Image acquisition device and scanner

Abstract

The present disclosure relates to the technical field of scanners, and particularly to an image acquisition device and a scanner. The image acquisition device includes a first image sensor, a second image sensor, and a reflection component; there is a first distance between the first image sensor and the second image sensor; the first image sensor and the second image sensor are used to acquire images of an object to be measured; the reflection component is used to reflect the light emitted by the object to be measured to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor acquire images of the object to be measured under the condition of a second distance; wherein, the first distance is the actual distance between the first image sensor and the image sensor, the second distance is the equivalent distance between the first image sensor and the second image sensor, and the second distance is greater than the first distance. Based on the above device, it is possible to achieve a larger equivalent distance on the premise of ensuring a smaller actual distance.

Description

Technical Field

[0001] The present disclosure relates to the technical field of scanners, and particularly to an image acquisition device and a scanner. Background Art

[0002] Traditional three-dimensional scanners of binocular systems need to fix two cameras. On the premise of the same image size, in order to obtain higher scanning accuracy, it is necessary to increase the sensor distance between the two cameras, that is, to increase the baseline distance of the sensors. In actual scenarios, the demand for scanning accuracy of three-dimensional scanners can be considered to be the higher the better. However, the sensor distance between the two cameras cannot be increased infinitely. If the sensor distance between the two cameras is too large, it will inevitably lead to an increase in the overall volume of the three-dimensional scanner, and ultimately cause the three-dimensional scanner to be unable to be used handheld. Summary of the Invention

[0003] In order to solve the above technical problems, the present disclosure provides an image acquisition device and a scanner.

[0004] In a first aspect, the present disclosure provides an image acquisition device, the device comprising:

[0005] A first image sensor, a second image sensor, and a reflection component;

[0006] A first distance is left between the first image sensor and the second image sensor;

[0007] The first image sensor and the second image sensor are configured to acquire images of an object to be measured;

[0008] The reflection component is configured to reflect the light emitted by the object to be measured to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor acquire images of the object to be measured under the condition of a second distance;

[0009] Wherein, the first distance is the actual distance between the first image sensor and the image sensor, the second distance is the equivalent distance between the first image sensor and the second image sensor, and the second distance is greater than the first distance.

[0010] Optionally, the first image sensor forms a first equivalent image sensor based on the mirror imaging of the reflection component, the second image sensor forms a second equivalent image sensor based on the mirror imaging of the reflection component, and the second distance is the distance between the first equivalent image sensor and the second equivalent image sensor.

[0011] Optionally, the reflection component comprises a first reflection member and a second reflection member;

[0012] The first reflecting member is disposed at the light incident port of the first image sensor, and the first reflecting member is configured to reflect the light of the object to be measured into the light incident port of the first image sensor;

[0013] The second reflecting member is disposed at the light incident port of the second image sensor, and the second reflecting member is configured to reflect the light of the object to be measured into the light incident port of the second image sensor.

[0014] Optionally, the first reflecting member, the first image sensor, the second image sensor, and the second reflecting member are arranged in sequence and are arranged in a "one" shape.

[0015] Optionally, both the first reflecting member and the second reflecting member include prisms.

[0016] Optionally, the prism includes a first side surface, a second side surface, and a third side surface;

[0017] The light emitted by the object to be measured enters the prism through the first side surface, is reflected by the second side surface, and exits through the third side surface to the light incident port of the first image sensor or the second image sensor;

[0018] Wherein, the first side surface and the third side surface are end faces adjacent to the edges in the plane, the second side surface is an end face adjacent to the hypotenuse in the plane, and the plane is a triangular end face of the prism.

[0019] Optionally, the included angle between the first direction and the second direction is θ, 90° < θ ≤ 180°;

[0020] Wherein, the first direction is parallel to the axis of the first image sensor and is in the direction of the light incident on the first image sensor, and the second direction is parallel to the axis of the second image sensor and is in the direction of the light incident on the second image sensor.

[0021] Optionally, the device further includes a fixing member;

[0022] The fixing member is configured to fix the first image sensor and the second image sensor.

[0023] Optionally, the fixing member includes a first part and a second part, and the device further includes a rotating shaft device;

[0024] The rotating shaft device connects the first part and the second part, the first image sensor is fixed to the first part, and the second image sensor is fixed to the second part;

[0025] The rotation shaft device is used to adjust the included angle between the first part and the second part, so as to adjust the included angle between the first direction and the second direction.

[0026] Optionally, the device further includes a control component;

[0027] The control component is connected to the first image sensor, the second image sensor and the rotation shaft device;

[0028] The control component is used to determine the three-dimensional model of the object to be measured based on the images of the object to be measured obtained by the first image sensor and the second image sensor;

[0029] The control component is further used to control the rotation shaft device so that the rotation shaft device adjusts the included angle between the first part and the second part.

[0030] In a second aspect, the present disclosure also provides a scanner, which includes the image acquisition device according to any one of the first aspects.

[0031] Optionally, the scanner further includes a housing, and the housing is used to fix the image acquisition device.

[0032] In a third aspect, the present disclosure also provides a three-dimensional reconstruction method, which is implemented based on the image acquisition device according to any one of the first aspects. The three-dimensional reconstruction method includes:

[0033] Obtain the images of the object to be measured collected by the first image sensor and the second image sensor;

[0034] Obtain the equivalent distance between the first image sensor and the second image sensor;

[0035] Reconstruct the three-dimensional model of the object to be measured based on the images and the equivalent distance.

[0036] In a fourth aspect, the present disclosure also provides a three-dimensional reconstruction device, which is implemented based on the image acquisition device according to any one of the first aspects. The three-dimensional reconstruction device includes:

[0037] A first acquisition module, which is used to obtain the images of the object to be measured collected by the first image sensor and the second image sensor;

[0038] A second acquisition module, which is used to obtain the equivalent distance between the first image sensor and the second image sensor;

[0039] A reconstruction module, which is used to reconstruct the three-dimensional model of the object to be measured based on the images and the equivalent distance.

[0040] The technical solution provided by the present disclosure has the following advantages compared with the prior art:

[0041] The present disclosure provides an image acquisition device and a scanner. The image acquisition device includes: a first image sensor, a second image sensor, and a reflection component; there is a first distance between the first image sensor and the second image sensor; the first image sensor and the second image sensor are used to acquire images of an object to be measured; the reflection component is used to reflect the light emitted by the object to be measured to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor acquire images of the object to be measured under the condition of a second distance; wherein, the first distance is the actual distance between the first image sensor and the image sensor, the second distance is the equivalent distance between the first image sensor and the second image sensor, and the second distance is greater than the first distance. Based on the above device, the present disclosure reflects the light emitted by the object to be measured through the reflection component, so that the first image sensor and the second image sensor acquire images of the object to be measured under the condition of a second distance, while the distance between the first image sensor and the second image sensor is actually the first distance, and the second distance is greater than the first distance; therefore, the image acquisition device provided by the present disclosure realizes that under the premise of ensuring a small actual distance between the first image sensor and the second image sensor, it is still possible to acquire images of the object to be measured under the condition of a large equivalent distance. The image acquisition device provided by the present disclosure can realize a large equivalent distance under the premise of ensuring a small actual distance, or reduce the actual distance between the first image sensor and the second image sensor under the premise of ensuring the same equivalent distance, thereby reducing the volume of the overall device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0044] Figure 1 Schematic diagram of the structure of the first image acquisition device provided by the embodiment of the present disclosure;

[0045] Figure 2 Schematic diagram of the structure of the image acquisition device in the existing solution;

[0046] Figure 3 Schematic diagram of the second image acquisition device provided by the embodiment of the present disclosure;

[0047] Figure 4 The third structural schematic diagram of the image acquisition device provided by the embodiments of the present disclosure. Specific embodiments

[0048] In order to more clearly understand the above objects, features, and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0049] Many specific details are set forth in the following description in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0050] Figure 1 The first structural schematic diagram of the image acquisition device provided by the embodiments of the present disclosure, the device includes:

[0051] A first image sensor 11, a second image sensor 12, and a reflection component 13; a first distance is left between the first image sensor 11 and the second image sensor 12; the first image sensor 11 and the second image sensor 12 are used to acquire images of the object to be measured 14; the reflection component 13 is used to reflect the light emitted by the object to be measured 14 to the first image sensor 11 and the second image sensor 12, so that the first image sensor 11 and the second image sensor 12 acquire images of the object to be measured 14 under the condition of a second distance; wherein, the first distance is the actual distance between the first image sensor 11 and the image sensor, and the second distance is the equivalent distance between the first image sensor 11 and the second image sensor 12, and the second distance is greater than the first distance. A larger equivalent distance can enable the image acquisition device to have higher positioning accuracy and is beneficial to reducing system errors.

[0052] Specifically, the first image sensor 11 and the second image sensor 12 represent devices for acquiring images of the object to be measured 14. In some embodiments, a controller may also be provided. The controller may be connected to the first image sensor 11 and the second image sensor 12, and the controller may determine the three-dimensional model of the object to be measured 14 based on the images of the object to be measured 14 acquired by the first image sensor 11 and the second image sensor 12.

[0053] Figure 2 The structural schematic diagram of the image acquisition device in the existing solution; refer to Figure 2, the axis directions of the first image sensor 11 and the second image sensor 12 are parallel to each other. In the case of the same format, in order to obtain higher scanning accuracy, it is necessary to increase the baseline distance between the first image sensor 11 and the second image sensor 12. In this structure, the baseline distance between the first image sensor 11 and the second image sensor 12 is the actual distance between the first image sensor 11 and the second image sensor 12 (denoted as Figure 2 L1 in

[0054] ); therefore, if it is necessary to increase the baseline distance, it is necessary to increase L1 in the figure; however, for the convenience of using the 3D scanner, the actual distance between the first image sensor 11 and the second image sensor 12 needs to be maintained within a reasonable range, generally 200 - 300 mm (length unit: millimeter). If the actual distance is too large, it will inevitably lead to an increase in the volume of the overall device, which is not conducive to handheld use. To solve the above technical problems, the embodiments of the present disclosure provide an image acquisition device. Refer to Figure 1 , A1 in the figure represents the actual position of the first image sensor 11, and B1 in the figure represents the actual position of the second image sensor 12; the reflection component 13 reflects the light emitted by the object 14 to be measured into the first image sensor 11 and the second image sensor 12. In this structure, the first image sensor 11 is equivalent to obtaining an image of the object 14 to be measured at the position of A2 in the figure, and the second image sensor 12 is equivalent to obtaining an image of the object 14 to be measured at the position of B2 in the figure. In Figure 1 , the equivalent second image sensor 12 and the first image sensor 11 are represented by dotted lines. That is, through the action of the reflection component 13, the equivalent position of the first image sensor 11 actually arranged at A1 is at A2, and the equivalent position of the second image sensor 12 actually arranged at B1 is at B2; as Figure 2 can be seen, the actual distance (i.e., the first distance) between the first image sensor 11 and the second image sensor 12 is L1, and the equivalent distance (i.e., the second distance) between the first image sensor 11 and the second image sensor is L2, and L2 > L1; although the actual distance between the first image sensor 11 and the second image sensor 12 is small, it is possible to obtain an image of the object 14 to be measured under the condition of a large equivalent distance. Therefore, the embodiments of the present disclosure can achieve a large equivalent distance on the premise of ensuring a small actual distance, or reduce the actual distance between the first image sensor 11 and the second image sensor 12 on the premise of ensuring the same equivalent distance, thereby reducing the volume of the overall device.

[0055] Continue to refer to Figure 1, in some embodiments, the reflection component 13 includes a first reflector 131 and a second reflector 132; the first reflector 131 is disposed at the light inlet of the first image sensor 11, and the first reflector 131 is configured to reflect the light of the object 14 to the light inlet of the first image sensor 11; the second reflector 132 is disposed at the light inlet of the second image sensor 12, and the second reflector 132 is configured to reflect the light of the object 14 to the light inlet of the second image sensor 12.

[0056] Specifically, the reflection component 13 can include two parts, namely the first reflector 131 and the second reflector 132. The light emitted by the object 14 can be reflected by the first reflector 131 and the second reflector 132 respectively. That is, the light emitted by the object 14 is reflected to the first image sensor 11 by the first reflector 131, and the light emitted by the object 14 is reflected to the second image sensor 12 by the second reflector 132. In some scenarios, by disposing the first reflector 131 at the light inlet of the first image sensor 11, the light reflected by the reflector can be better transmitted into the first image sensor 11. The same applies to the second reflector 132 and will not be elaborated here. However, it should be understood that the first reflector 131 or the second reflector 132 can also be disposed at other positions. However, no matter where they are disposed, the first reflector 131 and the second reflector 132 should be able to reflect the light emitted by the object 14 into the corresponding image sensor.

[0057] In some embodiments, the first image sensor 11 forms a first equivalent image sensor based on the mirror imaging of the reflection component 13, and the second image sensor 12 forms a second equivalent image sensor based on the mirror imaging of the reflection component 13. The second distance L2 is the distance between the first equivalent image sensor and the second equivalent image sensor.

[0058] Specifically, the first equivalent image sensor is the Figure 1 first image sensor 11 at the position A2 in Figure 1 , and the second equivalent image sensor is the second image sensor 12 at the position B2 in

[0059] Figure 1 . Both are shown in dotted lines to indicate that they do not actually exist but are equivalent positions.

[0060] Specifically, arranging the first reflector 131, the first image sensor 11, the second image sensor 12, and the second reflector 132 in a "one" shape can reduce the diameter of the overall structure, making it convenient for users to hold, and the structure is relatively simple.

[0061] Continue to refer to Figure 1 , in some embodiments, both the first reflector 131 and the second reflector 132 include a prism 130.

[0062] Specifically, the prism 130 can achieve a good reflection effect. For the sake of simplicity in illustration, and as a possible implementation, Figure 1 the prism 130 is not indicated in Figure 1 , but it should be understood that both the first reflector 131 and the second reflector 132 in

[0063] Continue to refer to Figure 1 , in some embodiments, the prism can be a right prism. The right prism 130 includes a first side 1301, a second side 1302, and a third side 1303; the light emitted by the object 14 to be measured enters the right prism 130 through the first side 1301, is reflected by the second side 1302, and exits through the third side 1303 to the light inlet of the first image sensor 11 or the second image sensor 12; wherein, the first side 1301 and the third side 1303 are end faces adjacent to the right-angle sides in the right-angle face, the second side 1302 is an end face adjacent to the hypotenuse in the right-angle face, and the right-angle face is the face of the right prism 130 with a right-angled triangle as the end face. In some embodiments, a plane mirror can also be used to replace the prism (or right prism) in the above embodiments, with the same or at least similar functions, which will not be elaborated here.

[0064] Specifically, the light rays emitted by the object 14 to be measured are represented as r1 and r2 in Figure 1 . Taking r1 as an example, after r1 propagates to the right prism 130, it first passes through the first side 1301, then propagates to the second side 1302, is reflected by the second side 1302, propagates to the third side 1303, passes through the third side 1303 and then enters the first image sensor 11. After the first image sensor 11 receives the light rays emitted by the object 14 to be measured, it acquires an image of the object 14 to be measured.

[0065] Figure 3 This is a schematic diagram of the second image acquisition device provided by the embodiments of the present disclosure. In some embodiments, the included angle between the first direction q1 and the second direction q2 is θ, 90° < θ ≤ 180°;

[0066] Among them, the first direction q1 is parallel to the axis of the first image sensor 11 and is in the direction of the light incident on the first image sensor 11, and the second direction q2 is parallel to the axis of the second image sensor 12 and is in the direction of the light incident on the second image sensor 12.

[0067] Specifically, Figure 1 In the corresponding embodiment in [reference], the included angle between the first direction q1 and the second direction q2 is actually taken as 180°. However, in some scenarios, the included angle θ between the first direction q1 and the second direction q2 can also be other values. When θ = 90°, the equivalent distance L2 that the image acquisition device can achieve can be considered equal to the actual distance L1. When 90° < θ ≤ 180°, the equivalent distance L2 that the image acquisition device can achieve is greater than the actual distance L1. It should be noted that although θ > 90° is limited in the embodiments of the present disclosure, since the embodiments of the present disclosure need to ensure that the equivalent distance L2 is greater than the actual distance L1, it does not mean that θ = 90° is completely impossible in the embodiments of the present disclosure. When it is necessary to make the equivalent distance L2 equal to the actual distance L1, θ = 90° can also be used.

[0068] Continuing to refer to Figure 3 , in some embodiments, the device further includes a fixing member 15; the fixing member 15 is used to fix the first image sensor 11 and the second image sensor 12.

[0069] Specifically, the fixing member 15 can be a rigid structure. By fixing the first image sensor 11 and the second image sensor 12 with the fixing member 15, the relative fixation between the first image sensor 11 and the second image sensor 12 can also be achieved.

[0070] It should be additionally noted here that the first reflector 131 needs to be able to reflect the light emitted by the object to be measured 14 into the first image sensor 11, and the second reflector 132 needs to be able to reflect the light emitted by the object to be measured 14 into the second image sensor 12. Therefore, taking the first reflector 131 and the first image sensor 11 as an example, regardless of how θ changes, it can actually be considered that the relative pose between the first image sensor 11 and the first reflector 131 does not change, so that regardless of the value of θ, the first reflector 131 can reflect the light emitted by the object to be measured 14 into the first image sensor 11; the same applies to the second image sensor 12 and the second reflector 132, which will not be elaborated here.

[0071] Figure 4Schematic diagram of the structure of the third image acquisition device provided by the embodiments of the present disclosure. In some embodiments, the fixing member 15 includes a first part 151 and a second part 152, and the device further includes a rotating shaft device 16; the rotating shaft device 16 connects the first part 151 and the second part 152, and the first image sensor 11 is fixed to the first part 151, and the second image sensor 12 is fixed to the second

[0072] part 152; the rotating shaft device 16 is used to adjust the angle between the first part 151 and the second part 152 to adjust the angle between the first direction and the second direction.

[0073] Specifically, the fixing member 15 can be divided into a first part 151 and a second part 152. The first part 151 and the second part 152 are connected and fixed through the rotating shaft device 16, and the θ can be adjusted to any angle through the rotating shaft device 16. When θ changes, the equivalent

[0074] spacing L2 also changes. Therefore, the equivalent spacing between the first image sensor 11 and the second image sensor 12 can be adjusted through the rotating shaft device 16.

[0075] In some embodiments, the device further includes a control component (not shown in the figure); the control component is connected to the first image sensor 11, the second image sensor 12 and the rotating shaft device 16; the control component is used to determine the three-dimensional model of the measured

[0076] object 14 based on the images of the measured object 14 acquired by the first image sensor 11 and the second image sensor 12; the control component is further used to control the rotating shaft device 16 to make the rotating shaft device 16 adjust the angle between the first part 151 and the second part 152.

[0077] Specifically, in order to more conveniently control the rotating shaft device 16 or to more accurately control the value of θ, the rotating shaft device 16 can also be controlled by a control component, that is, the control

[0078] component, after acquiring the image of the measured object 14, can judge whether the current baseline spacing (i.e., the equivalent spacing L2) is appropriate based on the acquired image of the measured object 14. If not, then

[0079] it can control the angle between the first part 151 and the second part 152 of the rotating shaft based on the acquired image of the measured object 14, that is, actually adjust the value of θ, so as to accurately control the baseline spacing, better detect the graph of the measured object 14, and further better determine the three-dimensional model of the measured object 14.

[0080] The embodiments of the present disclosure also provide a scanner, and the scanner includes the image acquisition as described above

[0081] The image acquisition device according to any one of the device embodiments.

[0082] The scanner provided by the embodiments of the present disclosure includes the above image acquisition device, and thus can also achieve the same or at least similar technical effects as the above image acquisition device. For the sake of brevity of description, it will not be elaborated herein.

[0083] In some embodiments, the scanner further includes a housing for fixing the image acquisition device.

[0084] Specifically, the above image acquisition device can be fixed by a housing, which is mainly used to facilitate the user to hold. However, in order to achieve some effects in the above embodiments, some additional settings can be made. The space inside the housing should at least be able to accommodate the above image acquisition device; a certain space can also be left inside the housing so that when the rotation shaft device 16 adjusts θ, the space on the inner wall of the housing can allow the change in the shape of the image acquisition device. One implementation method can be: taking the housing as a regular square prism as an example, the side length of the square side should be greater than the lengths of the first image sensor 11 and the second image sensor 12 in the same direction in the image acquisition device. Secondly, corresponding tracks or rotation shafts can also be provided at the connection between the housing and the image acquisition device, and corresponding components in the image acquisition device (such as the first image sensor 11, the second image sensor 12, the first branch 151, the second branch 152, etc. in the above embodiments) can move freely to enable θ to change. Corresponding openings can also be provided on the side wall of the housing, and the openings are used to transmit the light emitted by the object to be measured 14, so that the light emitted by the object to be measured 14 can be transmitted to the reflection assembly 13.

[0085] The embodiments of the present disclosure also provide a three-dimensional reconstruction method, which is implemented based on the image acquisition device according to any one of the above image acquisition device embodiments. The three-dimensional reconstruction method includes:

[0086] Obtain the images of the object to be measured collected based on the first image sensor and the second image sensor;

[0087] Obtain the equivalent distance between the first image sensor and the second image sensor;

[0088] Reconstruct the three-dimensional model of the object to be measured based on the images and the equivalent distance.

[0089] The three-dimensional reconstruction method provided by the embodiments of the present disclosure is implemented based on the image acquisition device according to any one of the above image acquisition device embodiments, and thus can also achieve the same or at least similar technical effects as the above image acquisition device, which will not be elaborated herein.

[0090] An embodiment of the present disclosure also provides a three-dimensional reconstruction device, which is implemented based on the image acquisition device in any one of the above-mentioned embodiments of the image acquisition device. The three-dimensional reconstruction device includes:

[0091] A first acquisition module, configured to acquire an image of the object to be measured collected by the first image sensor and the second image sensor;

[0092] A second acquisition module, configured to acquire an equivalent distance between the first image sensor and the second image sensor;

[0093] A reconstruction module, configured to reconstruct a three-dimensional model of the object to be measured based on the image and the equivalent distance.

[0094] The three-dimensional reconstruction device provided by the embodiment of the present disclosure is implemented based on the image acquisition device in any one of the above-mentioned embodiments of the image acquisition device. Therefore, it can also achieve the same or at least similar technical effects as the above-mentioned image acquisition device, which will not be elaborated herein.

[0095] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0096] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An image acquisition device, characterized in that, The device includes: a first image sensor, a second image sensor, and a reflection component; a first spacing is left between the first image sensor and the second image sensor; the first image sensor and the second image sensor are configured to acquire images of the object to be measured; the reflection component is configured to reflect the light emitted by the object to be measured to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor acquire images of the object to be measured under the condition of a second spacing; wherein, the first spacing is the actual spacing between the first image sensor and the image sensor, the second spacing is the equivalent spacing between the first image sensor and the second image sensor, and the second spacing is greater than the first spacing; the included angle between the first direction and the second direction is θ, 90° < θ ≤ 180°; wherein, the first direction is parallel to the axis of the first image sensor and is in the direction of the light incident on the first image sensor, and the second direction is parallel to the axis of the second image sensor and is in the direction of the light incident on the second image sensor; the device further includes a fixing member; the fixing member is configured to fix the first image sensor and the second image sensor; the fixing member includes a first part and a second part, and the device further includes a rotating shaft device; the rotating shaft device connects the first part and the second part, the first image sensor is fixed to the first part, and the second image sensor is fixed to the second part; the rotating shaft device is configured to adjust the included angle between the first part and the second part to adjust the included angle between the first direction and the second direction; the device further includes a control component; the control component is connected to the first image sensor, the second image sensor, and the rotating shaft device; the control component is configured to determine a three-dimensional model of the object to be measured based on the images of the object to be measured acquired by the first image sensor and the second image sensor; the control component is further configured to control the rotating shaft device so that the rotating shaft device adjusts the included angle between the first part and the second part.

2. The device according to claim 1, wherein The first image sensor forms a first equivalent image sensor based on the mirror imaging of the reflection component, the second image sensor forms a second equivalent image sensor based on the mirror imaging of the reflection component, and the second spacing is the distance between the first equivalent image sensor and the second equivalent image sensor.

3. The device according to claim 1, characterized in that, The reflection component includes a first reflector and a second reflector; the first reflector is disposed at the light inlet of the first image sensor, and the first reflector is configured to reflect the light of the object to be measured into the light inlet of the first image sensor; the second reflector is disposed at the light inlet of the second image sensor, and the second reflector is configured to reflect the light of the object to be measured into the light inlet of the second image sensor.

4. The device according to claim 3, wherein The first reflector, the first image sensor, the second image sensor, and the second reflector are arranged in sequence and are arranged in a "one" shape.

5. The device according to claim 3, characterized in that, Both the first reflector and the second reflector include prisms.

6. The device according to claim 5, characterized in that, The prism includes a first side surface, a second side surface, and a third side surface; Light rays emitted by the object to be measured enter the prism through the first side surface, are reflected by the second side surface, and exit through the third side surface to the light inlet of the first image sensor or the second image sensor; Wherein, the first side surface and the third side surface are end faces adjacent to the sides in the plane, the second side surface is an end face adjacent to the hypotenuse in the plane, and the plane is the triangular end face of the prism.

7. A scanner, characterized in that, The scanner includes the image acquisition device according to any one of claims 1-6.

8. The scanner according to claim 7, wherein The scanner further includes a housing for fixing the image acquisition device.

9. A three-dimensional reconstruction method, characterized in that, The method is implemented based on the image acquisition device according to any one of claims 1-6. The three-dimensional reconstruction method includes: Obtaining images of the object to be measured acquired based on the first image sensor and the second image sensor; Obtaining the equivalent distance between the first image sensor and the second image sensor; Reconstructing a three-dimensional model of the object to be measured based on the images and the equivalent distance.

10. A three-dimensional reconstruction device, characterized in that, The device is implemented based on the image acquisition device according to any one of claims 1-6. The three-dimensional reconstruction device includes: A first acquisition module for obtaining images of the object to be measured acquired based on the first image sensor and the second image sensor; A second acquisition module for obtaining the equivalent distance between the first image sensor and the second image sensor; A reconstruction module for reconstructing a three-dimensional model of the object to be measured based on the images and the equivalent distance.

Images