A visual 3D information collection device, comprising an image collection apparatus (1), a rotation apparatus (2), a support apparatus (4) and an angle setting apparatus (5), wherein the rotation apparatus (2) drives the support apparatus (4) to rotate; the angle setting apparatus (5) and the image collection apparatus (1) are arranged on the support apparatus (4); and the angle setting apparatus (5) is used for setting an included pitch angle between an optical axis (P) of the image collection apparatus (1) and a rotation plane. A method and device which can be applied to 3D information collection of an outer surface and an inner space of an object are provided. A camera collection position is optimized by means of measuring the distance between a rotation center and a target object and the distance between an image sensing element and the target object, such that the 3D construction speed and effect are both taken into consideration.