Patent Description:
Examples disclosed herein relate in general to digital cameras and in particular to optical stabilization of images obtained with folded digital cameras.

Compact digital cameras having folded optics and referred to as "folded cameras" are known, see e.g. co-owned international patent application <CIT>, patent applications <CIT>, and <CIT>. In handheld mobile electronic devices (or simply "mobile devices") such as smartphones, tablets, etc., a folded Tele (T) camera (also referred to herein as "FTC") is often part of a multi-camera system and accompanied by one or more additional cameras, e.g. an Ultra-wide (UW) camera and/or a Wide (W) camera. An Ultra-wide camera has a larger field of view (FOVuw) than that of a Wide camera (FOVw), where FOVw is larger than a FOVT of a folded Tele camera.

<FIG> shows schematically a dual camera <NUM> as known in the art in a perspective view. Dual camera <NUM> includes a FTC <NUM> and a regular (or vertical) camera <NUM>. FTC <NUM> includes an optical path folding element (OPFE) <NUM>, an image sensor <NUM> and a lens (not shown) held in a lens barrel <NUM>. The optical axis of the lens is marked <NUM>. OPFE <NUM> is operational to fold a first optical path (OP1) <NUM> into a second optical path (OP2) <NUM>, where OP2 <NUM> is substantially parallel to the lens optical axis <NUM>. Camera <NUM> may be a W camera or a UW camera. Camera <NUM> includes a lens <NUM> held in a lens barrel <NUM>, and an image sensor <NUM>. The optical axis of lens <NUM> is marked <NUM> and is oriented parallel to OP1 <NUM>. In the x-y-z coordinate axis shown, OP1 <NUM> is oriented parallel to the y-axis and OP2 <NUM> is oriented parallel to the z-axis.

Scanning zoom cameras ("SZ" cameras or "SZCs") are known, see e.g. co-owned international patent application<CIT>. <FIG> shows schematically a FOV <NUM> of a dual camera, which includes a FOVw <NUM> of a Wide camera and a FOVsz <NUM> of a scanning zoom camera. As shown, FOVSZ <NUM> can scan (or move) within FOVw <NUM> in two dimensions, as indicated by four arrows. A compact and cost-effective way of implementing a SZC operational to scan two dimensions is to rotate (or "tilt") an OPFE (e.g. a prism) of a folded zoom camera along two rotation axes. However, this introduces "point of view (POV) aberrations", which must be corrected after capturing a respective SZC image, for example as detailed in the co-owned international patent application <CIT>. Overall, the presence of POV aberrations increases a dual camera's complexity and carries the risk of imperfect correction.

Modern cameras such as dual camera <NUM> in general include optical image stabilization (OIS) for mitigating undesired camera motion caused by a user's hand motion (often referred to as handshake). For OIS, optical components are moved to reduce movements of imaged objects on the camera's image sensor. In other words, a FOV is moved so that it is stabilized on the image sensor. Often, an OPFE such as OPFE <NUM> is moved for OIS with respect to the lens and to the image sensor ("prism OIS"). An inertial measurement unit (IMU) as known in the art and included in a mobile device including also dual camera <NUM> may provide motion data of the mobile device. For example, the motion data of the mobile device may be of <NUM> degrees of freedom. The motion data of the mobile device may be used for providing OIS. For OIS along a first ("Yaw") direction, OPFE <NUM> is rotated around a yaw rotation axis <NUM> which is parallel to OP1 <NUM>. For OIS along a second ("Pitch") direction, OPFE <NUM> is rotated around a pitch rotation axis <NUM> which is parallel to the x-axis and perpendicular to both OP1 <NUM> and OP2 <NUM>. For improving the image quality of a folded camera such as folded camera <NUM> even in harsh scenarios such as relatively strong undesired camera motion, relatively large FOV movement of e.g. ± <NUM> degree or more along the yaw direction and the pitch direction respectively are required. To provide the relatively large FOV movements, in general relatively large actuators and/or large camera modules are required.

There is a need for and it would be advantageous to have a large movement prism OIS actuator. In addition, it would be advantageous to have a dual camera including a SZC which does not create POV aberrations.

In various exemplary embodiments there is provide a folded camera module, comprising: an OPFE for folding light from a first optical path toward a second optical path that is substantially orthogonal to the first optical path, a lens with a lens optical axis along the second optical path, the lens having an effective focal length EFL in the range of <NUM>-<NUM>; an image sensor; a module frame surrounding the folded camera module, the module frame having an inner wall pointing towards the OPFE, a module height HM measured along a direction parallel to the first optical path, a module length LM measured along a direction parallel to the second optical path and a module width WM measured along a direction perpendicular to both the first optical path and the second optical path; an OPFE actuator including a single voice coil motor (VCM) for rotating the OPFE around a first rotation axis and around a second rotation axis that is perpendicular to the first rotation axis to perform OIS around respectively, a first OIS direction and a second OIS direction, wherein the OIS is by more than ± <NUM> degrees around each of the first OIS direction and the second OIS direction, wherein a minimum distance YMin between the OPFE and the inner wall of the module frame in an extreme rotation OPFE position measured along a direction parallel to the second optical path fulfills YMin ≤ <NUM>, wherein YMin/LM ≤ <NUM>, wherein a minimum distance XMIN between the OPFE and the inner wall of the module frame in an extreme rotation OPFE position measured along a direction perpendicular to both the first optical path and the second optical path fulfills XMin≤ <NUM>, and wherein XMin/WM ≤ <NUM>.

In some examples, the rotation of the OPFE around the first rotation axis uses three support positions.

In some examples, the first rotation axis is located within an area that also includes the OPFE.

In some examples, the second rotation axis is located within an area that also includes the OPFE.

In some examples, YMin/LM ≤ <NUM>. In some examples, XMin/WM is ≤<NUM>. In some examples, XMin ≤ <NUM> and YMin ≤ <NUM>. In some examples, XMin ≤ <NUM> and YMin ≤<NUM>. In some examples, XMin ≤ <NUM> and YMin ≤ <NUM>.

In some examples, the OIS may be by more than ± <NUM> degrees around each of the first OIS direction and the second OIS direction. In some examples, the OIS may be by more than ±<NUM> degrees around each of the first OIS direction and the second OIS direction. In some examples, the OIS may be by more than ±<NUM> degrees around each of the first OIS direction and the second OIS direction. In some examples, the OIS may be by more than ±<NUM> degrees around each of the first OIS direction and the second OIS direction.

In some examples, WM may be in the range of <NUM>-<NUM> and LM may be in the range of <NUM>-<NUM>. In some examples, HM may be in the range of <NUM>-<NUM>. In some examples, HM may be in the range of <NUM>-<NUM>.

In some examples, the OPFE has an OPFE height HP measured along a direction parallel to the first optical path and an OPFE width WP measured along a direction perpendicular to both the first optical path and the second optical path, wherein in a zero-rotation OPFE position the OPFE is located at a horizontal distance h-DPH and at a vertical distance v-DPH away from the inner wall of the module frame, and wherein WP/h-DPH > <NUM> and HP/v-DPH > <NUM>.

In some examples, WP/h-DPH > <NUM> and HP/v-DPH > <NUM>. In some examples, WP/h-DPH > <NUM> and HP/v-DPH > <NUM>. In some examples, WP/h-DPH > <NUM> and HP/v-DPH > <NUM>. In some examples, WP/h-DPH > <NUM> and HP/v-DPH > <NUM>.

In some examples, HM < HP +<NUM>. In some examples, HM < HP +<NUM>.

In some examples, a ratio HP/HM may be in the range of <NUM> - <NUM>.

In some examples, WP may be in the range of <NUM>-<NUM>.

In some examples, EFL may be in the range of <NUM>-<NUM>.

In some examples, the OPFE actuator includes a yaw stage, a pitch stage and a frame, and the yaw stage, the pitch stage and the frame move relatively to each other. In some examples, the pitch stage moves together with the yaw stage.

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

In some examples, for rotating the OPFE around the second rotation axis, a current in the first coil is flowing in an identical direction with a current in the second coil. In some examples, for rotating the OPFE around the first rotation axis, a current in the first coil is flowing in an opposite direction than a current in the second coil.

In some examples, the folded camera module may be included in a mobile device. In some examples, the mobile device also comprises a Wide camera having a Wide camera field of view FOVw larger than FOVT. In some examples, the mobile device also comprises an IMU. In some examples, the mobile device may be a smartphone. In some examples, the mobile device may be a tablet.

Non-limiting examples of embodiments disclosed herein are described below with reference to figures attached hereto that are listed following this paragraph. The drawings and descriptions are meant to illuminate and clarify embodiments disclosed herein, and should not be considered limiting in any way. Like elements in different drawings may be indicated like numerals.

<FIG> shows an embodiment of a folded camera module numbered <NUM> that comprises a folded camera operational for large stroke OIS as disclosed herein in a perspective view. Folded camera module <NUM> has an aperture <NUM> formed (or defined or determined) by an OPFE <NUM> included in an OPFE holder <NUM> (<FIG>, <FIG>). Folded camera module <NUM> further includes a lens barrel <NUM> with a lens (not shown) having a lens optical axis <NUM>, and an image sensor <NUM> (<FIG>). The lens may have an effective focal length ("EFL") in the range of <NUM> - <NUM>, or in the range of <NUM> to <NUM>. Folded camera module <NUM> is covered by a top shield <NUM>. A length LM, a width WM and a height HM of folded camera module <NUM> are marked. Folded camera module <NUM> is operational to perform large stroke OIS by rotating prism <NUM> around a first, yaw rotation axis <NUM> and a second, pitch rotation axis <NUM> by ± <NUM> degree or more. Rotating prism <NUM> around the two rotation axes can be used to achieve two effects:.

<FIG> shows folded camera module <NUM> without top shield <NUM> in another perspective view. <FIG> shows folded camera module <NUM> without top shield <NUM> in a top view. Folded camera module <NUM> is surrounded by a module frame (or simply "frame" or "housing") <NUM>. Frame <NUM> has two different functions: <NUM>) acting as a bottom shield (or housing) of folded camera module <NUM>, i.e. frame <NUM> surrounds large parts of camera components included in folded camera module <NUM>; and <NUM>) acting as a stationary part of OPFE holder <NUM>, which engages with (or interacts with) a yaw stage and a pitch stage <NUM> for actuating OPFE <NUM> as described below. Frame <NUM> may for example be made of plastic. Here, OPFE <NUM> is a prism. In other examples, OPFE <NUM> may be a mirror. OPFE <NUM> has an OPFE (i.e. prism) length LP, an OPFE width WP and an OPFE height HP, as marked.

In <FIG>, OPFE <NUM> is shown in a zero-rotation state. "Zero-rotation state" refers here to a state that represents (<NUM>) a center of a pitch rotation stroke defined by a minimum pitch rotation angle PitchMin and by a maximum pitch rotation angle PitchMax, and (<NUM>) a center of a yaw rotation stroke defined by a minimum yaw rotation angle YawMin and a maximum pitch rotation angle YawMax. In the zero-rotation state, "borders" (i.e. edges or surfaces) of OPFE <NUM> are oriented parallel to an inner wall (or surface) <NUM> of frame <NUM>. In the zero-position, OPFE <NUM> is located at a "vertical" distance v-DPH and a "horizontal" distance h-DPH from inner wall <NUM> of frame <NUM>, as shown. The same holds for all other borders mentioned.

With reference to <FIG>, "horizontal" refers here to the fact that h-DPH is measured along a horizontal direction (parallel to the x-axis in the x-y-z coordinate system shown), and "vertical" refers here to the fact that v-DPH is measured along a vertical direction (parallel to the y-axis). Yaw rotation axis <NUM> is oriented perpendicular to the coordinate system shown in <FIG>, and pitch rotation axis <NUM> is oriented parallel to the x-axis. Yaw rotation axis <NUM> is located (or positioned) within an area that also includes OPFE <NUM>. Rotating OPFE <NUM> by <NUM> degree around yaw rotation axis <NUM> and pitch rotation axis <NUM> respectively moves the FOV of the folded camera by <NUM> degree in a yaw rotation direction and by <NUM> degrees in a pitch rotation direction, as known in the art. , to achieve a FOV movement of angle α in both the yaw rotation direction and the pitch rotation direction, one rotates OPFE <NUM> by α around yaw rotation axis <NUM> and by <NUM>. 5x α around pitch rotation axis <NUM>. Here, the FOV movement is to perform OIS.

For a compact camera, it is advantageous to minimize both v-DPH and h-DPH. In some examples, folded camera module <NUM> and OPFE <NUM> may have the following dimensions:.

These yield ratios WP/h-DPH = <NUM> and HP/v-DPH = <NUM> and HP/HM = <NUM>M = HP +<NUM>. In other examples, ratio HP/Hm may be in the range of <NUM> - <NUM> and HM < HP +<NUM> may be fulfilled. In yet other examples, ratio HP/HM may be in the range of <NUM> - <NUM> and HM < HP +<NUM> or HM < HP +<NUM> may be fulfilled.

In other examples of folded camera modules including a folded camera operational for large stroke OIS, values and ranges may be as given in Table <NUM>.

OPFE holder <NUM> is divided into three parts, which can rotationally move relative to each other for actuating OPFE <NUM>: a Yaw stage <NUM>, frame <NUM> and a pitch stage <NUM>. As described in the following, the relative movements are as follows:.

<FIG> shows yaw stage <NUM> in a top view. Yaw stage <NUM> is shown without OPFE <NUM> for better visibility. Yaw stage <NUM> includes a yaw position sensing unit (PSU) <NUM> which includes a magnet <NUM> fixedly coupled to yaw stage <NUM> and a magnetic flux measuring device (MFMD) <NUM> fixedly coupled to frame <NUM>. Yaw PSU <NUM> is operational to sense a relative movement between yaw stage <NUM> and frame <NUM>. Yaw stage <NUM> has a left arm <NUM>, a right arm <NUM> and a center arm <NUM>. A top side of yaw stage <NUM> comprises a groove <NUM> included in left arm <NUM> and a cavity (or hole) <NUM> included in right arm <NUM>.

<FIG> shows yaw stage <NUM> (without OPFE <NUM>) in a bottom view. A bottom side of yaw stage <NUM> comprises a cavity <NUM> in center arm <NUM>, a first hole (or void) <NUM> in left arm <NUM> and a second hole <NUM> in right arm <NUM>.

<FIG> shows yaw stage <NUM> in a perspective view. Groove <NUM> included in left arm <NUM> and a cavity <NUM> in right arm <NUM> are visible.

<FIG> shows frame <NUM> of folded camera module <NUM> in a top view. <FIG> shows frame <NUM> in a perspective view. Frame <NUM> includes a cavity <NUM>, a third hole <NUM> and a fourth hole <NUM>. Yaw stage <NUM> can be moved relative to frame <NUM> by means of three ball-bearings: a first ball-bearing is formed by confining a first ball (not shown) within a first closed volume formed by first hole <NUM> (included in yaw stage <NUM>) and third hole <NUM> (included in frame <NUM>); a second ball-bearing is formed by confining a second ball (not shown) within a second volume formed by second hole <NUM> (included in yaw stage <NUM>) and fourth hole <NUM> (included in frame <NUM>); and a third ball-bearing is formed by confining a third ball (not shown) within a third volume formed by cavity <NUM> (included in yaw stage <NUM>) and cavity <NUM> (included in frame <NUM>). The location of the first ball-bearing is defined by first hole <NUM>, the location of the second ball-bearing is defined by cavity <NUM> and the location of the third ball-bearing is defined by cavity <NUM>. When prism <NUM> rotates around yaw rotation axis <NUM>, the third ball-bearing acts as a pivot point (representing a first support position), and both the first and the second ball-bearings act as rails (representing a second and a third support position). This means that overall, rotating prism <NUM> around yaw rotation axis <NUM> uses three support positions.

The third ball-bearing is positioned at a first position "ZF1" (along the z-axis) which is relatively close to a bottom of frame <NUM> when compared to the position of the first and second ball-bearings, "bottom" referring to a lowest dimension of frame <NUM> along the z-axis. Relative to the third ball-bearing, the first ball-bearing and the second ball-bearing are positioned at a same second elevated position "ZF2" (along the z-axis), as shown. We refer to the first position as a "first floor", and to the second position as a "second floor". The first floor is distanced by a first distance (or height) H<NUM> along the z-axis from the second floor. The second floor is distanced by a second distance (or height) H<NUM> from a top of frame <NUM>. As shown, H<NUM> ≈ H<NUM> ≈ HM/<NUM>. It is noted that positioning the first ball-bearing and the second ball-bearing at the second floor is advantageous, because it leaves a free space or free volume in the first floor. A front surface of the first floor is marked <NUM>.

In some examples and as shown, magnet <NUM> has a circular (or "round") shape. The circular shape may be such that the shape of magnet <NUM> is concentric with respect to the pivot point. The circular shape is advantageous for measuring exactly a rotation around yaw rotation axis <NUM>, i.e. for providing an accurate Yaw PSU <NUM>. This is because the distance (air gap) between magnet <NUM> and MFMD <NUM> is relatively constant, i.e. it changes only by a relatively small amount. In other examples, magnet <NUM> may have a rectangular (or "flat") shape. The flat shape may be advantageous for manufacturing a low-cost folded camera module <NUM>.

<FIG> shows frame <NUM> of folded camera module <NUM> in a side view. Frame <NUM> includes a first notch <NUM>, a second notch <NUM>, a third notch <NUM>, a fourth notch <NUM> and a fifth notch <NUM>. Because of notch <NUM>, MFMD <NUM> can measure a magnetic field of magnet <NUM>.

<FIG> shows a top part of folded camera module <NUM> in a top view. OPFE <NUM> is shown in "yaw zero-state" with respect to yaw rotation axis <NUM>. "Yaw zero-state" refers here to an OPFE yaw rotation state that represents a center of a yaw rotation stroke defined by a minimum yaw rotation angle YawMin and a maximum yaw rotation angle YawMax.

<FIG> shows a top part of folded camera module <NUM> with OPFE <NUM> shown in the YawMax-state with respect to yaw rotation axis <NUM>. "YawMax-state" refers here to an OPFE yaw rotation state that represents a first extreme (here, a maximum) yaw rotation angle. In the YawMax-state, OPFE <NUM> is located at a minimum distance YMin measured along the y-axis, a first minimum distance X1Min measured along the x-axis, and a second minimum distance X2Min measured along the x-axis away from an inner boundary (or border) of frame <NUM>, as shown. In folded camera module <NUM>, YMin = <NUM>, X1Min = <NUM> and X2Min = <NUM>. A ratio YMin /LM when LM = <NUM>) is YMin/LM = <NUM>. Ratios of X1Min/WM and X2Min/WM when WM =<NUM> are X1Min/WM = <NUM> and X2Min/WM = <NUM>.

In other examples, minimum distances such as distances X1Min and X2Min may be equal to or smaller that <NUM>, or more advantageously ≤ <NUM>, or ≤ <NUM>, or ≤ <NUM> or even <NUM>. The ratio XMin/WM may be in the range of <NUM> to <NUM>. YMin may be ≤ <NUM>, or more advantageously ≤ <NUM>, or ≤ <NUM>, or ≤ <NUM> or even ≤ <NUM>. The ratio YMin/LM may be in the range of <NUM> to <NUM>.

<FIG> shows yaw stage <NUM> without OPFE <NUM> in the YawMax-state with respect to yaw rotation axis <NUM>. <FIG> also shows the position of magnet <NUM> relative to MFMD <NUM> in this state.

<FIG> shows a top part of folded camera module <NUM> with OPFE <NUM> shown in the YawMin-state with respect to yaw rotation axis <NUM> pitch rotation direction. "YawMin-state" refers here to an OPFE yaw rotation state which represents a second extreme (here, a minimum) yaw rotation angle. In the YawMin-state, OPFE <NUM> is located at a minimum distance YMin measured along the y-axis, a first minimum distance X1Min measured along the x-axis, and a second minimum distance X2Min measured along the x-axis away from an inner boundary of frame <NUM>, as shown.

<FIG> shows yaw stage <NUM> without OPFE <NUM> in the "YawMin-state with respect to yaw rotation axis <NUM>. <FIG> also shows the position of magnet <NUM> relative to MFMD <NUM> in this state.

In <FIG> and <FIG> it is visible that a certain part of yaw stage <NUM> can enter one of second notch <NUM> and third notch <NUM> at a position marked <NUM> or enter fourth notch <NUM> and fifth notch <NUM> at a position marked <NUM>. This is advantageous for achieving a compact folded camera module.

<FIG> shows a VCM disclosed herein and numbered <NUM> in a perspective view. <FIG> shows VCM <NUM> included in folded camera module <NUM> in a bottom view. <FIG> shows VCM <NUM> included in OPFE holder <NUM> in a perspective bottom view. VCM <NUM> is operational to actuate a rotational movement of OPFE <NUM> around both yaw rotation axis <NUM> and pitch rotation axis <NUM>. VCM <NUM> includes a first magnet <NUM> and a second magnet <NUM> (both fixedly coupled to yaw stage <NUM>) as well as a first coil <NUM> and a second coil <NUM> (both fixedly coupled to frame <NUM>). In addition, VCM <NUM> includes a first yoke (or preload yoke) <NUM> and a second yoke (or preload yoke) <NUM>. Both yokes are fixedly coupled to frame <NUM>. The yokes are operational for returning VCM <NUM> to a zero-position and to prevent disengagement of the parts included in OPFE holder <NUM>. First magnet <NUM> has a first magnet dead zone (DZ) <NUM> and second magnet <NUM> has a second magnet DZ <NUM>. As shown in <FIG> and approximately, pitch rotation axis <NUM> coincides with first magnet DZ <NUM> and second magnet DZ <NUM>. First magnet <NUM> and second magnet <NUM> together cover (or use) a relatively large bottom area of OPFE holder <NUM>. The fact that the magnets cover a relatively large bottom area of OPFE holder <NUM> is advantageous in that it allows a relatively strong and fast, yet still compact VCM. This is enabled by locating the first and second ball bearings at the second floor. A free space or free volume created in the first floor can be used to position the magnets.

<FIG> shows pitch stage <NUM> and OPFE holder <NUM> with OPFE <NUM> in a front view. Pitch stage <NUM> includes a first pitch PSU <NUM> having a first pitch magnet <NUM> and a first pitch MFMD <NUM>, as well as a second pitch PSU <NUM> having a second pitch magnet <NUM> and a second pitch MFMD <NUM>.

<FIG> shows pitch stage <NUM> with OPFE <NUM> in a side view. OPFE <NUM> is shown in a "pitch zero state" with respect to a pitch rotation direction. "Pitch zero-state" refers here to an OPFE pitch rotation state that represents a center of a pitch rotation stroke defined by a minimum pitch rotation angle PitchMin and a maximum pitch rotation angle PitchMax. In the pitch zero-state, first pitch PSU <NUM> is in a zero-state. OPFE holder <NUM> includes a shock (or drop) absorber mechanism <NUM>. Shock absorber mechanism <NUM> is operational to prevent yaw stage <NUM> and pitch stage <NUM> from disengaging from each other and/or from OPFE holder <NUM>. Pitch rotation axis <NUM> is oriented parallel to the x-axis (i.e. perpendicular to the coordinate system shown).

First pitch PSU <NUM> and second pitch PSU <NUM> are located concentrically with respect to yaw rotation axis <NUM>. It is noted that first pitch PSU <NUM> and second pitch PSU <NUM> are located at a relatively large distance from each other, and in addition, they are located at a relatively large distance from Yaw PSU <NUM>. This is advantageous as there is virtually no electromagnetic crosstalk between each of yaw PSU <NUM>, first pitch PSU <NUM> and second pitch PSU <NUM>. With respect to a direction along the y-axis, pitch rotation axis <NUM> is located (or positioned) within an area that also includes OPFE <NUM>.

<FIG> shows pitch stage <NUM> in a side view with OPFE <NUM> shown in a "PitchMax-state" with respect to a pitch direction. "PitchMax-state" refers here to an OPFE pitch rotation state that represents a maximum pitch rotation angle. In PitchMax-state, first pitch PSU <NUM> is in a maximum-state.

<FIG> shows pitch stage <NUM> in a side view with OPFE <NUM> shown in a "PitchMin-state" with respect to a pitch rotation direction. "PitchMin-state" refers here to an OPFE pitch rotation state that represents a minimum pitch rotation angle. In PitchMin-state, first pitch PSU <NUM> is in a minimum-state.

In <FIG>, it is visible that magnet <NUM> has a circular shape. The circular shape may be approximately so that a shape of magnet <NUM> is concentric with respect to the pivot point. The circular shape is advantageous for an accurate first pitch PSU <NUM>. This is because the distance between magnet <NUM> and MFMD <NUM> is relatively constant when performing rotation around the Yaw rotation axis. In other embodiments, magnet <NUM> may have a rectangular (or "flat") shape. The flat shape may be advantageous for a low cost folded camera module <NUM>. Pitch stage <NUM> can be moved relative to yaw stage <NUM> by means of two ball-bearings: a first ball-bearing is formed by confining a fourth ball (not shown) within a fourth volume formed by groove <NUM> (included in yaw stage <NUM>) and a groove (not shown, included in pitch stage <NUM>), a second ball-bearing is formed by confining a fifth ball (not shown) within a fifth volume formed by cavity <NUM> (included in yaw stage <NUM>) and a cavity (not shown, included in pitch stage <NUM>).

With reference to <FIG>, we note that VCM <NUM> is configured to actuate a rotation of OPFE <NUM> both around a yaw rotation axis such as yaw rotation axis <NUM>and around a pitch rotation axis such as pitch rotation axis <NUM>. VCM <NUM> has a first operation mode operational to actuate a yaw rotation, and VCM <NUM> has a second operation mode operational to actuate a pitch rotation.

For rotating OPFE <NUM> in a yaw rotation direction, a current flowing through (or induced in) first coil <NUM> is directed opposite to a current flowing through coil <NUM>.

For rotating OPFE <NUM> in a pitch rotation direction, a current flowing through (or induced in) first coil <NUM> is directed identical to a current flowing through coil <NUM>.

Table <NUM> presents values and ranges of components disclosed herein. LM, HM, WM, LP, HP, WP, YMin, X1Min, X2Min, v-DPH and h-DPH are given in mm, YawMin, YawMax, PitchMin, PitchMax, YawFOV and PitchFOV are given in degrees.

<FIG> shows another pitch stage numbered <NUM>, operational to be included in a folded camera module such as folded camera module <NUM> and including an OPFE <NUM> in a side view. <FIG> shows pitch stage <NUM> in a perspective view. In <FIG>, OPFE <NUM> is shown in a "yaw zero state" with respect to a yaw rotation axis. The yaw zero state is located at a center between a minimum Yaw rotation position and a maximum Yaw rotation position (<FIG>). Pitch stage <NUM> includes a first stopper <NUM> and a second stopper <NUM>, which both are fixedly coupled to pitch stage <NUM>.

<FIG> shows an assembly of first stopper <NUM> and a second stopper <NUM>. Pitch stage <NUM> includes a hole <NUM>, which is operational to receive stopper <NUM>. Entering (or pushing) stopper <NUM> into hole <NUM> may suffice to fixedly couple stopper <NUM> to pitch stage <NUM>. Pitch stage <NUM> also includes another hole (not shown), which is operational to receive stopper <NUM>. Stopper <NUM> and stopper <NUM> may for example be made of rubber material.

<FIG> shows another pitch stage <NUM> included in frame <NUM> in the YawMin-state. In the YawMin-state, stopper <NUM> is in contact with front surface <NUM> of the first floor. This contact prevents a further rotation of pitch stage <NUM> in a Yaw rotation direction. <FIG> shows another pitch stage <NUM> included in frame <NUM> in the YawMax-state. In the YawMax-state, stopper <NUM> (not visible here) may be in contact with another front surface of the first floor, so that further rotation of pitch stage <NUM> in a Yaw rotation direction is prevented.

<FIG> shows a SZC <NUM> as disclosed herein in a perspective view. SZC <NUM> has a SZC FOV ("FOVSZC") and includes a static (or "fixed") part <NUM>, a moving part <NUM> and a SZC aperture <NUM>. With respect to a host device including SZC <NUM>, static part <NUM> does not move, and moving part <NUM> moves. Moving part <NUM> rotates along a first rotation axis <NUM> oriented parallel to the x-axis and a second rotation axis <NUM> oriented parallel to the y-axis. Static part <NUM> includes an opening (or "funnel") <NUM>.

<FIG> shows moving part <NUM> in a side view. SZC <NUM> includes a prism <NUM> which represents SZC aperture <NUM>, a lens <NUM> and an image sensor <NUM>. Moving part <NUM> also includes a flexure (or "flex cable") <NUM> operational to electrically connect moving part <NUM> with static part <NUM>. Moving part <NUM> also includes a set of rails <NUM> including a first rail <NUM>, a second rail <NUM>, a third rail <NUM> and a fourth rail <NUM>. Set of rails <NUM> may interact with another set of rails (not shown) included in static part <NUM> to allow a rotational movement of moving part <NUM> relative to static part <NUM> around second rotation axis <NUM>.

A height "H", a width ("W") and a length ("L") of SZC <NUM> may be in the range of H = <NUM> - <NUM>, W = <NUM> - <NUM> and L = <NUM> - <NUM>, advantageously H = <NUM> - <NUM>, W = <NUM> - <NUM> and L = <NUM> - <NUM>. Lens <NUM> may have an effective focal length ("EFL") in the range of <NUM> - <NUM>, advantageously EFL is in the range of <NUM> - <NUM>. Image sensor <NUM> may have an image sensor (full) diagonal ("SD") in the range of <NUM> - <NUM>, advantageously SD is in the range of <NUM> - <NUM>. Here, SZC <NUM> has a FOVszc of about <NUM> degrees (about <NUM> <NUM> equivalent focal length). In other examples, FOVszc may be in the range of about <NUM> degrees to <NUM> degrees.

<FIG> shows moving part <NUM> in a perspective view. Here, prism <NUM>, lens <NUM> and image sensor <NUM> are covered by a cover <NUM>. SZC <NUM> includes a second rotation actuator <NUM>, operational to actuate a rotation of moving part <NUM> around second rotation axis <NUM>. Here, second rotation actuator <NUM> is a voice coil motor (VCM) that includes a first coil <NUM> and a second coil <NUM> which are both fixedly coupled to static part <NUM>. Second rotation actuator <NUM> also includes a first magnet <NUM> and a second magnet <NUM> which are both fixedly coupled to moving part <NUM>.

<FIG> show SZC <NUM> in several rotation states with respect to second rotation axis <NUM> in a perspective view. <FIG> show SZC <NUM> in several rotation states with respect to the second rotation axis <NUM> in a perspective view. <FIG> and <FIG> respectively show SZC <NUM> in in a first extreme rotation state. <FIG> and <FIG> respectively show SZC <NUM> in a center rotation state. In general, and with reference to a dual camera including SZC <NUM> and a Wide camera having a FOVw > FOVszc, in a center rotation state, FOVszc is centered in FOVw with respect to second rotation axis <NUM>. <FIG> and <FIG> respectively show SZC <NUM> in a second extreme rotation state. The first and the second extreme rotation state with respect to the second rotation axis <NUM> may correspond to a rotation in the range of ±<NUM> degrees to ±<NUM> degrees, for example ±<NUM> degrees or ±<NUM> degrees. In some examples, the Wide camera may capture Wide image data of FOVw. A camera controller may be configured to analyze the Wide image data and scan a scene with FOVSZC based on the analysis of Wide image data.

<FIG> show SZC <NUM> in several rotation states with respect to first rotation axis <NUM> in a side view. <FIG> shows SZC <NUM> in a first extreme rotation state. <FIG> shows SZC <NUM> in a center rotation state. In general, and with reference to a dual camera including SZC <NUM> and a Wide camera, in a center rotation state, FOVSZC is centered in FOVw with respect to first rotation axis <NUM>. <FIG> shows SZC <NUM> in a second extreme rotation state. The first and the second extreme rotation state with respect to the first rotation axis <NUM> may correspond to a rotation in the range of ±<NUM> degrees to ±<NUM> degrees, for example ±<NUM> degrees or ±<NUM> degrees. We note that SZC <NUM> does not create point-of-view aberrations, which is advantageous.

<FIG> shows parts of moving part <NUM> in a side view. <FIG> shows the parts of moving part <NUM> in a first perspective view. <FIG> shows the parts of moving part <NUM> in a second perspective view. SZC <NUM> includes a first rotation actuator <NUM>, operational to actuate a rotation of prism <NUM> around first rotation axis <NUM>. Here, first rotation actuator <NUM> is a VCM that includes a first coil <NUM> and a second coil <NUM> which are both fixedly coupled to moving part <NUM>. First rotation actuator <NUM> also includes a first magnet <NUM> and a second magnet (not visible) which are both fixedly coupled to prism <NUM>. Prism <NUM> is included in and fixedly coupled to a prism holder <NUM>. Prism holder <NUM> includes a stray light mask <NUM> operational to prevent undesired stray light from reaching image sensor <NUM>.

While this disclosure has been described in terms of certain embodiments and generally associated methods, alterations and permutations of the embodiments and methods will be apparent to those skilled in the art. The disclosure is to be understood as not limited by the specific embodiments described herein, but only by the scope of the appended claims.

It should be understood that where the claims or specification refer to "a" or "an" element, such reference is not to be construed as there being only one of that element.

Claim 1:
A folded camera module, comprising:
an optical path folding element, OPFE, for folding light from a first optical path toward a second optical path that is substantially orthogonal to the first optical path,
a lens with a lens optical axis along the second optical path, the lens having an effective focal length, EFL, in the range of <NUM>-<NUM>;
an image sensor;
a module frame surrounding the folded camera module, the module frame having an inner wall pointing towards the OPFE, a module height HM measured along a direction parallel to the first optical path, a module length LM measured along a direction parallel to the second optical path and a module width WM measured along a direction perpendicular to both the first optical path and the second optical path; and
an OPFE actuator including a single voice coil motor, VCM, for rotating the OPFE around a first rotation axis and around a second rotation axis that is perpendicular to the first rotation axis to perform optical image stabilization, OIS, around respectively, a first OIS direction and a second OIS direction,
wherein the OIS is by more than ± <NUM> degrees around each of the first OIS direction and the second OIS direction,
wherein a minimum distance YMin between the OPFE and the inner wall of the module frame in an extreme rotation OPFE position measured along a direction parallel to the second optical path fulfills YMin ≤ <NUM>,
wherein a minimum distance XMIN between the OPFE and the inner wall of the module frame in an extreme rotation OPFE position measured along a direction perpendicular to both the first optical path and the second optical path fulfills XMin≤ <NUM>,
wherein a ratio of YMin/LM ≤ <NUM>, and
wherein a ratio of XMin/WM ≤ <NUM>.