CN210629707U

CN210629707U - Mobile terminal with rotation type 3D acquisition module

Info

Publication number: CN210629707U
Application number: CN201922225519.0U
Authority: CN
Inventors: 左忠斌; 左达宇
Original assignee: Tianmu Aishi Beijing Technology Co Ltd
Current assignee: Tianmu Aishi Beijing Technology Co Ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-05-26
Anticipated expiration: 2029-12-12

Abstract

The utility model provides a mobile terminal with an autorotation type 3D acquisition module, which comprises a rotation device and an image acquisition device; the rotating device is connected with the image acquisition device, the rotating shaft is intersected with the image acquisition device, and the rotating shaft is intersected with the mobile terminal. The device structure capable of carrying out 3D acquisition by applying the image stitching principle in the mobile terminal is provided for the first time. The method has the advantages that the camera is used for scanning the target object in a horizontal plane rotation mode in the mobile terminal for the first time, 3D synthesis is achieved, the phenomenon that the volume is too large due to the fact that too many tracks are used is avoided, and meanwhile synthesis difficulty caused by free movement is avoided.

Description

Mobile terminal with rotation type 3D acquisition module

Technical Field

The utility model relates to an object acquisition technical field, in particular to utilize the camera to carry out the three-dimensional collection technical field of target object in mobile terminal.

Background

At present, common 3D acquisition methods include a structured light method and a laser scanning method, but these methods all require a light source and a beam shaping system, and have high cost, large power consumption, and large occupied space.

However, the current mobile phone usually has 1-3 cameras, so as to realize some special shooting effects, such as background blurring. But at present, no camera system capable of being used for 3D acquisition on a mobile phone exists. If only use present camera system, because the shooting angle is limited, it is difficult to carry out 3D concatenation, can't obtain the 3D image. If the shooting angle is increased and the redundancy of the shot image is improved, a plurality of cameras need to be arranged. For example, the Digital Emily project at university of southern california, employs a ball-type cradle on which hundreds of cameras are mounted at different positions and angles. The conventional system for 3D acquisition by using an image acquisition device is difficult to be used in small-sized mobile terminal devices such as mobile phones.

There are also existing devices that use a rotating device for 3D acquisition, but they usually have a stage on which the object is placed and then the camera is rotated around the object for acquisition

Meanwhile, at present, a camera on a mobile phone is directly used for shooting a plurality of angle images of a target object through the mobile phone, and then 3D splicing is carried out. However, this movement requires either the handset to be mounted on an extra track or free movement without tracks. The former limits the usage scenarios, while the latter results in a reduced acquisition quality.

In the prior art, it has also been proposed to use empirical formulas including rotation angle, object size, object distance to define camera position, thereby taking into account the speed and effect of the synthesis. However, in practical applications it is found that: unless a precise angle measuring device is provided, the user is insensitive to the angle and is difficult to accurately determine the angle; the size of the target is difficult to accurately determine, and particularly, the target needs to be frequently replaced in certain application occasions, each measurement brings a large amount of extra workload, and professional equipment is needed to accurately measure irregular targets. The measured error causes the camera position setting error, thereby influencing the acquisition and synthesis speed and effect; accuracy and speed need to be further improved. Therefore, there is a great need in the art for a high-quality, low-cost 3D acquisition device that can be applied to mobile terminals.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention has been made in order to provide a mobile terminal with an autorotation type 3D acquisition module that overcomes or at least partially solves the above mentioned problems.

The utility model provides a mobile terminal with an autorotation type 3D acquisition module, which comprises a rotation device and an image acquisition device;

the rotating device is connected with the image acquisition device, the rotating shaft is intersected with the image acquisition device, and the rotating shaft is intersected with the mobile terminal.

Optionally, the device further comprises a lifting device.

Optionally, in a non-use state, the lifting device, the rotating device and the image acquisition device can be partially or completely accommodated in the mobile terminal shell;

in the use state, the light inlet of the image acquisition device is exposed outside the shell of the mobile terminal.

Optionally, a portion of the mobile terminal housing corresponding to the image capturing device is made of a light-transmitting material.

Optionally, the image capturing device is a visible light camera, an infrared camera, or a combination of both.

Optionally, the scanning range of the image acquisition device on the horizontal plane is-75 ° - +75 °.

Optionally, the lifting device, the rotating device and the image acquisition device are separately arranged.

Optionally, the lifting device, the rotating device or the image acquisition device may be separately disposed from the mobile terminal.

Optionally, the image capturing device has a light source thereon.

Optionally, the position of the photosensitive element of the image acquisition device in the rotation process satisfies:

wherein L is the linear distance of the optical centers of the photosensitive elements at two adjacent acquisition positions; f is the focal length of the image acquisition device 1; d is the rectangular length or width of the photosensitive element (CCD); t is the distance from the photosensitive element of the image acquisition device 1 to the surface of the target along the optical axis; delta is an adjustment coefficient, delta < 0.596.

Invention and technical effects

1. The device structure capable of carrying out 3D acquisition by applying the image stitching principle in the mobile terminal is provided for the first time.

2. The method has the advantages that the camera is used for scanning the target object in a horizontal plane rotation mode in the mobile terminal for the first time, 3D synthesis is achieved, the phenomenon that the volume is too large due to the fact that too many tracks are used is avoided, and meanwhile synthesis difficulty caused by free movement is avoided.

3. The mobile terminal can be externally connected, and a new 3D acquisition function is conveniently added to the existing mobile phone. The external connection mode is adopted, the existing mobile phone is not required to be modified, the universality is higher, and the cost is lower.

4. The whole equipment can be moved, is convenient for users to use outdoors, and is convenient for the users to carry out 3D acquisition and synthesis modeling at any time.

5. The acquisition position of the camera is optimized, and the synthesis speed and the synthesis precision are improved. And when the position is optimized, the angle and the target size do not need to be measured, and the applicability is stronger.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic structural diagram of a hidden state of a three-dimensional acquisition module of a mobile terminal according to an embodiment 1 of the present invention;

fig. 2 is a schematic structural diagram of a rising state of a three-dimensional acquisition module of a mobile terminal according to embodiment 1 of the present invention;

fig. 3 is a schematic view of another structure hidden state of a three-dimensional acquisition module of a mobile terminal according to embodiment 1 of the present invention;

fig. 4 is a schematic diagram of another structure of a three-dimensional acquisition module of a mobile terminal according to embodiment 1 of the present invention in a raised state;

fig. 5 is an enlarged schematic view of another structure of a three-dimensional acquisition module of a mobile terminal according to embodiment 1 of the present invention;

fig. 6 is a schematic diagram of a third structure of a three-dimensional acquisition module of a mobile terminal according to embodiment 1 of the present invention;

fig. 7 is an enlarged schematic view of a third structure of a three-dimensional acquisition module of a mobile terminal according to embodiment 1 of the present invention;

fig. 8 is a schematic diagram of a three-dimensional acquisition module of a mobile terminal according to embodiment 2 of the present invention;

the correspondence of reference numerals to the respective components is as follows:

1 lifting device, 2 rotating device, 3 image acquisition device.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Example 1

In order to solve the above technical problem, an embodiment of the present invention provides a mobile terminal with an autorotation type 3D acquisition module. As shown in fig. 1 to 8, the method specifically includes: data interface, elevating gear 1, rotary device 2 and image acquisition device 3.

Wherein image acquisition device 3 sets up on rotary device 2, and rotary device 2 sets up on elevating gear 1, and is flexible through elevating gear 1, can accomodate rotary device 2, image acquisition device 3 whole/part in the cell-phone casing, or expose the casing. The lifting device can be a slide rail, a telescopic rod or the like. The lifting device 1 can be driven by a lifting driving device to automatically lift, and can also be manually pushed and pulled by a user to lift.

The rotating device 2 can drive the image acquisition device 3 to rotate, so that the image acquisition device can scan a certain range. The scanning direction is preferably the horizontal direction, and the rotation is self-rotation, i.e. the rotation axis passes through the image acquisition device 3. A particular rotation axis passes through the mobile terminal, the rotation axis being parallel to the longitudinal direction of the mobile terminal. During the scanning, the image capturing device 3 continuously takes pictures or videos, i.e. the processes of rotational scanning and image capturing are synchronized, and during the image capturing device 3 also rotates. Of course, the rotation device may also stop after rotating a certain angle, the image acquisition device 3 may shoot again, and the next angle continues to be rotated after the shooting is completed, and so on.

In general, the rotation angle of the image acquisition device 3 is-60 to +60 degrees with the direction of the mobile phone screen being 0 degrees. In this way, the image capture device 3 can scan the entire face of the user when the user aims the camera at himself. Of course, the user may scan other objects using the mobile phone, and therefore the scanning angle may be enlarged, for example, from-75 ° to +75 °.

The rotating means 2 may be provided with a rotation driving means, such as a motor. The rotating means 2 may be placed in the lifting means 1, even in the mobile terminal housing, without the provision of the rotation driving means. The rotation driving device drives the rotation device 2 to rotate through a connecting rod, a gear, a belt or a similar transmission structure.

Although the above-mentioned lifting structure 1 and the rotating structure are both disposed in the mobile terminal, they may have various connection modes with the mobile terminal. For example, (1) the lifting device 1 is fixedly connected with the mobile terminal, and the rotating device 2 is detachably connected with the lifting device, that is, the rotating device 2 and the image capturing device 3 thereon can be connected to the mobile terminal, in particular to the lifting device 1, in a manner of being inserted afterwards. (2) The lifting device 1, the rotating device 2 and the image acquisition device 3 are all inseparably connected with the mobile terminal. (3) The lifting device 1, the rotating device 2 and the image acquisition device 3 are all detachably connected with the mobile terminal. The connection between the mechanical structures can be realized in various modes such as clamping grooves, bulges, clamping, locking and the like.

In one embodiment, the whole module is external, and the mechanical connection and the electrical connection are realized through the same structure. The mobile phone module is connected with the mobile phone through the mechanical connector/the electrical connector, and the mobile phone module is relatively rigidly connected with the mobile phone, so that the mobile phone module and the mobile phone are integrated. Such as the above-described earphone plug, is inserted into an earphone jack of a mobile terminal while achieving both mechanical and electrical connections. The module and the mobile phone can be rigidly fixed with each other and can transmit signals with each other. The mechanical connection may also utilize additional mechanical connections. For example, additional plugs and jacks, bulges and clamping grooves are arranged between the module and the mobile phone to realize rigid fixed connection between the module and the mobile phone. Of course, the existing socket of the mobile phone, such as the earphone plug, the microUSB plug, the TepyC plug, and the Lightning plug, may be used to be plugged into the corresponding socket of the mobile phone, but the plugging is only used as a mechanical connection, and no signal transmission is performed, and the signal is connected by other means. Through such mechanical connection, the module and the mobile phone become an organic whole, and the module can be fixed relatively to the object when the user holds the mobile phone stationary, shoots different angle pictures through the removal of image acquisition device. The data interface can be the interface with Type-c interface, micro USB interface, Lightning interface, wifi interface, bluetooth interface, cellular network interface matched with this moment to be connected with mobile terminal through wired or wireless mode.

In another embodiment the whole module is built-in, in which case the data interface can be directly connected internally to the processor of the mobile terminal. That is, the above structure is integrated with the mobile terminal.

The method comprises the steps that a lifting device drives a rotating device and an image acquisition device to ascend until a light inlet of the image acquisition device is completely exposed out of a mobile phone shell, the rotating device starts to rotate from 0 degree to- β degrees leftwards, then rotates to β degrees rightwards, and then rotates to 0 degree, wherein 0 degree is the vertical direction of a mobile phone screen, in the rotating process, the optical centers of the image acquisition device are acquired at a certain distance L, so that a plurality of images acquired by the image acquisition device can be used for 3D synthesis, and the synthesis precision and the synthesis time are considered.

The image acquisition device 3 sends the acquired image to the mobile terminal processor through a data interface. The mobile terminal stores a 3D synthesis algorithm, so that the plurality of images are 3D synthesized in a processor of the mobile terminal, and finally, a synthesis result is displayed on a screen. The user may display the 3D point cloud image, the 3D mesh image, the 3D rendered image, and the 3D model with texture mapping as desired.

However, the mobile terminal has limited processing capability, and excessive data processing causes long time delay, influences users to use other functions, and causes a sharp increase in power consumption. Therefore, after receiving the plurality of images, the processor of the mobile terminal sends the plurality of images to the cloud platform through the communication interface of the mobile terminal, performs 3D synthesis in the cloud platform, and sends the 3D synthesized images back to the mobile terminal, or downloads corresponding 3D synthesized images or models from the cloud platform according to user selection.

In one embodiment, the image capturing device 3 may also be tilted, which may extend the capturing range of the image capturing device. Of course, a larger acquisition range in the vertical direction can also be achieved by the lifting of the lifting device 1.

In order to facilitate the translation or rotation of the image acquisition device 3, the lifting device 1 and the rotating device 2 can comprise magnetic suspension devices, so that the moving process is smoother, and the user experience is improved.

The image acquisition device 3 may be a visible light camera/camera module or an infrared camera/camera module. When the image is acquired at night, the visible camera cannot acquire the image completely due to light limitation. At the moment, the infrared camera can be used for collecting, and in the subsequent processing, images collected by the visible light camera and the infrared camera are matched and fused with each other, so that the 3D information collection is realized. Of course, it is also possible to rely on only one of a visible light camera or an infrared camera.

In the solution with an infrared camera, the infrared camera and the visible light camera may be side by side on the rotating device 2. Or two rotating devices 2 are used to drive the visible light camera and the infrared camera respectively, so that the scanning processes of the two cameras are independent of each other.

Of course, the image capturing device 3 may also use a single camera with a wider spectrum sensing range, and may also use both a visible light camera and an infrared camera.

The light source is arranged near the light inlet of the image acquisition device 3, the light source is an LED lamp bead, but an intelligent light source can be arranged, for example, different light source brightness and on-off can be selected according to requirements. The light source is used for illuminating the target object, and the target object is prevented from being too dark to influence the acquisition effect and accuracy. But also prevent the light source from being too bright, resulting in loss of texture information of the object. The light source can also be a self-contained light source of the mobile terminal so as to illuminate the part to be scanned. The light source can rotate along with the image acquisition device, so that the illumination conditions of the acquisition area are consistent. In one embodiment, the mobile terminal may also be used with its own light source. Or when the self-contained light source is used, the brightness of the self-contained light source is controlled through software.

In order to improve user experience, the images collected by the image collecting device 3 can be transmitted to a display module of the mobile terminal for display, so that a user can observe the collection process conveniently. Especially, the acquisition module can display the object too far or too close to the object through the display module, and can remind through the voice module. It can be understood that the image collected by the module can not be displayed in the display module of the mobile terminal, but the information that the image is too far away from or too close to the target object can be broadcasted through the voice of the mobile terminal, so that the user is prompted to move. The module is connected with the voice or display module of the mobile terminal and is also realized through the data interface of the module.

Example 2

Referring to the content of embodiment 1, the mobile terminal may not have a lifting device, or may have a lifting device, and the image capturing device may not be lifted to the outside of the mobile terminal housing by the lifting device when capturing. The rotating means 2 and the image capturing means 3 are now both located in the housing of the mobile terminal. The rotating device 2 can still drive the image capturing device 3 to rotate, but the mobile terminal housing corresponding to the rotating area of the image capturing device 3 should be made of a light-transmitting material, such as a transparent resin material. Therefore, the image acquisition device 3 can still scan and acquire images without being exposed outside the shell. Of course, if the image capturing device 3 is an infrared camera, the transparent material only needs to transmit infrared light, and does not need to transmit visible light. That is, the wavelength of light that can be transmitted by the light-transmitting material may be matched with the wavelength collected by the image collecting device 3.

Rotational position optimization

In order to improve the 3D synthesis speed and effect, the shooting position needs to be optimized during the rotation shooting. Since mobile terminals are generally small in size, the position of the image capturing device 3 should be optimized with respect to the photosensitive elements of the image capturing device 3. That is, the position of the photosensitive element of the image capturing device 3 during rotation should satisfy:

according to a number of experiments, the separation distance of the locations preferably satisfies the following empirical formula:

when 3D acquisition is carried out, the following conditions are met by two adjacent acquisition positions of the photosensitive element:

When the two positions are along the length direction of the photosensitive element, d is a rectangular length; when the two positions are along the width direction of the photosensitive element, d takes a rectangular width.

In any one of the two positions, the distance from the photosensitive element to the surface of the object along the optical axis is taken as T. In addition to this method, in another case, L is A_n、A_n+1Linear distance between optical centers of two photosensitive elements, and A_n、A_n+1Two photosensitive elements adjacent to each other_n-1、A_n+2Two light-sensitive elements and A_n、A_n+1The distances from the respective photosensitive elements of the two photosensitive elements to the surface of the target along the optical axis are respectively T_n-1、T_n、 T_n+1、T_n+2，T＝(T_n-1+T_n+T_n+1+T_n+2)/4. Of course, the average value may be calculated by using more positions than the adjacent 4 positions.

In general, parameters such as object size and angle of view are used as means for estimating the position of a mobile phone camera module in the prior art, and the positional relationship between the two is also expressed by an angle. Because the angle is not well measured in the actual use process, it is inconvenient in the actual use. Also, the size of the object may vary with the variation of the measurement object. For example, when the head of a child is collected after 3D information on the head of an adult is collected, the head size needs to be measured again and calculated again. The inconvenient measurement and repeated re-measurement bring errors in measurement, so that the position of the mobile phone camera module is calculated incorrectly. According to the scheme, the experience condition required to be met by the position of the mobile phone camera module is given according to a large amount of experimental data, so that the problem that the measurement is difficult to accurately measure the angle is avoided, and the size of an object does not need to be directly measured. D and f are fixed parameters of the mobile phone camera module in the experience condition, and when the mobile phone camera module is purchased, a manufacturer can give corresponding parameters without measurement. And T is only a straight line distance, and can be conveniently measured by using a traditional measuring method, such as a ruler and a laser range finder. Therefore, the utility model discloses an empirical formula makes the preparation process become convenient and fast, has also improved the degree of accuracy of arranging of cell-phone camera module position simultaneously for the cell-phone camera module can set up in the position of optimizing, thereby has compromise 3D synthetic precision and speed simultaneously, and concrete experimental data is referred to below.

Adopt the commercially available cell-phone camera module, utilize the utility model discloses the device is tested, has obtained following experimental result.

Serial number	Delta value	Time of synthesis	Area of synthesis region
				1	0.7033	1.2min	/
2	0.5960	1.6min	65％
				3	0.4316	1.7min	90％
4	0.1121	1.9min	100％

From the above experimental results and a lot of experimental experience, it can be concluded that the value of δ should satisfy δ <0.596, and at this time, it is already possible to synthesize a part of the 3D model, and although some parts cannot be automatically synthesized, it is acceptable in the case of low requirements, and the part that cannot be synthesized can be compensated manually or by replacing the algorithm. Particularly, when the value of δ satisfies δ <0.432, the balance between the synthesis effect and the synthesis time can be optimally taken into consideration; δ <0.113 may be chosen for better synthesis, where the synthesis time is increased but the synthesis quality is better. When the delta is 0.7098, the synthesis is not possible. It should be noted that the above ranges are only preferred embodiments and should not be construed as limiting the scope of protection.

The above data are obtained by experiments for verifying the conditions of the formula, and do not limit the invention. Without these data, the objectivity of the formula is not affected. Those skilled in the art can adjust the equipment parameters and the step details as required to perform experiments, and obtain other data which also meet the formula conditions.

In the embodiment, the 3D synthesis uses a processor to perform synthesis, wherein the synthesis method uses a known method, such as a beam adjustment method, for example, a synthesis algorithm disclosed in CN 107655459A.

Moreover, as can be seen from the above experiments, for determining the photographing position of the mobile phone camera module, the parameters (focal length f, CCD size) of the mobile phone camera module and the distance T between the camera CCD and the object surface can be obtained according to the above formula, which makes it easy to design and debug the device. The camera parameters (focal length f and CCD size) are determined when the mobile phone camera module is purchased and are marked in the product description, so that the camera parameters are easily obtained. Therefore according to the formula, the position of the mobile phone camera module can be easily calculated, the complex view field angle measurement and the object size measurement are not needed, and when different objects are collected, the measurement of the object size is complex due to the fact that the sizes of the objects are different. And use the utility model discloses a method need not to carry out object size measurement, can confirm cell-phone camera module position more conveniently. And use the utility model discloses definite cell-phone camera module position can compromise composition time and synthetic effect. Therefore, the above-mentioned empirical condition is one of the points of the present invention.

The utility model discloses in rotary motion, for gathering in-process preceding position collection plane and back position collection plane and taking place alternately but not parallel, or preceding position image acquisition device optical axis and back position image acquisition position optical axis take place alternately but not parallel. That is, the capture area of the image capture device moves around or partially around the target, both of which can be considered as relative rotation. Although the embodiment of the present invention exemplifies more orbital rotation, it should be understood that the limitation of the present invention can be used as long as the non-parallel motion between the acquisition region of the image acquisition device and the target object is rotation. The scope of the invention is not limited to the embodiment with track rotation.

In the present invention, the adjacent collecting positions are two adjacent positions on the moving track where the collecting motion occurs when the image collecting device moves relative to the target object. This is generally easily understood for the image acquisition device movements. However, when the target object moves to cause relative movement between the two, the movement of the target object should be converted into the movement of the target object, which is still, and the image capturing device moves according to the relativity of the movement. And then measuring two adjacent positions of the image acquisition device in the converted movement track.

The target object, and the object all represent objects for which three-dimensional information is to be acquired. The object may be a solid object or a plurality of object components. For example, a vehicle, a large sculpture, etc. The three-dimensional information of the target object comprises a three-dimensional image, a three-dimensional point cloud, a three-dimensional grid, a local three-dimensional feature, a three-dimensional size and all parameters with the three-dimensional feature of the target object. The utility model discloses the three-dimensional is that to have XYZ three direction information, especially has degree of depth information, and only two-dimensional plane information has essential difference. It is also fundamentally different from some definitions, which are called three-dimensional, panoramic, holographic, three-dimensional, but actually comprise only two-dimensional information, in particular not depth information.

The collection area of the present invention is the range that the image collection device (e.g., camera) can take. The utility model provides an image acquisition device can be CCD, CMOS, camera, industry camera, monitor, camera, cell-phone, flat board, notebook, mobile terminal, wearable equipment, intelligent glasses, intelligent wrist-watch, intelligent bracelet and have all equipment of image acquisition function.

The 3D information of multiple regions of the target obtained in the above embodiments can be used for comparison, for example, for identification of identity. Utilize at first the utility model discloses a scheme acquires the 3D information of human face and iris to with its storage in the server, as standard data. When the system is used, for example, when the system needs to perform identity authentication to perform operations such as payment and door opening, the 3D acquisition device can be used for acquiring and acquiring the 3D information of the face and the iris of the human body again, the acquired information is compared with standard data, and if the comparison is successful, the next action is allowed. It can be understood that the comparison can also be used for identifying fixed assets such as antiques and artworks, namely, the 3D information of a plurality of areas of the antiques and the artworks is firstly acquired as standard data, when the identification is needed, the 3D information of the plurality of areas is acquired again and compared with the standard data, and the authenticity is identified. The three-dimensional information of the plurality of regions of the target object obtained in the above embodiment can be used for designing, producing and manufacturing a kit for the target object. For example, three-dimensional data of the oral cavity and the teeth of a human body are obtained, and a more proper denture can be designed and manufactured for the human body. The three-dimensional information of the target object obtained in the above embodiments can also be used for measuring the geometric dimension and the outline of the target object.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Moreover, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality according to embodiments of the invention based on some or all of the components in the apparatus of the invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described in detail herein, many other variations and modifications can be made, consistent with the principles of the invention, which are directly determined or derived from the disclosure herein, without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and interpreted to cover all such other variations or modifications.

Claims

1. The utility model provides a mobile terminal with rotation formula 3D acquisition module which characterized in that: comprises a rotating device and an image acquisition device;

2. The mobile terminal of claim 1, wherein: also comprises a lifting device.

3. The mobile terminal of claim 2, wherein: in a non-use state, the lifting device, the rotating device and the image acquisition device can be partially or completely contained in the mobile terminal shell;

4. The mobile terminal of claim 1, wherein: the part of the mobile terminal shell corresponding to the image acquisition device is made of light-transmitting materials.

5. The mobile terminal of claim 1, wherein: the image acquisition device is a visible light camera, an infrared camera or a combination of the visible light camera and the infrared camera.

6. The mobile terminal of claim 1, wherein: the scanning range of the image acquisition device on the horizontal plane is-75 degrees- +75 degrees.

7. The mobile terminal of claim 2, wherein: the lifting device, the rotating device and the image acquisition device are arranged in a mutually separable way.

8. The mobile terminal of claim 2, wherein: the lifting device, the rotating device or the image acquisition device can be separated from the mobile terminal.

9. The mobile terminal of claim 1, wherein: the image acquisition device is provided with a light source.

10. The mobile terminal of claim 1, wherein: the position of a photosensitive element of the image acquisition device in the rotation process meets the following requirements:

wherein L is the linear distance of the optical centers of the photosensitive elements at two adjacent acquisition positions; f is the focal length of the image acquisition device 1; d is the rectangular length or width of the photosensitive element; t is the distance from the photosensitive element of the image acquisition device 1 to the surface of the target along the optical axis; delta is an adjustment coefficient, delta < 0.596.