 b. Conversely, when OIS coil 217 receives current that enters the page on a first side of OIS coil 217a and exits the page on a second side of OIS coil 217b, OIS coil 217 (and image sensor 208) may move in a second horizontal direction 604 (relative to magnet 216, relative to optical assembly 102). OIS position sensor 242 (e.g., hall sensor) may be used to detect movement and/or positional change of OIS coil 217 (and thus the image sensor) in a direction orthogonal to the optical axis (e.g., x-direction, y-direction). OIS position sensor 242 may sense the change in magnetic field to determine the x-position and/or y-position of OIS coil 217.

In some aspects, when the one or more OIS coils receive current, the magnetic field generated by the one or more common magnets may interact with the current (e.g., lorentz force) through the OIS coils to drive the image sensor in a direction orthogonal to the optical axis of the camera. In some cases, the magnets described herein may comprise bipolar magnets. In some aspects, the magnets may include a pair of magnets with the positive side of the first magnet facing the portion of the lateral actuator (e.g., OIS coil) and the negative side of the second magnet facing the portion of the lateral actuator (e.g., OIS coil).

Fig. 7 illustrates a cutaway perspective view of an exemplary camera 700 across the A-A plane with an actuator module or assembly that may be used, for example, to provide autofocus and/or optical image stabilization by image sensor movement in a low profile camera, in accordance with at least some embodiments. Fig. 8 illustrates an isometric perspective view of an exemplary camera 700 that can be used, for example, to provide autofocus and/or optical image stabilization via image sensor movement in a low-profile camera, in accordance with at least some embodiments. The camera 700 may include one or more features that are the same as or similar to the features described or illustrated with respect to fig. 1, 2, 3, 4, 5, 6, 9, 10, 11, and 12. The exemplary X-Y-Z coordinate systems shown in fig. 7 and 8 are used to discuss various aspects of the component and/or system and are applicable to the embodiments described throughout this disclosure.

As described herein, the flexure 220 may be used to inhibit movement of the image sensor 208. The flexure 220 may include a static platform 215, a dynamic platform 221, and a plurality of flexure arms 224. The static platform 215 may be fixedly coupled to the housing 113 on an underside of the camera 700 (e.g., opposite the optical assembly). In some aspects, the static platform 215 may be fixedly attached to the mount 214, and the mount 214 may be fixedly attached to the housing 113 on the underside of the camera 700. The static platform 215 may remain stationary relative to the movement of the image sensor 208. The dynamic platform 215 may be fixedly coupled to the image sensor 208. In some aspects, the dynamic platform 215 may be fixedly attached to the substrate 234, and the substrate 234 may be fixedly attached to the image sensor 208. In some aspects, dynamic platform 221 may be fixedly attached to substrate 234, substrate 234 may be fixedly attached to a ceramic layer, and the ceramic layer may be fixedly attached to image sensor 208. Dynamic platform 221 may be movable relative to static platform 215. The flex arm 224 may mechanically attach the static platform 215 to the dynamic platform 221. The flex arm 224 may allow and/or inhibit movement of the dynamic platform 221 (and thus the image sensor 208) relative to the static platform 215 (and thus the rest of the camera 700). For example, the flexure arm 224 may inhibit movement of the image sensor 208 in one or more directions parallel to the optical axis 102a and in one or more directions orthogonal to the optical axis 102 a. In some aspects, the flexure arm 224 may inhibit movement of the image sensor 208 in one or more angular directions about an axis orthogonal to the optical axis 102 a.

Additionally or alternatively, the suspension structure 703 may be used to inhibit movement of the image sensor 208. The suspension structure 703 may couple the substrate 234 to a stationary portion of the camera 700 (e.g., the stationary platform 215) for suspending the substrate 234 (and thus the image sensor 208) relative to the stationary portion of the camera 700. In some aspects, suspension 703 may include a spring 707 and a wire 705. Spring 707 and wire 705 may be attached at one end to a static portion of camera 700 (e.g., static platform 215). The spring 707 may be attached to a carrier 228 that holds the portion of the axial actuator 205 (e.g., the one or more AF coils 218). The wire 705 may be attached to the static platform 215. The spring 707 and the wire 505 may provide suspension to the image sensor 208 in one or more directions parallel to the optical axis 102a and in one or more directions orthogonal to the optical axis 102 a. In some aspects, the spring 707 and the wire 705 may suspend the image sensor 208 in one or more angular directions about an axis orthogonal to the optical axis 102 a. As shown in fig. 10, the hanging structure 703 may be positioned in four corners of the camera 700: a first corner 101a, a second corner 101b, a third corner 101c and a fourth corner 101d. At each of the first, second, third, and fourth corners 101a, 101b, 101c, 101d, a wire 705 may be attached to the static platform 215 and a spring 707 may be attached to the carrier 228.

Fig. 9 illustrates a cutaway perspective view of an exemplary camera 900 having an actuator module or assembly across the A-A plane that may be used, for example, to provide autofocus and/or optical image stabilization by image sensor movement in a low profile camera, in accordance with at least some embodiments. Fig. 10 illustrates an isometric perspective view of an exemplary camera 900 that can be utilized to provide autofocus and/or optical image stabilization, for example, by image sensor movement in a low-profile camera, in accordance with at least some embodiments. The camera 900 may include one or more features that are the same as or similar to the features described or illustrated with respect to fig. 1, 2, 3, 4, 5, 6, 7, 8, 11, and 12. The exemplary X-Y-Z coordinate systems shown in fig. 9 and 10 are used to discuss various aspects of the component and/or system and are applicable to the embodiments described throughout this disclosure.

Additionally or alternatively, another flexure 220a may be used to inhibit movement of the image sensor 208. At least similar to the flexures 220, another flexure 220a may include a static platform 215a, a dynamic platform 221a, and a plurality of flexure arms 224a. In this case, the static platform 215a may be fixedly coupled to a housing (e.g., the shield 110, the base 214a fixedly attached to the shield 110) of an upper side (e.g., the same side as the optical assembly) of the camera 900. In some aspects, the static platform 215a may be fixedly attached to the shield 110 forming the upper side of the camera 900. The static platform 215a may remain stationary relative to the movement of the image sensor 208. Dynamic platform 221a may be fixedly coupled to image sensor 208. For example, dynamic platform 221a may be fixedly attached to carrier 228, carrier 228 may be fixedly attached to substrate 234, and substrate 234 may be fixedly attached to image sensor 208. In some aspects, dynamic platform 221a may be fixedly attached to carrier 228, carrier 228 may be fixedly attached to substrate 234, substrate 234 may be fixedly attached to a ceramic layer, and the ceramic layer may be fixedly attached to image sensor 208. Dynamic platform 221a may be movable relative to the static platform. Flexure arm 224a may mechanically attach static platform 215a to dynamic platform 221a. The flexure arm 224a may allow and/or inhibit movement of the dynamic platform 221a (and thus the image sensor 208) relative to the static platform 215a (and thus the rest of the camera 900). For example, the flexure arm 224a may inhibit movement of the image sensor 208 in one or more directions parallel to the optical axis 102a and in one or more directions orthogonal to the optical axis 102 a. In some aspects, the flexure arm 224a may inhibit movement of the image sensor 208 in one or more angular directions about an axis orthogonal to the optical axis 102 a.

Fig. 11 shows a schematic diagram of an example device 1100 that may include a camera (e.g., as described herein with respect to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 12) according to some embodiments. In some embodiments, device 1100 may be a mobile device and/or a multi-function device. In various embodiments, device 1100 may be any of a variety of types of devices, including, but not limited to: personal computer systems, desktop computers, laptop computers, notebook computers, tablet computers, mainframe computers, tablet or netbook computers, mainframe computer systems, handheld computers, workstations, network computers, cameras, set-top boxes, mobile devices, augmented Reality (AR) and/or Virtual Reality (VR) headsets, consumer devices, video game controllers, handheld video game devices, application servers, storage devices, televisions, video recording devices, peripheral devices (such as switches, modems, routers) or generally any type of computing or electronic device.

In some implementations, the device 1100 can include a display system 1102 (e.g., including a display and/or a touch-sensitive surface) and/or one or more cameras 1104. In some non-limiting implementations, the display system 1102 and/or one or more forward facing cameras 1104a may be disposed at a front side of the device 1100, e.g., as indicated in fig. 11. Additionally or alternatively, one or more rearward facing cameras 1104b may be provided at the rear side of the device 1100. In some embodiments including multiple cameras 1104, some or all of the cameras may be identical or similar to each other. Additionally or alternatively, some or all of the cameras may be different from each other. In various implementations, the position and/or arrangement of the cameras 1104 may be different than those indicated in fig. 11.

The device 1100 can include, among other things, memory 1106 (e.g., including an operating system 1108 and/or application/program instructions 1110), one or more processors and/or controllers 1112 (e.g., including a CPU, memory controller, display controller, and/or camera controller, etc.), and/or one or more sensors 1116 (e.g., orientation sensors, proximity sensors, and/or position sensors, etc.). In some embodiments, device 1100 may communicate with one or more other devices and/or services (such as computing device 1118, cloud service 1120, etc.) via one or more networks 1122. For example, device 1100 may include a network interface (e.g., network interface 1110) that enables device 1100 to transmit data to, and receive data from, network 1122. Additionally or alternatively, device 1100 may be capable of communicating with other devices via wireless communication using any of a variety of communication standards, protocols, and/or techniques.

Fig. 12 shows a schematic block diagram of an exemplary computing device, referred to as a computer system 1200, which may include or host an embodiment of a camera (e.g., as described herein with respect to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11). Further, computer system 1200 may implement methods for controlling the operation of a camera and/or for performing image processing on images captured with a camera. In some embodiments, the apparatus 1200 (described herein with reference to fig. 12) may additionally or alternatively include some or all of the functional components of the computer system 1200 described herein.

Computer system 1200 may be configured to perform any or all of the embodiments described above. In different embodiments, computer system 1200 may be any of a variety of types of devices, including, but not limited to: personal computer systems, desktop computers, laptop computers, notebook computers, tablet computers, mainframe computers, tablet or netbook computers, mainframe computer systems, handheld computers, workstations, network computers, cameras, set-top boxes, mobile devices, augmented Reality (AR) and/or Virtual Reality (VR) headsets, consumer devices, video game controllers, handheld video game devices, application servers, storage devices, televisions, video recording devices, peripheral devices (such as switches, modems, routers) or generally any type of computing or electronic device.

In the illustrated embodiment, computer system 1200 includes one or more processors 1202 coupled to a system memory 1204 via an input/output (I/O) interface 1206. Computer system 1200 also includes one or more cameras 1208 coupled to I/O interface 1206. The computer system 1200 also includes a network interface 1210 that couples to the I/O interface 1206, as well as one or more input/output devices 1212, such as a cursor control device 1214, a keyboard 1216, and a display 1218. In some cases, it is contemplated that an embodiment may be implemented using a single instance of computer system 1200, while in other embodiments, multiple such systems or multiple nodes comprising computer system 1200 may be configured to host different portions or instances of an embodiment. For example, in one embodiment, some elements may be implemented by one or more nodes of computer system 1200 that are different from those implementing other elements.

In various embodiments, computer system 1200 may be a single processor system including one processor 1202, or a multi-processor system including several processors 1202 (e.g., two, four, eight, or another suitable number). The processor 1202 may be any suitable processor capable of executing instructions. For example, in various embodiments, the processor 1202 may be a general-purpose or embedded processor implementing any of a variety of Instruction Set Architectures (ISAs), such as the x86, powerPC, SPARC, or MIPS ISAs, or any other suitable ISA. In a multiprocessor system, each of processors 1202 may typically, but need not necessarily, implement the same ISA.

The system memory 1204 may be configured to store program instructions 1220 that are accessible to the processor 1202. In various embodiments, the system memory 1204 may be implemented using any suitable memory technology, such as Static Random Access Memory (SRAM), synchronous Dynamic RAM (SDRAM), non-volatile/flash-type memory, or any other type of memory. Additionally, existing camera control data 1222 of memory 1204 may include any of the information or data structures described above. In some embodiments, program instructions 1220 and/or data 1222 may be received, transmitted, or stored on a different type of computer-accessible medium separate from system memory 1204 or computer system 1200, or the like. In various implementations, some or all of the functionality described herein may be implemented via such a computer system 1200.

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

The network interface 1210 may be configured to allow data to be exchanged between the computer system 1200 and other devices (e.g., bearers or proxy devices) attached to the network 1224 or between nodes of the computer system 1200. In various embodiments, network 1224 may include one or more networks including, but not limited to, a Local Area Network (LAN) (e.g., ethernet or enterprise network), a Wide Area Network (WAN) (e.g., the internet), a wireless data network, some other electronic data network, or some combination thereof. In various embodiments, network interface 1210 may support communication via, for example, a wired or wireless general-purpose data network (such as any suitable type of ethernet network); communication via a telecommunications/telephony network, such as an analog voice network or a digital fiber optic communication network; communication via a storage area network (such as a fibre channel SAN), or via any other suitable type of network and/or protocol.

In some embodiments, input/output devices 1212 may include one or more display terminals, keyboards, keypads, touchpads, scanning devices, voice or optical recognition devices, or any other devices suitable for inputting or accessing data by one or more computer systems 1200. Multiple input/output devices 1212 may be present in computer system 1200 or may be distributed across various nodes of computer system 1200. In some embodiments, similar input/output devices may be separate from computer system 1200 and may interact with one or more nodes of computer system 1200 through wired or wireless connections, such as through network interface 1210.

Those skilled in the art will appreciate that computer system 1200 is merely illustrative and is not intended to limit the scope of the embodiments. In particular, the computer systems and devices may include any combination of hardware or software that can perform the indicated functions, including computers, network devices, internet devices, PDAs, wireless telephones, pagers, and the like. Computer system 1200 may also be connected to other devices not shown, or vice versa, may operate as a stand-alone system. Furthermore, the functionality provided by the illustrated components may be combined in fewer components or distributed in additional components in some embodiments. Similarly, in some embodiments, the functionality of some of the illustrated components may not be provided, and/or other additional functionality may be available.

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

In various embodiments, the methods described herein may be implemented in software, hardware, or a combination thereof. Further, the order of the blocks of the method may be changed, and various elements may be added, reordered, combined, omitted, modified, etc. Various modifications and alterations will become apparent to those skilled in the art having the benefit of this disclosure. The various embodiments described herein are intended to be illustrative rather than limiting. Many variations, modifications, additions, and improvements are possible. Thus, multiple examples may be provided for components described herein as a single example. Boundaries between various components, operations and data stores are somewhat arbitrary, and particular operations are illustrated in the context of specific illustrative configurations. Other allocations of functionality are contemplated and may fall within the scope of the claims that follow. Finally, structures and functions presented as discrete components in an exemplary configuration may be implemented as a combined structure or component. These and other variations, modifications, additions, and improvements may fall within the scope of the embodiments as defined in the claims that follow.

Claims

1. A camera, comprising:

An optical assembly having one or more lenses defining an optical axis;

an image sensor;

an actuator assembly for moving the image sensor relative to the optical assembly; and

a flexure suspending the image sensor from a fixed structure of the camera and allowing movement of the image sensor by the actuator assembly;

wherein the actuator assembly comprises:

the magnet is fixed and the magnetic body is fixed,

a transverse coil that moves the image sensor in one or more directions orthogonal to the optical axis when receiving a magnetic field from the stationary magnet, an

An axial coil that tilts the image sensor in one or more directions about an axis orthogonal to the optical axis when receiving a magnetic field from the fixed magnet.

2. The camera of claim 1, wherein the optical component comprises a static optical component.

3. The camera of claim 1, wherein a retainer fixedly attached to the fixed structure of the camera holds the fixed magnet.

4. The camera of claim 1, wherein the transverse coil and the axial coil are held by a carrier fixedly coupled with the image sensor.

5. The camera of claim 1, wherein the actuator assembly comprises:

a plurality of fixed magnets;

a plurality of transverse coils; and

a plurality of axial coils, wherein:

when receiving a magnetic field from a respective one of the plurality of stationary magnets, the respective one of the plurality of transverse coils moves the image sensor in one or more directions orthogonal to the optical axis, and

when receiving a magnetic field from the respective fixed magnet, a respective axial coil of the plurality of axial coils tilts the image sensor in one or more directions about an axis orthogonal to the optical axis.

6. The camera of claim 5, wherein the actuator assembly is configured to:

moving the image sensor along the optical axis;

moving the image sensor in a first direction orthogonal to the optical axis;

moving the image sensor in a second direction orthogonal to the optical axis and orthogonal to the first direction;

tilting the image sensor about the first direction; and

tilting the image sensor about the second direction.

7. The camera of claim 5, wherein a position sensor is positioned proximate to a respective axial coil of the plurality of axial coils, and wherein a position sensor is positioned proximate to at least two respective transverse coils of the plurality of transverse coils.

8. An apparatus, comprising:

one or more processors;

a memory storing program instructions executable by the one or more processors to control operation of the camera; and

a camera, the camera comprising:

an optical assembly having one or more lenses defining an optical axis;

an image sensor;

wherein the actuator assembly comprises:

the magnet is fixed and the magnetic body is fixed,

9. The apparatus of claim 8, wherein the optical component comprises a static optical component.

10. The apparatus of claim 8, wherein a holder fixedly attached to the fixed structure of the camera holds a common magnet.

11. The apparatus of claim 8, wherein the transverse coil and the axial coil are held by a carrier fixedly coupled with the image sensor.

12. The apparatus of claim 8, wherein the actuator assembly comprises:

a plurality of fixed magnets;

a plurality of transverse coils; and

a plurality of axial coils, wherein:

13. The apparatus of claim 12, wherein the actuator assembly is configured to:

moving the image sensor along the optical axis;

moving the image sensor in a first direction orthogonal to the optical axis;

tilting the image sensor about the first direction; and

tilting the image sensor about the second direction.

14. The apparatus of claim 12, wherein a position sensor is positioned proximate to a respective axial coil of the plurality of axial coils, and wherein a position sensor is positioned proximate to at least two respective transverse coils of the plurality of transverse coils.

15. An actuator assembly for a camera module, comprising:

a fixed magnet;

a transverse coil that moves an image sensor in one or more directions orthogonal to an optical axis of the camera module when receiving a magnetic field from the fixed magnet; and

16. The actuator assembly of claim 15, wherein the optical assembly comprises a static optical assembly.

17. The actuator assembly of claim 15, wherein the transverse coil and the axial coil are held by a carrier fixedly coupled with the image sensor.

18. The actuator assembly of claim 15, further comprising:

a plurality of fixed magnets;

a plurality of transverse coils; and

a plurality of axial coils, wherein:

19. The actuator assembly of claim 18, wherein the actuator assembly is configured to:

moving the image sensor along the optical axis;

moving the image sensor in a first direction orthogonal to the optical axis;

tilting the image sensor about the first direction; and

tilting the image sensor about the second direction.

20. The actuator assembly of claim 18, wherein a position sensor is positioned proximate to a respective axial coil of the plurality of axial coils, and wherein a position sensor is positioned proximate to at least two respective transverse coils of the plurality of transverse coils.