Patent Publication Number: US-2023156328-A1

Title: Sensor shifting module and camera module including the same

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit under 35 USC § 119(a) of Korean Patent Application No. 10-2021-0159647 filed on Nov. 18, 2021, in the Korean Intellectual Property Office, the entire disclosure of which is incorporated herein by reference for all purposes. 
     BACKGROUND 
     1. Field 
     The following description relates to a sensor shifting module and a camera module including the same. 
     2. Description of Related Art 
     With the development of communications technology, mobile devices, such as, but not limited to, smartphones, have been widely distributed, and accordingly, the demand for increased functionalities of cameras included in mobile devices has also been increased. For example, a camera included in a mobile device may be implemented to provide advanced imaging functions (e.g., an autofocus function, an anti-shake function, and the like) implemented in a typical digital single-lens reflex (DSLR) camera despite a small size thereof. 
     An optical image stabilization (OIS) function may be to prevent image blurring from occurring when a camera is shaken during the exposure time, and the OIS function may be necessary when imaging in low-light environments in which a camera is shaken and the exposure time is long. The OIS may include digital IS (DIS), electronic IS (EIS), and optical IS (OIS). Among these functions, optical IS (OIS) may fundamentally prevent image deterioration caused by shaking by correcting an optical path by moving a lens or image sensor in a direction orthogonal to the optical axis. Since a mechanical actuator is necessary, it may be complicated to be implemented as a device, and although relevant costs are expensive, excellent compensation performance may be obtained. 
     Since a lens barrel includes an optical system therein, a relatively large amount of force may be necessary to drive the lens barrel. Since an image sensor is relatively lightweight, it may be advantageous to implement an excellent optical image stabilization (OIS) function even with a relatively small force. 
     A camera implemented in a mobile device may mainly provide a shaking correction function that prevents only the shaking in a direction orthogonal to an optical axis when obtaining an image. Recently, mobile devices have been used to obtain videos, and accordingly, it has been necessary to move an image sensor in more various directions to correct shaking in a more dynamic environment. 
     SUMMARY 
     This Summary is provided to introduce a selection of concepts in a simplified form that is further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. 
     In a general aspect, a camera module includes a housing; a carrier, disposed in the housing, and configured to move in a first direction; an image sensor movably disposed in the carrier; and an autofocusing driver comprising an autofocusing actuator configured to move the carrier in the first direction with respect to the housing, and a ball member disposed between the carrier and the housing. 
     The image sensor may have an imaging plane oriented in the first direction. 
     The autofocusing actuator may include an autofocusing coil disposed on a first side of the carrier and coupled to one of the housing and the carrier, and an autofocusing magnet coupled to the other of the housing and the carrier and opposing the autofocusing coil in a direction orthogonal to the first direction. 
     The camera module may include a yoke disposed on one side of the autofocusing coil. 
     The autofocusing actuator may include an autofocusing coil disposed below the carrier and coupled to one of the housing and the carrier, and an autofocusing magnet coupled to the other of the housing and the carrier and opposing the autofocusing coil in the first direction. 
     The camera module may include a first elastic member disposed between the carrier and the housing, wherein the ball member may be disposed on a first side of the carrier, and the first elastic member is disposed on a second side of the carrier, and is configured to push the carrier toward the ball member. 
     The camera module may include a second elastic member disposed between a lower portion of the carrier and the housing, and configured to support the carrier in the first direction. 
     The camera module may include a first movable body movably disposed in the carrier; a second movable body movably disposed in the first movable body and coupled to the image sensor; a first driver configured to move the second movable body in a direction orthogonal to the first direction with respect to the first movable body; a second driver configured to rotate the second movable body about an axis parallel to the first direction with respect to the first movable body; and a third driver configured to rotate the first movable body about an axis orthogonal to the first direction with respect to the carrier, wherein the third driver is disposed between the carrier and the first movable body and provides a tilt center of the first movable body with respect to the carrier. 
     The first driver may include a first actuator disposed between the first movable body and the second movable body, and the first actuator may include a first driving magnet disposed on the second movable body, and a first driving coil disposed on the first movable body to oppose the first driving magnet in a direction orthogonal to the first direction. 
     The second driver may include a second actuator disposed between the first movable body and the second movable body, and the second actuator may include a second driving magnet disposed on the second movable body, and a second driving coil disposed on the first movable body to oppose the second driving magnet in a direction orthogonal to the first direction. 
     The second movable body may include four side surfaces which form a quadrangular shape, and the first driving magnet and the second driving magnet are disposed on different side surfaces among the four side surfaces. 
     The second movable body may include a first side surface and a second side surface which form a corner, and the second driving magnet is disposed on one of the first side surface and the second side surface, and is disposed adjacent to the corner. 
     The third driver may include a third actuator disposed between the first movable body and the carrier, and the third actuator may include a third driving magnet disposed on the second movable body, and a third driving coil disposed on the carrier to oppose the third driving magnet in the first direction. 
     The third driving magnet may be one of the first driving magnet and the second driving magnet. 
     The camera module may include a substrate which mechanically connects the second movable body to the first movable body, and is deformed based on a movement of the second movable body with respect to the first movable body. 
     The substrate may include electrical wirings which are electrically connected to the image sensor. 
     The substrate may include a movable portion fixedly coupled to the second movable body, a fixed portion fixedly coupled to the first movable body, and a supporting portion that interconnects the movable portion and the fixed portion, and wherein the supporting portion may include a plurality of bridges configured to embed the electrical wirings therein. 
     The supporting portion may include a guide disposed between the movable portion and the fixed portion, and connected to the movable portion and the fixed portion through the plurality of bridges. 
     In a general aspect, a camera module includes a housing; a carrier, disposed in the housing, and configured to move in a first direction; a first movable body movably disposed in the carrier; a second movable body movably coupled to the first movable body; an image sensor coupled to the second movable body, and having an imaging plane oriented in the first direction; and a substrate that mechanically connects the second movable body to the first movable body, and is configured to deform based on a movement of the second movable body with respect to the first movable body. 
     The substrate may include a movable portion fixedly coupled to the second movable body, a fixed portion fixedly coupled to the first movable body, and a supporting portion that interconnects the movable portion and the fixed portion, wherein the supporting portion may include a plurality of bridges embedding electrical wirings electrically connected to the image sensor therein. 
     The camera module may include a first driver configured to move the second movable body in a direction orthogonal to the first direction with respect to the first movable body; a second driver configured to rotate the second movable body about an axis parallel to the first direction with respect to the first movable body; and a third driver configured to rotate the first movable body about an axis orthogonal to the first direction with respect to the carrier, wherein the third driver comprises a tilt guide ball disposed between the carrier and the first movable body and configured to provide a tilt center of the first movable body with respect to the carrier. 
     In a general aspect, a camera module includes a housing; an autofocus (AF) carrier disposed in the housing and configured to move in an optical axis direction; a tilting carrier disposed on the AF carrier, and configured to tilt relative to a fixed body with respect to an axis orthogonal to the optical axis; a movable body disposed on the tilting carrier; an image sensor coupled to the movable body; and a substrate, coupled to the tilting carrier and the movable body, and configured to deform based on a movement of the movable body with respect to the tilting carrier. 
     The substrate may include a movable portion on which the sensor is disposed; a fixed portion that is fixed to the tilting carrier; and a supporting portion that connects the movable portion to the fixed portion, wherein at least a portion of the supporting portion is configured to deform based on a movement between the movable portion and the tilting carrier. 
     The camera module may further include ball members disposed between the AF carrier and the housing, and configured to move the AF carrier in the optical axis direction. 
     Other features and aspects will be apparent from the following detailed description, the drawings, and the claims. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    illustrates components included in an example camera module, in accordance with one or more embodiments. 
         FIG.  2 A  illustrates an example sensor shifting module, in accordance with one or more embodiments. 
         FIG.  2 B  illustrates actuators included in an OIS driving unit, in accordance with one or more embodiments. 
         FIG.  2 C  illustrates a pulling device between a first movable body and a fixed body, in accordance with one or more embodiments. 
         FIG.  3    illustrates a substrate on which an example image sensor is mounted when viewed from above, in accordance with one or more embodiments. 
         FIG.  4 A  and  FIG.  4 B  illustrate arrangements of a first OIS driver and a second OIS driver, in accordance with one or more embodiments. 
         FIG.  5 A  and  FIG.  5 B  illustrate movement of a second movable body due to a first OIS driver, in accordance with one or more embodiments. 
         FIG.  6 A  and  FIG.  6 B  illustrate the rolling of a second movable body due to a second OIS driver, in accordance with one or more embodiments. 
         FIG.  7 A  and  FIG.  7 B  illustrate the tilting of a first movable body due to a third OIS driver, in accordance with one or more embodiments. 
         FIG.  8 A ,  FIG.  8 B ,  FIG.  8 C , and  FIG.  8 D  illustrate the deformation of a substrate, in accordance with one or more embodiments. 
         FIG.  9    illustrates an example camera module, in accordance with one or more embodiments. 
         FIG.  10    illustrates an example camera module, in accordance with one or more embodiments. 
         FIG.  11    and  FIG.  12    illustrate an example camera module, in accordance with one or more embodiments. 
     
    
    
     Throughout the drawings and the detailed description, the same reference numerals may refer to the same, or like, elements. The drawings may not be to scale, and the relative size, proportions, and depiction of elements in the drawings may be exaggerated for clarity, illustration, and convenience. 
     DETAILED DESCRIPTION 
     The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatuses, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of the disclosure of this application. For example, the sequences of operations described herein are merely examples, and are not limited to those set forth herein, but may be changed as will be apparent after an understanding of the disclosure of this application, with the exception of operations necessarily occurring in a certain order. Also, descriptions of features that are known, after an understanding of the disclosure of this application, may be omitted for increased clarity and conciseness, noting that omissions of features and their descriptions are also not intended to be admissions of their general knowledge. 
     The features described herein may be embodied in different forms, and are not to be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many possible ways of implementing the methods, apparatuses, and/or systems described herein that will be apparent after an understanding of the disclosure of this application. 
     In the drawings, same elements will be indicated by same reference numerals. Also, redundant descriptions and detailed descriptions of known functions and elements which may unnecessarily allow the gist of the present disclosure obscure will not be provided. In the accompanying drawings, some elements may be exaggerated, omitted or briefly illustrated, and the sizes of the elements do not necessarily reflect the actual sizes of these elements. 
     Although terms such as “first,” “second,” and “third” may be used herein to describe various members, components, regions, layers, or sections, these members, components, regions, layers, or sections are not to be limited by these terms. Rather, these terms are only used to distinguish one member, component, region, layer, or section from another member, component, region, layer, or section. Thus, a first member, component, region, layer, or section referred to in examples described herein may also be referred to as a second member, component, region, layer, or section without departing from the teachings of the examples. 
     An expression used in the singular encompasses the expression of the plural, unless it has a clearly different meaning in the context. 
     Throughout the specification, when an element, such as a layer, region, or substrate, is described as being “on,” “connected to,” or “coupled to” another element, it may be directly “on,” “connected to,” or “coupled to” the other element, or there may be one or more other elements intervening therebetween. In contrast, when an element is described as being “directly on,” “directly connected to,” or “directly coupled to” another element, there can be no other elements intervening therebetween. Likewise, expressions, for example, “between” and “immediately between” and “adjacent to” and “immediately adjacent to” may also be construed as described in the foregoing. 
     The terminology used herein is for the purpose of describing particular examples only, and is not to be used to limit the disclosure. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term “and/or” includes any one and any combination of any two or more of the associated listed items. As used herein, the terms “include,” “comprise,” and “have” specify the presence of stated features, numbers, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, elements, components, and/or combinations thereof. The use of the term “may” herein with respect to an example or embodiment (for example, as to what an example or embodiment may include or implement) means that at least one example or embodiment exists where such a feature is included or implemented, while all examples are not limited thereto. 
     Unless otherwise defined, all terms, including technical and scientific terms, used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains consistent with and after an understanding of the present disclosure. Terms, such as those defined in commonly used dictionaries, are to be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and are not to be interpreted in an idealized or overly formal sense unless expressly so defined herein. 
     In the example embodiments, the X-direction, the Y-direction, and the Z-direction may refer to a direction parallel to the X axis, a direction parallel to the Y axis, and a direction parallel to the Z axis, respectively, in the drawings. Additionally, unless otherwise indicated, the X-direction may include both the +X-axis direction and the -X-axis direction, which may also apply to the Y-direction and the Z-direction. 
     In the example embodiments, two directions (or axes) are parallel to or orthogonal to each other may also include the examples in which the two directions (or axes) are substantially parallel to or substantially side by side to each other. For example, the configuration in which the first axis and the second axis are orthogonal to each other may indicate that the first axis and the second axis may form an angle of 90 degrees or an angle of approximately 90 degrees. 
     “An example embodiment” does not necessarily indicate the same example embodiments. The particular features, structures, or characteristics may be combined in any suitable manner consistent with the example embodiments. 
     In the example embodiments, “configured to” may indicate that a component may include a structure necessary to implement a function. 
     One or more examples implement optical image stabilization by driving an image sensor. 
     One or more examples may enable a camera to provide an effective optical image stabilization function with low power, and to provide an automatic focusing function and an improved shaking correction function by driving an image sensor in various directions. 
     1. Camera Module 
       FIG.  1    illustrates example components included in a camera module 1, in accordance with one or more embodiments. 
     In an example embodiment, the camera module  1  may include a lens module  20  including at least one lens  21  and a lens barrel  22  accommodating at least one lens  21 , and an image sensor  11 . Light L may pass through the lens module  20  and may reach an imaging plane of the image sensor  11 . The camera module  1  may include an AF driver  23  which may move the lens module  20  in an optical axis direction to adjust a focal length. The AF driver  23  may include, for example, a coil and a magnet opposing each other. The coil may be fixedly coupled to the lens module  20 , the magnet may be coupled to a fixed body such as a housing, and electromagnetic interaction between the coil and the magnet may allow the lens module  20  to move in the optical axis direction. 
     In an example, the autofocusing may be implemented by driving the image sensor  11  instead of driving the lens module  20 . For example, the second AF driver  13  may move the image sensor  11  in the optical axis direction. An example of the second AF driver  13  will be described with reference to  FIGS.  9  and  10   . 
     In an example embodiment, the camera module  1  may provide an optical image stabilization (hereinafter, “OIS”) function. The camera module  1  may provide an OIS function by driving the image sensor  11 . For example, the camera module  1  may include an OIS driver  12  configured to move the image sensor  11  in a direction orthogonal to the optical axis, or to allow the image sensor  11  to rotate about an axis parallel to the optical axis or to rotate about an axis orthogonal to the optical axis. 
     In an example embodiment, the camera module  1  may include a sensor shifting module  10 . The sensor shifting module  10  may include components necessary to implement the OIS function by driving the image sensor  11 . For example, the sensor shifting module  10  may include an image sensor  11  and an OIS driver  12  that drives the image sensor  11 . As another example, the sensor shifting module  10  may refer to only the OIS driver  12  excluding the image sensor  11 . 
     In an example embodiment, the camera module  1  may further include an optical element in addition to the lens module  20  and the image sensor  11 . In an example embodiment, the camera module  1  may include two or more lens modules. For example, the first optical element  30  and/or the second optical element  40  may be a lens module distinct from the lens module  20 . 
     In an example embodiment, the camera module  1  may include an optical path changing element disposed in front of the lens module  20 . For example, the first optical element  30  may be implemented as a prism or a mirror. In another example embodiment, the optical path changing element may be disposed between the image sensor  11  and the lens module  20 . For example, the second optical element  40  may be implemented as a prism or a mirror. 
     Hereinafter, the sensor shifting module  100  described with reference to  FIGS.  2 A to  8 D  may be applied to the camera module  1  illustrated in  FIG.  1   . 
     2. Sensor Shift 
       FIG.  2 A  illustrates an example sensor shifting module  100 , in accordance with one or more embodiments.  FIG.  2 B  illustrates actuators included in an OIS driving unit, in accordance with one or more embodiments.  FIG.  2 C  is a diagram illustrating a pulling device between a first movable body and a fixed body, in accordance with one or more embodiments. 
     The sensor shifting module  100  may include an OIS driver. The OIS driver may include at least one of a first OIS driver, a second OIS driver, and a third OIS driver, which will be described later. The first OIS driver may move the image sensor  111  in a direction orthogonal to the optical axis, the second OIS driver may rotate the image sensor  111  about an axis parallel to the optical axis, and the third OIS driver may rotate the image sensor  111  about an axis orthogonal to the optical axis. 
     The OIS driver  12  of the camera module  1  in  FIG.  1    may include at least one of the first OIS driver, the second OIS driver, and the third OIS driver. 
     2.1. Translation + Rolling OIS 
     2.1.1. Structure 
     The sensor shifting module  100  may include a first OIS driver that drives the image sensor  111 . In an example embodiment, the sensor shifting module  100  may include a second movable body  110  including an image sensor  111 , and a first movable body  130  that carries the second movable body  110 . The second movable body  110  may be movably disposed in the first movable body  130 . The second movable body  110  may be configured to move together with the image sensor  111 . For example, the second movable body  110  may include a sensor substrate  112  on which the image sensor  111  is mounted and a sensor holder  113  coupled to the sensor substrate  112 . The second movable body  110  may move in a direction orthogonal to the optical axis with respect to the first movable body  130  by the first OIS driver. 
     Referring to  FIG.  2 A , the sensor holder  113  may include a plate  113   a  connected to the lower portion of the sensor substrate  112 , and an extension portion  113   b  extending from the edge of the plate  113   a  to the upper portion (in the +Z-direction). The extension portion  113   b  may oppose the coils  122  and  153 , and the magnets  121 ,  151 , and  161  may be seated on the extension portion  113   b . 
     A signal of the image sensor  111  may be transmitted to another electronic component (e.g., an image signal processor (ISP)) through the sensor substrate  112  and the connector. 
     The first movable body  130  may include a base  131  and components fixedly coupled to the base  131 . For example, the first movable body  130  may include a driving magnet  121  of a first OIS driver and a driving magnet  151  of a second OIS driver, which will be described later. 
     In an example embodiment, the sensor shifting module  100  may include a first OIS driver that moves the image sensor  111  in a direction orthogonal to the optical axis O. The second movable body  110  may, through the first OIS driver, move in a direction orthogonal to a direction in which the imaging plane  111   a  of the image sensor  111  is directed with respect to the first movable body  130 . In an example embodiment, the first OIS driver may correct the shaking of the camera module  1  or the electronic device on which the image sensor  111  is mounted in a direction orthogonal to the optical axis O. In an example embodiment, the first OIS driver may move the image sensor  111  in a first direction and a second direction orthogonal to the optical axis O. The first direction and the second direction may intersect each other. For example, the first OIS driver may move the second movable body  110  in the X-direction and/or the Y-direction orthogonal to the Z axis, thereby correcting the shaking in the X-direction and/or the Y-direction. 
     In the example embodiment, the direction in which the imaging plane  111   a  of the image sensor  111  is directed may be referred to as an optical axis O direction. That is, the second movable body  110  may move in a direction orthogonal to the optical axis O with respect to the first movable body  130 . In the drawings, the optical axis O may be parallel to the Z axis, and accordingly, the Z-direction may refer to a direction parallel to the optical axis O. Additionally, the X-direction or the Y-direction may refer to a direction orthogonal to the optical axis O. For example, in the example embodiment, the configuration in which the second movable body  110  moves in the X-direction may indicate that the second movable body  110  may move in a direction orthogonal to the optical axis O. In another example, the configuration in which the driving yoke  121  and the driving coil  122  oppose each other in the X-direction may indicate that the driving yoke  121  and the driving coil  122  oppose each other in a direction orthogonal to the optical axis O. Additionally, the X-direction or the Y-direction may be an example of two directions orthogonal to the optical axis and intersecting each other, and in the example embodiment, the X-direction and the Y-direction may be configured as two directions orthogonal to the optical axis O and intersecting each other. 
     In an example embodiment, the sensor shifting module  100  may include a second OIS driver that rotates the image sensor  111  about an axis parallel to the optical axis O. The second movable body  110  may, through the second OIS driver, rotate with respect to the fixed body  170  about an axis parallel to the direction in which the imaging plane  111   a  of the image sensor  111  is directed. In an example embodiment, the second OIS driver may correct rotation of the camera module  1  or the electronic device on which the image sensor  111  is mounted about an axis parallel to the optical axis O. 
     2.1.2 First Actuator (Translation) 
     Referring to  FIGS.  2 A and  2 B , in an example embodiment, the first OIS driver may include a first actuator  120  disposed between the first movable body  130  and the second movable body  110 . In an example embodiment, the first actuator  120  may include a first driving magnet  121  coupled to the second movable body  110 , and a first driving coil  122  coupled to the first movable body  130 . For example, referring to  FIG.  2 A , in an example embodiment, the first driving coil  122  and the first driving magnet  121  may be coupled to the base  131  and the sensor holder  113 , respectively. The first driving magnet  121  and the first driving coil  122  may oppose each other in a direction (e.g., the X-direction or the Y-direction) orthogonal to the optical axis O. Electromagnetic interaction between the first driving magnet  121  and the first driving coil  122  may allow the second movable body  110  to move in a direction orthogonal to the optical axis O with respect to the first movable body  130 . 
     The first OIS driver may include a plurality of first actuators  120 , and each of the first actuators  120  may include a first driving magnet  121  and a first driving coil  122 . For example, the first OIS driver may include a 1-1 actuator  120 - 1  disposed on the first side surface  110   a - 1  of the second movable body  110  and a 1-2 actuator  120 - 2  disposed on the second side surfaces  110   a - 2  of the second movable body  110 . Referring to  FIG.  2 B , a 1-1 actuator  120 - 1  may include a 1-1 driving magnet  121 - 1  and a 1-1 driving coil  122 - 1 . The 1-2 actuator  120 - 2  may include a 1-2 driving magnet  121 - 2  and a 1-2 driving coil  122 - 2 . 
     In an example embodiment, the first OIS driver may further include a yoke  123  disposed on one side of the first driving magnet  121  and/or the first driving coil  122 . The yoke  123  attached to one side of the first driving coil  122  may allow the magnetic field created by the first driving coil  122  to be concentrated in a direction toward the first driving magnet  121 . Since the yoke  123  is disposed on one side of the first driving coil  122 , the magnetic field created by the first driving coil  122  may be prevented from affecting the other electronic components or the effect of the magnetic field on the other electronic components may be reduced. The yoke  123  attached to one side of the first driving magnet  121  may allow the magnetic field created by the first driving magnet  121  to be concentrated in a direction toward the first driving coil  122 . 
     In the example embodiments, the first driving coil  122  and the first driving magnet  121  may be coupled to the first movable body  130  and the second movable body  110 , respectively, but an example embodiment thereof is not limited thereto. In another example embodiment, the first driving coil  122  and the first driving magnet  121  may be coupled to the second movable body  110  and the first movable body  130 , respectively. For example, the first driving coil  122  and the first driving magnet  121  may be coupled to the sensor holder  113  and the base  131 , respectively. 
     2.1.3 Second Actuator (Rolling) 
     Referring to  FIGS.  2 A and  2 B , in an example embodiment, the second OIS driver may include a second actuator  150  disposed between the first movable body  130  and the second movable body  110 . In an example embodiment, the second actuator  150  may include a second driving magnet  151  coupled to the second movable body  110 , and a second driving coil  152  coupled to the first movable body  130 . For example, referring to  FIG.  2 A , in an example embodiment, the second driving coil  152  and the second driving magnet  151  may be coupled to the base  131  and the sensor holder  113 , respectively. The second driving magnet  151  and the second driving coil  152  may oppose each other in a direction orthogonal to the optical axis O. Electromagnetic interaction between the second driving magnet  151  and the second driving coil  152  may rotate the second movable body  110  about an axis parallel to the optical axis O with respect to the first movable body  130 . 
     The second OIS driver may include a plurality of second actuators  150 , and each of the second actuators  150  may include a second driving magnet  151  and a second driving coil  152 . For example, the second OIS driver may include a 2-1 actuator  150 - 1  disposed on the third side surface  110 - 3  of the second movable body  110  and a 2-2 actuator  150 - 2  disposed on the fourth side surface  110 - 4  of the second movable body  110 . Referring to  FIG.  2 B , the 2-1 actuator  150 - 1  may include a 2-1 driving magnet  151 - 1  and a 2-1 driving coil  152 - 1 . The 2-2 actuator  150 - 2  may include a 2-2 driving magnet  151 - 2  and a 2-2 driving coil  152 - 2 . 
     In an example embodiment, the second OIS driver may further include a yoke  153  disposed on one side of the second driving magnet  151  and/or the second driving coil  152 . The yoke  153  attached to one side of the second driving coil  152  may allow the magnetic field created by the second driving coil  152  to be concentrated in a direction toward the second driving magnet  151 . Since the yoke  153  is disposed on one side of the second driving coil  152 , the magnetic field created by the second driving coil  152  may be prevented from affecting the other electronic components or the effect of the magnetic field on the other electronic components may be reduced. The yoke  153  attached to one side of the second driving magnet  151  may allow the magnetic field created by the second driving magnet  151  to be concentrated in a direction toward the second driving coil  152 . 
     In the example embodiment, the second driving coil  152  and the second driving magnet  151  may be coupled to the first movable body  130  and the second movable body  110 , respectively, but an example embodiment thereof is not limited thereto. In another example embodiment, the second driving coil  152  and the second driving magnet  151  may be coupled to the second movable body  110  and the first movable body  130 , respectively. For example, the second driving coil  152  and the second driving magnet  151  may be coupled to the sensor holder  113  and the base  131 , respectively. 
     2.1.4. PCB Spring 
     In an example embodiment, the sensor shifting module  100  may include a substrate  140  mechanically connecting the second movable body  110  to the first movable body  130 . The substrate  140  may couple the second movable body  110  to the first movable body  130  such that the second movable body  110  may move on a plane orthogonal to the optical axis with respect to the first movable body  130 . A portion of the substrate  140  may be deformed according to the movement of the second movable body  110  with respect to the first movable body  130 . That is, a portion of the substrate  140  may be flexible. When the substrate  140  is deformed, restoring force may be created in the substrate  140 , and the restoring force may allow the second movable body  110  to return to the original position. The second movable body  110  in the equilibrium state may move with respect to the first movable body  130  as a current is applied to the first driving coil  122  or the second driving coil  152 , and when no current flows through the first driving coil  122  and the second driving coil  152 , the second movable body  110  may return to the original position by the substrate  140 . 
       FIG.  3    illustrates a substrate on which an image sensor is mounted according to an example embodiment, viewed from above. Referring to  FIGS.  2 A to  2 C and  3   , the substrate  140  may include a movable portion  141  (a floating portion) on which the sensor substrate  112  is seated, and a fixed portion  142  fixed to the first movable body  130 ). The sensor substrate  112  and the movable portion  141  may be electrically connected to each other through solder balls at corresponding contact points P 1  and P 2 . 
     While the second movable body  110  (or the image sensor  111 ) moves relative to the first movable body  130 , the movable portion  141  may move relative to the fixed portion  142 . The substrate  140  may include a supporting portion  143  connecting the movable portion  141  to the fixed portion  142 . At least a portion of the supporting portion  143  may be deformed according to the relative movement between the movable portion  141  and the first movable body  130 . For example, the supporting portion  143  may be configured as a flexible substrate. The flexible substrate may be provided in a form in which a conductive pattern (or an electrical trace  145 ) is formed in a film formed of a polyimide material. 
     In an example embodiment, the substrate  140  may include a plurality of bridge elements  144  connecting the movable portion  141  to the fixed portion  142 . The plurality of bridge elements  144  may be included in at least a portion of the supporting portion  143 . The plurality of bridge elements  144  may be formed of a flexible material, such that the plurality of bridge elements  144  may be deformed when the movable portion  141  moves relative to the fixed portion  142 . When the second movable body  110  moves relative to the first movable body  130 , the movable portion  141  may move relative to the fixed portion  142 , and the bridge elements  144  may be deformed. Restoring force created as the bridge elements  144  are deformed may allow the second movable body  110  or the movable portion  141  to return to the original position. Each of the plurality of bridge elements  144  may embed at least one electrical wiring  145  therein. That is, the plurality of bridge elements  144  may mechanically and electrically connect the movable portion  141  (or the second movable body  110 ) to the fixed portion  142  (or the first movable body  130 ). That is, the bridge elements  144  may support the image sensor  111  and may function as a passage through which a signal of the image sensor  111  is transmitted. 
     In an example embodiment, the substrate  140  may include a guide  146  disposed between the movable portion  141  and the fixed portion  142 . For example, the guide  146  may be provided in the form of a picture frame surrounding the movable portion  141 . The fixed portion  142 , the guide  146 , and the movable portion  141  may be connected to each other via the bridge elements  144 . For example, the substrate  140  may include a first bridge  147  extending from the movable portion  141  to the guide  146  and a second bridge  148  extending from the guide  146  to the fixed portion  142 . The first bridge  147  and the second bridge  148  may extend in a direction orthogonal to the optical axis. The first bridge  147  and the second bridge  148  may extend in a direction intersecting each other. For example, the first bridge  147  may extend in the Y-direction, and the second bridge  148  may extend in the Z-direction. 
     Each of the first bridge  147  and the second bridge  148  may include one or more bridge elements  144 . In  FIG.  3   , the first bridge  147  may include four bridge elements  144  extending in the X-direction, and the second bridge  148  may include four bridge elements  144  extending in the Y-direction. The substrate  140  in  FIG.  3    may be an example, and the form of the supporting portion  143  connecting the movable portion  141  to the fixed portion  142  may be varied. For example, the supporting portion  143  may include a plurality of bridge elements  144  extending directly from the movable portion  141  to the fixed portion  142 . As another example, the first bridge  147  or the second bridge  148  may include five bridge elements  144 . The number of bridge elements  144  included in the first bridge  147  or the second bridge  148  may correspond to the number corresponding to the terminals of the image sensor  111 . 
     The substrate  140  may include an electrical wiring  145  that transmits a signal of the image sensor  111 . A plurality of bridge elements  144  included in the supporting portion  143  may embed the electrical wiring  145  therein. The image sensor  111  may be mounted on the sensor substrate  112 , and the sensor substrate  112  may be electrically connected to the fixed portion  142  of the substrate  140 . An electrical wiring  145  may extend from each of the contact points P 2  formed in the movable portion  141 . The electrical wiring  145  may extend to the fixed portion  142  through the bridge element  144 . The electrical wiring  145  extending to the fixed portion may be electrically connected to another substrate or electronic component. 
       FIG.  3    illustrates the electrical wiring  145  formed on the substrate  140 , and only the electrical wiring  145  extending from a portion of the contact points is illustrated for ease of description. 
     In an example embodiment, the first OIS driver may include a first position sensor which may measure how much the second movable body  110  moves in a direction orthogonal to the optical axis O. The first position sensor may be configured, as only examples, as a Hall sensor or a magnetoresistive sensor. In an example embodiment, the first position sensor may be disposed in the first driving coil  122  to oppose the first driving magnet  121 . The internal portion of the coil may refer to an empty space corresponding to the winding center of the coil. In another example embodiment, the first OIS driver may include a sensing magnet distinct from the first driving magnet  121 , and the first position sensor may be disposed to oppose the sensing magnet. For example, the first position sensor and the sensing magnet may be disposed to oppose the base  131  or the substrate  140  in the optical axis direction (in the Z-direction). 
     In an example embodiment, the first OIS driver may include a second position sensor which may measure how much the second movable body  110  rotates along an axis parallel to the optical axis O. The second position sensor may be configured as a Hall sensor or a magnetoresistance sensor. In an example embodiment, the second position sensor may be disposed in the second driving coil  152  to oppose the second driving magnet  151 . In another example embodiment, the second OIS driver may include a sensing magnet distinct from the second driving magnet  151 , and the second position sensor may be disposed to oppose the sensing magnet. For example, the second position sensor and the sensing magnet may be disposed to oppose the base  131  or the substrate  140  in the optical axis direction (in the Z-direction). 
     The second position sensor may be the same component as the first position sensor. That is, one position sensor may be used to measure both translational movement (movement by the first OIS driver) and rotational movement (movement by the second OIS driver) of the second movable body. 
     2.1.4. Arrangement of Actuator 
       FIGS.  4 A and  4 B  illustrate arrangements of a first OIS driver and a second OIS driver, in accordance with one or more embodiments. 
     Referring to  FIG.  2 B ,  FIG.  4 A , or  FIG.  4 B , the second movable body  110  may include four side surfaces  110   a - 1 ,  110   a - 2 ,  110   a - 3 , and  110   a - 4  which form a quadrangular shape, and two side surfaces adjacent to each other among the four side surfaces  110   a - 1 ,  110   a - 2 ,  110   a - 3 , and  110   a - 4  may form a corner. 
     The second movable body  110  may include a first side surface  110   a - 1 , a second side surface  110   a - 2 , a third side surface  110   a - 3 , and a fourth side surface  110   a - 4  in a clockwise direction. A first corner  110   b - 1  may be formed at the boundary between the first side surface  110   a - 1  and the second side surface  110   a - 2 , a second corner  110   b - 2  may be formed at the boundary between the second side surface  110   a - 2  and the third side surface  110   a - 3 , a third corner  110   b - 2  may be formed between the third side surface  110   a - 3  and the fourth side surface  110   a - 4 , and a fourth corner  110   b - 4  may be formed between the fourth side surface  110   a - 4  and the first side surface  110   a - 1 . The side surface  110   a  of the first movable body  110  may be a side surface of the sensor holder  113 . 
     In an example embodiment, the four side surfaces  110   a - 1 ,  110   a - 2 ,  110   a - 3 ,  110   a - 4  may be parallel to the horizontal side  111   b  or the vertical side  111   c  of the image sensor  111 , and the four corners  110   b  may be disposed in the diagonal directions D1 and D2 of the image sensor. 
     The first actuator  120  and the second actuator  150  may be disposed on side surfaces distinct from each other among the four side surfaces  110   a - 1 ,  110   a - 2 ,  110   a - 3 , and  110   a - 4 . For example, the 1-1 actuator  120 - 1 , the 1-2 actuator  120 - 2 , the 2-1 actuator  150 - 1 , and the 2-2 actuator  150 - 2  may be disposed on the first side surface  110   a - 1 , the second side surface  110   a - 2 , the third side surface  110   a - 3 , and the fourth side surface  110   a - 4 , respectively. 
     Referring to  FIGS.  4 A and  4 B , the second actuator  150  included in the second OIS driver may be disposed adjacent to the corner  110   b  of the second movable body  110 . Since the second actuator  150  is disposed adjacent to the corner  110   b , the second movable body  110  may rotate efficiently. 
     Referring to  FIG.  4 A , the 1-1 actuator  120 - 1  and the 1-2 actuator  120 - 2  included in the first OIS driver may be disposed, as examples, in the center of a first side surface  110 - 1  and a second side surface  110 - 2 . The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  included in the second OIS driver may be disposed, as examples, on the third side surface  110 - 3  and the fourth side surface  110 - 4 , respectively. The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may be disposed adjacent to the second corner  110   b - 2  and the third corner  110   b - 3 , respectively. 
     Referring to  FIG.  4 B , the 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  included in the second OIS driver may be disposed on a third side surface  110 - 3  and a fourth side surface  110 - 4 , respectively. The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may be disposed adjacent to the third corner  110   b - 3  and the fourth corner  110   b - 4 , respectively. 
     2.2. Tilting OIS 
     2.2.1. Structure 
     Referring to  FIG.  2 A , the sensor shifting module  100  may include a third OIS driver  160 . The sensor shifting module  100  may include a third OIS driver that moves the first movable body  130  relative to the fixed body  170 . The third OIS driver may rotate the first movable body  130  about an axis (e.g., the first axis A 1  or the second axis A 2  in  FIG.  2 B ) orthogonal to the optical axis O with respect to the fixed body  170 . The shaking correction may be implemented by translating the image sensor  111  in a direction orthogonal to the optical axis O. However, since the size of the mobile camera is relatively small, the range of translation movement may be relatively small, and accordingly, when the degree of shaking is relatively large, the amount of correction may not reach the shaking. The third OIS driver may correct the shaking by tilting the image sensor  111 , and may provide a shaking correction function of excellent quality even for relatively large shaking. 
     The first movable body  130  may be movably disposed in the fixed body  170 . The first movable body  130  may move with respect to the fixed body  170  by the third OIS driver. The image sensor  111  may be coupled to the first movable body  130 . The image sensor  111  may be movably coupled to the first movable body  130 . For example, the image sensor  111  may be coupled to the second movable body  110 , and the second movable body  110  may be movably coupled to the first movable body  130 . The second movable body  110  may move relative to the first movable body  130  by the first OIS driver or the second OIS driver. 
     2.2.2. Third Actuator (Tilting) 
     Referring to  FIGS.  2 A and  2 B , the third OIS driver may include a third actuator  160  disposed between the fixed body  170  and the first movable body  130 . The third actuator  160  may include a third driving magnet  161  coupled to the first movable body  130  or the second movable body  110 , and a third driving coil  162  coupled to the fixed body  170  to oppose the third driving magnet  161 . 
     In an example embodiment, the third actuator  160  may further include a yoke  163 . The yoke  163  may be disposed on one side of the third driving magnet  161  and/or the third driving coil  162 . 
     In an example embodiment, the third driving magnet  161  may be the first driving magnet  121  of the first OIS driver or the second driving magnet  151  of the second OIS driver. That is, the first driving magnet  121  or the second driving magnet  151  may be included in a portion of the third OIS driver. For example, at least one of the 1-1 driving magnet  121 - 1 , the 1-2 driving magnet  121 - 2 , the 2-1 driving magnet  151 - 1 , or the 2-2 driving magnet  151 - 2  may function as the third driving magnet  161 . Accordingly, a component described as the third driving magnet  161  in the example embodiment may be understood as the first driving magnet  121  or the second driving magnet  151 . 
     The third OIS driver may include a plurality of third actuators  160 , and each of the third actuators  160  may include a third driving magnet  161  and a third driving coil  162 . For example, the third OIS driver may include four third actuators  160  corresponding to the 1-1 actuator  120 - 1 , the 1-2 actuator  120 - 2 , the 2-1 actuator  150 - 1 , and the 2-2 actuator  150 - 2 , respectively. 
     In an example embodiment, the third actuator  160  may include a 3-1 actuator  160 - 1 , a 3-2 actuator  160 - 2 , a 3-3 actuator  160 - 3 , and a 3-4 actuator  160 - 4 . 
     Referring to  FIG.  2 B , a 3-1 actuator  160 - 1  may include a 3-1 driving magnet  161 - 1  and a 3-1 driving coil  162 - 1 . The 3-2 actuator  160 - 2  may include a 3-2 driving magnet  161 - 2  and a 3-2 driving coil  162 - 2 . The 3-3 actuator  160 - 3  may include a 3-3 driving magnet  161 - 3  and a 3-3 driving coil  162 - 3 . The 3-4 actuator  160 - 4  may include a 3-4 driving magnet  161 - 4  and a 3-4 driving coil  162 - 4 . 
     The 1-1 driving magnet  121 - 1 , the 1-2 driving magnet  121 - 2 , the 2-1 driving magnet  151 - 1 , and the 2-2 driving magnet  151 - 2  may function as driving magnets  161 - 1 ,  161 - 2 ,  161 - 3 , and  161 - 4  of the 3-1 actuator  160 - 1 , the 3-2 actuator  160 - 2 , the 3-3 actuator  160 - 3 , and the 3-4 actuator  160 - 4 , respectively. The 3-1 driving coil  162 - 1 , the 3-2 driving coil  162 - 2 , the 3-3 driving coil  162 - 3 , and the 3-4 driving coil  162 - 4  may be disposed to oppose the 1-1 driving magnet  121 - 1 , the 1-2 driving magnet  121 - 2 , the 2-1 driving magnet  151 - 1 , and the 2-2 driving magnet  151 - 2 , respectively. 
     Referring to  FIG.  2 B , the third OIS driver may rotate the first movable body  130  about the first axis A 1  and the second axis A 2 . The first axis A 1  and the second axis A 2  may be orthogonal to the optical axis and may intersect each other. For example, the first axis A 1  may be parallel to the Y axis and the second axis A 2  may be parallel to the X axis. 
     The 3-1 actuator  160 - 1  or the 3-3 actuator  160 - 3  may provide a moment to the first movable body  130  in the first axis A 1  direction. When a current is applied to the 3-1 driving coil  162 - 1 , an attractive force or a repulsive force may be created between the 3-1 driving coil  162 - 1  and the 1-1 driving magnet  121 - 1 , such that the first movable body  130  may be tilted relative to the fixed body  170  with respect to the first axis A 1  orthogonal to the optical axis. When a current is applied to the 3-3 driving coil  162 - 3 , attractive force or repulsive force may be created between the 3-3 driving coil  162 - 3  and the 2-1 driving magnet  151 - 1 , such that the first movable body  130  may be tilted relative to the fixed body  170  with respect to the first axis A 1  orthogonal to the optical axis. 
     The 3-2 actuator  160 - 2  and the 3-4 actuator  160 - 4  may provide a moment to the first movable body  130  in the second axis A 2  direction. When a current is applied to the 3-2 driving coil  162 - 2 , an attractive force or a repulsive force may be created between the 3-2 driving coil  162 - 2  and the 1-2 driving magnet  121 - 2 , such that the first movable body  130  may be tilted relative to the fixed body  170  with respect to the second axis A 2  orthogonal to the optical axis. When a current is applied to the 3-4 driving coil  162 - 4 , attractive force or repulsive force may be created between the 3-4 driving coil  162 - 4  and the 2-2 driving magnet  151 - 2 , such that the first movable body  130  may be tilted relative to the fixed body  170  with respect to the second axis A 2  orthogonal to the optical axis. 
     In an example embodiment, a portion of the 3-1 driving coil  162 - 1 , the 3-2 driving coil  162 - 2 , the 3-3 driving coil  162 - 3 , or the 3-4 driving coil  162 - 4  may not be provided. In an example embodiment, one of the 3-1 actuator  160 - 1  and the 3-3 actuator  160 - 3  providing the moment in the Y-direction may not be provided. In an example embodiment, one of the 3-2 actuator  160 - 2  and the 3-4 actuator  160 - 4  providing the moment in the X-direction may not be provided. For example, the third OIS driver may include only the 3-1 actuator  160 - 1  and the 3-2 actuator  160 - 2 . As another example, the third OIS driver may include only the 3-3 actuator  160 - 3  and the 3-4 actuator  160 - 4 . 
     Meanwhile, in examples, the first driving magnet  121  and the second driving magnet  151  included in a portion of the respective first OIS driver and the second OIS driver may be coupled to the first movable body  130 , or may alternately be coupled to the second movable body  110 . In this example, the third driving coil  162  may be disposed to oppose the first driving magnet  121  and the second driving magnet  151  coupled to the second movable body  110 . 
     2.2.3. Ball Guide 
     In an example embodiment, the third OIS driver may include a tilt guide ball  164  disposed between the fixed body  170  and the first movable body  130 . The tilt guide ball  164  may provide a tilt center for the fixed body  170  of the first movable body  130 . For example, the first movable body  130  may be tilted around the tilt guide ball  164 . The lower surface of the first movable body  130  and the bottom surface of the fixed body  170  may oppose each other in the optical axis O direction, and a groove that accommodates at least a portion of the tilt guide ball  164  may be formed in the lower surface of the first movable body  130  and the bottom surface of the fixed body  170 , respectively. 
     2.2.4. Pulling 
       FIG.  2 C  illustrates the upper surface of the fixed body and the lower surface of the first movable body in an example embodiment. 
     Referring to  FIGS.  2 A and  2 C , in an example embodiment, the third OIS driver may include a pulling device disposed on the fixed body  170  and the first movable body  130 , respectively, and opposing each other in a direction parallel to the optical axis O. The pulling device may include a first magnetic member  165  and a second magnetic member  166 . A magnetic attraction may be created between the first magnetic member  165  and the second magnetic member  166 , such that the first movable body  130  may be pulled toward the bottom surface of the fixed body  170 . Accordingly, the tilt guide ball  164  may be maintained to be in contact with the first movable body  130  and the fixed body  170  based on the interaction of the first magnetic member  165  and the second magnetic member  166 , such that the first movable body  130  may be smoothly tilted with respect to the fixed body  170 . 
     In an example, one of the first magnetic member  165  or the second magnetic member  166  may be a magnet, and the other may be a magnet or a yoke. As a non-limiting example, the first magnetic member  165  may be a magnet and the second magnetic member  166  may be a yoke. 
     Referring to  FIG.  2 C , a plurality of first magnetic members  165  and a plurality of second magnetic members  166  corresponding to the plurality of first magnetic members  165  may be arranged around the tilt guide ball  164 . 
     In an example embodiment, the third OIS driver may include a third position sensor configured to measure the amount of tilting of the first movable body  130 . As only examples, the third position sensor may be configured as a Hall sensor or a magnetoresistance sensor. 
     In an example embodiment, the third position sensor may be disposed in the third driving coil  162  and may oppose the first driving magnet  121  or the second driving magnet  151 . 
     In an example embodiment, the third OIS driver may include a sensing magnet opposing the third position sensor. In an example embodiment, one of the first magnetic member  165  and the second magnetic member  166  may be a magnet and the other may be a yoke, and the magnetic member which is a magnet may function as a sensing magnet. For example, referring to  FIG.  2 A , the first magnetic member  165  may be a magnet, the second magnetic member  166  may be a yoke, the second magnetic member  165  may include a through portion therein, and a third position sensor may be disposed in the through portion. 
     2.3. Movement 
     2.3.1. Translation Movement 
       FIGS.  5 A to  5 D  illustrate the movement of a second movable body based on a first OIS driver. 
     Referring to  FIG.  5 A , the 1-1 actuator  120 - 1  may move the second movable body  110  in the X-direction with respect to the first movable body  130 . When a current is applied to the 1-1 driving coil  122 - 1 , attractive force or repulsive force in the X-direction may be created between the 1-1 driving coil  122 - 1  and the 1-1 driving magnet  121 - 1  such that the second movable body  110  (or the image sensor  111 ) may move in the -X-direction or the +X-direction. 
     Referring to  FIG.  5 B , the first and second actuators  120 - 1  and  120 - 2  may move the second movable body  110  in the Y-direction with respect to the first movable body  130 . When a current is applied to the 1-2 driving coil  122 - 2 , attractive force or repulsive force in the Y-direction may be created between the 1-2 driving coil  122 - 2  and the 1-2 driving magnet  121 - 2 , such that the second movable body  110  (or the image sensor  111 ) may move in the -Y-direction or the +Y-direction. 
     2.3.2. Rolling Movement 
       FIGS.  6 A and  6 B  illustrate the rolling of a second movable body  110  based on a second OIS driver. 
     Referring to  FIG.  6 A , the 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may rotate the second movable body  110  in a counterclockwise direction with respect to the first movable body  130 . The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may provide a moment to the second movable body  110  in a counterclockwise direction. For example, a Lorentz force may be created between the 2-1 driving magnet  151 - 1  and the 2-1 driving coil  152 - 1 , and accordingly, a force F1 may act on the 2-1 driving magnet  151 - 1 . A Lorentz force may be created between the 2-2 driving magnet  151 - 2  and the 2-2 driving coil  152 - 2 , and accordingly, a force F2 may act on the 2-1 driving magnet  151 - 1 . F1 and F2 may rotate the second movable body  110  in a counterclockwise direction. 
     Referring to  FIG.  6 A , the 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may rotate the second movable body  110  in a clockwise direction with respect to the first movable body  130 . The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may provide a moment in a clockwise direction to the second movable body  110 . For example, a Lorentz force may be created between the 2-1 driving magnet  151 - 1  and the 2-1 driving coil  152 - 1 , and accordingly, a force F3 may act on the 2-1 driving magnet  151 - 1 . A Lorentz force may be created between the 2-2 driving magnet  151 - 2  and the 2-2 driving coil  152 - 2 , and accordingly, a force F4 may act on the 2-1 driving magnet  151 - 1 . F3 and F4 may rotate the second movable body  110  in a clockwise direction. 
     2.3.3. Tilting Movement 
       FIGS.  7 A and  7 B  illustrate the tilting of the first movable body or tilting carrier  130 . 
     Referring to  FIGS.  7 A and  7 B , the third OIS driver may rotate the image sensor about an axis orthogonal to the optical axis. For example, the third OIS driver may rotate the first movable body  130  or the second movable body  110  in a clockwise or counterclockwise direction with respect to the tilt guide ball  164 . 
       FIGS.  7 A and  7 B  illustrate a 3-1 actuator  160 - 1  and a 3-3 third actuator  160 - 3  which rotate the first movable body  130  in the first axis A 1  direction (or Y-axis direction). Although not illustrated, the first movable body  130  may rotate about various axes (e.g., the first axis A 1  or the second axis A 2  in  FIG.  2 B ) orthogonal to the optical axis by the plurality of third actuators including the 3-1 actuator  160 - 1  or the 3-3 actuator  160 - 3 . 
     Referring to  FIG.  7 A , as a current is applied to the 3-1 driving coil  162 - 1 , a repulsive force may be created between the 3-1 driving magnet  161 - 1  and the 3-1 driving coil  162 - 1 , such that the first movable body  130  may rotate in a counterclockwise direction. Additionally, or alternatively, as a current is applied to the 3-3 driving coil  162 - 3 , an attractive force may be created between the 3-3 driving magnet and the 3-3 driving coil  162 - 3 , such that the first movable body  130  may rotate in a counterclockwise direction with respect to the fixed body  170 . 
     Referring to  FIG.  7 B , as current is applied to the 3-1 driving coil  162 - 1 , an attractive force may be created between the 3-1 driving magnet  161 - 1  and the 3-1 driving coil  162 - 1 , such that the first movable body  130  may rotate in a clockwise direction. Additionally, or alternatively, as a current is applied to the 3-3 driving coil  162 - 3 , a repulsive force may be created between the 3-3 driving magnet and the 3-3 driving coil  162 - 3 , such that the first movable body  130  may rotate in a clockwise direction with respect to the fixed body  170 . 
     In an example embodiment, one of the 3-1 actuator  160 - 1  or the 3-3 actuator  160 - 3  in the third OIS driver may not be provided. This is because the 3-1 actuator  160 - 1  and the 3-3 actuator  160 - 3  may rotate the first movable body  130  in a clockwise or counterclockwise direction. 
     2.4. Deformation of Flexible Substrate 
       FIGS.  8 A,  8 B,  8 C, and  8 D  illustrate the deformation of a substrate  140  according to movement of a movable body  110 . 
     Referring to  FIG.  8 A , when the second movable body  110  moves in the -X-direction, the movable portion  141  of the substrate  140  may also move in the -X-direction, and accordingly, the first bridge  147  connecting the guide  146  to the fixed portion  142  may be deformed. Since the bridge elements  144  included in the first bridge  147  may have elasticity, the deformed first bridge  147  may provide resilient force to allow the movable portion  141  to return in a direction (the +X-direction) opposite to the movement direction. Accordingly, when no current is applied to the first OIS driver, the movable portion  141  may move in the -X-direction. 
     Referring to  FIG.  8 B , when the second movable body  110  moves in the +X-direction, the movable portion  141  of the substrate  140  may also move in the +X-direction, and accordingly, the first bridge  147  connecting the guide  146  to the fixed portion  142  may be deformed. Since the bridge elements  144  included in the first bridge  147  have elasticity, the deformed first bridge  147  may provide resilient force to allow the movable portion  141  to return in the direction (the -X-direction) opposite to the moving direction. 
     Referring to  FIG.  8 C , when the second movable body  110  moves in the +Y-direction, the movable portion  141  of the substrate  140  may also move in the +Y-direction, and accordingly, the second bridge  148  connecting the guide  146  to the fixed portion  142  may be deformed. Since the bridge elements  144  included in the second bridge  148  have elasticity, the deformed second bridge  148  may provide resilient force to allow the movable portion  141  to return in the direction (the -Y-direction) opposite to the moving direction. 
     Referring to  FIG.  8 D , when the second movable body  110  moves in the -Y-direction, the movable portion  141  of the substrate  140  may also move in the -Y-direction, and accordingly, the second bridge  148  connecting the guide  146  to the fixed portion  142  may be deformed. Since the bridge elements  144  included in the second bridge  148  have elasticity, the deformed second bridge  148  may provide resilient force to allow the movable portion  141  to return in the direction (the +Y-direction) opposite to the moving direction. 
     3. Sensor Shift AF 
       FIG.  9    illustrates an example camera module  200  according to a first example embodiment.  FIG.  10    illustrates an example camera module  300 , in accordance with one or more embodiments. 
     Referring to  FIGS.  9  and  10   , in an example embodiment, the camera modules  200  and  300  may include a housing  210 , a lens barrel  220 , an image sensor  111 , an AF carrier  270  and an AF driver. The lens barrel  220  may include at least one lens, and may be coupled to the housing  210 . The image sensor  111  may be movably coupled to the AF carrier  270 . For example, the AF carrier  270  and the image sensor  111  may respectively correspond to the fixed body  170  and the image sensor  111  in  FIG.  2 A . 
     A sensor shifting module may be disposed in the AF Carrier  270 . The sensor shifting module may include a portion, or an entirety, of the components included in the sensor shifting module  100  described with reference to  FIGS.  2 A to  8 D . For example, the sensor shifting module may include a driver configured to move the image sensor  111  in a direction orthogonal to the optical axis O with respect to the AF carrier  270 , to rotate the image sensor  111  about an axis parallel to the optical axis O, or to rotate the image sensor  111  about an axis orthogonal to the optical axis O. 
     The AF driver may include a ball guide structure, a pooling device, and an AF actuator. The AF driver in  FIGS.  9  and  10    may correspond to the second AF driver in  FIG.  1   . 
     Referring to  FIG.  9   , the image sensor  111  may be mounted on the AF carrier  270 , and the AF carrier  270  may move in the direction of the optical axis O with respect to the housing  210 . A ball member  231  may be disposed between the AF carrier  270  and the housing  210 . The ball member  231  may include a plurality of balls. 
     The ball member  231  may be disposed between the first side surface  271  of the AF carrier  270  and the first sidewall  211  of the housing  210 . A guide groove for partially accommodating the ball member  231  may be formed in the first side surface  271  of the AF carrier  270  and the first sidewall  211  of the housing  210 . The guide groove may extend in a direction parallel to the optical axis O and may guide movement of the AF carrier  270  in the optical axis O direction. 
     The AF actuator  240  may be disposed between the AF carrier  270  and the housing  210 . The AF actuator  240  may include the AF coil  241  and the AF magnet  242  opposing each other. In an example embodiment, the AF coil  241  and the AF magnet  242  may be disposed in the housing  210  and the AF Carrier  270 , respectively. In another example embodiment, the AF coil  241  and the AF magnet  242  may be disposed in the AF Carrier  270  and the housing  210 , respectively. 
     In an example embodiment, the AF actuator  240  may include the AF coil  241  and the AF magnet  242  opposing each other in the direction (e.g., the X-direction) orthogonal to the optical axis O. When the current flows in the AF coil  241 , the AF carrier  270  may move in the optical axis O direction with respect to the housing  210  by electromagnetic interaction (e.g., Lorentz force) between the AF coil  241  and the AF magnet  242 . 
     A device that pulls the AF carrier  270  to the sidewall of the housing  210  may be disposed between the AF carrier  270  and the housing  210 . In an example embodiment, referring to  FIG.  9   , the pulling yoke  251  may be disposed on one side of the AF coil  241 , and the AF carrier  270  may be pulled by attractive force between the pulling yoke  251  and the AF magnet  242  toward the first sidewall  211  of the housing  210 . Accordingly, the ball member  231  may maintain to be in contact with the AF carrier  270  and the housing  210 , and accordingly, the AF carrier  270  may move smoothly in the optical axis O direction. 
     Referring to  FIG.  10   , in an example embodiment, the AF actuator  340  may be disposed below the AF carrier  270 . For example, the AF magnet  342  may be disposed on the lower surface of the AF carrier  270 , and the AF coil  341  may be disposed on the bottom surface of the housing  210 . In an example embodiment, the AF magnet  342  and the AF coil  341  may oppose each other in a direction parallel to the optical axis O (e.g., the Z-direction). When a current flows in the AF coil  341 , an attractive force or a repulsive force may be created between the AF coil  341  and the AF magnet  342  such that the AF carrier  270  may move in the optical axis O direction. 
     Referring to  FIG.  10   , a first elastic member  281 , that pushes the AF carrier  270  to the first sidewall  211  of the housing  210 , may be disposed between the AF carrier  270  and the housing  210 . The ball member  231  may be disposed on a first side of the AF carrier  270 , and the first elastic member  281  may be disposed on a second side of the AF carrier  270 . The first elastic member  281  may be disposed between the AF carrier  270  and the housing  210 , and may push the AF carrier  270  in the direction in which the ball member  231  is disposed. Accordingly, the ball member  231  may be maintained in contact with the AF carrier  270  and the housing  210 , and accordingly, the AF carrier  270  may move smoothly in the optical axis O direction. The first elastic member  281  may be configured as a leaf spring. For example, the first elastic member  281  may be provided in the form of a leaf spring bent to be curved toward the AF carrier  270  (in the +Z-direction). 
     Referring to  FIG.  10   , the yoke  351  may be disposed on one side of the AF coil  341 , and a magnetic attraction force may be created between the yoke  351  and the AF magnet  342  such that the AF carrier ( 270 ) may be pulled to the bottom surface of the housing  210 . In an example embodiment, the AF driver may include a second elastic member  282  disposed below the AF carrier  270 . The second elastic member  282  may support the AF carrier  270 . When the AF carrier  270  moves in the optical axis O direction from the initial position, the second elastic member  282  may be deformed such that the second elastic member  282  may provide restoring force for allowing the AF carrier  270  to return the initial position. The second elastic member  282  may be provided in the form of a leaf spring. For example, referring to  FIG.  10   , the second elastic member  282  may be configured as a leaf spring bent to be curved toward the AF carrier  270 . The first elastic member  281  and/or the second elastic member  282  in  FIG.  10    may also be applied to the camera module  200  illustrated in  FIG.  9   . 
     4. Additional Example Embodiment of Camera Module 
       FIGS.  11  and  12    illustrate example camera modules  400  and  500 , in accordance with one or more embodiments. 
     Referring to  FIG.  11   , the camera module  400  may include a plurality of lens barrels  420 . For example, the camera module  400  may include three lens barrels  421 ,  422 , and  423 . The lens barrels  420  may be fixedly coupled to the housing  410 . The camera module  400  may include an optical path changing member  430  disposed on the object side of the front lens barrel  421 . The optical path changing member  430  may change a path of light, and may be configured as, for example, a prism or a mirror. In the housing  410 , the AF carrier  270  including an image sensor  111  may be disposed to move in the optical axis direction, and the descriptions related to the components of the AF carrier  270  and the AF driving may be the same as the description described with reference to  FIGS.  9  and  10   . 
     Referring to  FIG.  12   , the optical path changing member  530  may be disposed in front of the image sensor  111 , and the lens barrel  520  may be disposed on one side of the optical path changing member  530 . Light passing through the lens barrel  520  may be reflected from the optical path changing member  530  and may reach the image sensor  111 . In the housing  510 , the AF carrier  270  including an image sensor  111  may be disposed in the optical axis direction, and the descriptions related to the components of the AF carrier  270  and the AF driving may be the same as the description described with reference to  FIGS.  9  and  10   . 
     According to the aforementioned example embodiments, the camera may provide an effective autofocusing function and an effective optical image stabilization function with low power. Additionally, an improved shaking correction function may be implemented by driving the image sensor in various directions. 
     While this disclosure includes specific examples, it will be apparent to one of ordinary skill in the art, after an understanding of the disclosure of this application, that various changes in form and details may be made in these examples without departing from the spirit and scope of the claims and their equivalents. The examples described herein are to be considered in a descriptive sense only, and not for purposes of limitation. Descriptions of features or aspects in each example are to be considered as being applicable to similar features or aspects in other examples. Suitable results may be achieved if the described techniques are performed in a different order, and/or if components in a described system, architecture, device, or circuit are combined in a different manner, and/or replaced or supplemented by other components or their equivalents. Therefore, the scope of the disclosure is defined not by the detailed description, but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are to be construed as being included in the disclosure.