Detection method and control device based on OPA laser radar

Abstract

The invention belongs to the field of laser radars, and particularly relates to a detection method based on an OPA laser radar, according to the detection method based on the OPA laser radar, a detection range is scanned and detected to obtain point cloud data, the detection range comprises a contour scanning range and other scanning ranges, and the point cloud data comprises a first point cloud and a second point cloud; the first point cloud is a point cloud corresponding to a contour scanning range, the second point cloud is a point cloud corresponding to other scanning ranges, the contour scanning range is determined based on a target contour in a detection range, and the point cloud density of the first point cloud is greater than the point cloud density of the second point cloud; according to the scheme, the high-flexibility scanning characteristic of the OPA laser radar is fully utilized, fine scanning is carried out in the area where the target contour is located, it is guaranteed that more target description information can be obtained, meanwhile, the number of obtained point clouds is reduced, namely, the data size in the detection process is reduced, and the detection efficiency is improved. Therefore, the rapid operation of the subsequent processing process is facilitated.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a detection method based on OPA laser radar and an OPA laser radar. Background Art

[0002] The point cloud data of LiDAR can be used to measure the position and shape of objects in 3D space very accurately, which is difficult for cameras and millimeter-wave radars to do. Therefore, target detection based on LiDAR point clouds has been one of the research and development hotspots in recent years, and it is widely used in the fields of autonomous driving and industrial robots.

[0003] Object detection in point cloud data is similar to the perception algorithm of images, and is also divided into two categories: object detection (including tracking) and semantic segmentation. However, the point cloud points in point cloud data are relatively sparse compared to image pixels. However, more descriptive information is required for fine detection of objects. Currently, in order to obtain more detection information of targets through point clouds, denser point clouds are usually obtained, such as by increasing the number of laser radar lines, or controlling the laser radar to scan the detection area multiple times to obtain denser point clouds. However, this will bring about the problem that the laser radar requires larger storage and more computing resources. Summary of the invention

[0004] In order to solve the problem of conflict between fine target detection and required computing and storage resources of the above-mentioned lidar equipment, the present application proposes a detection method, a control device, a computing device and a storage device based on OPA lidar.

[0005] In a first aspect, an embodiment of the present application provides a detection method based on an OPA laser radar, comprising: The detection range is scanned and detected to obtain point cloud data, wherein the detection range includes a contour scanning range and other scanning ranges, and the point cloud data includes a first point cloud and a second point cloud, the first point cloud is a point cloud corresponding to the contour scanning range, and the second point cloud is a point cloud corresponding to the other scanning ranges, the contour scanning range is determined based on the target contour within the detection range, and the point cloud density of the first point cloud is greater than the point cloud density of the second point cloud; and a detection result is obtained based on the point cloud data.

[0006] In one of the embodiments, the method further includes: acquiring area identification data of the detection range; and determining a contour scanning range and other scanning ranges within the detection range according to the area identification data.

[0007] In one embodiment, obtaining the area identification data of the detection range includes: Performing an initial scan of the detection range by the OPA laser radar to obtain area identification data; Accordingly, determining the contour scanning range and other scanning ranges within the detection range according to the area recognition data includes: Calculating the distance difference between adjacent point cloud points in the area recognition data; The contour scanning range and other scanning ranges within the detection range are determined according to the distance difference.

[0008] In one embodiment, determining the contour scanning range and other scanning ranges within the detection range according to the area identification data includes: Processing the region recognition data using a target detection algorithm to obtain a target category; The contour scanning range and other scanning ranges are determined based on the target category and a corresponding preset model, and the preset model is a pre-modeled model.

[0009] In one embodiment, the method further comprises: The spatial information of the target is processed to obtain perspective information, and the perspective information is used to determine the contour scanning range and other scanning ranges in coordination with the output result of the preset model.

[0010] In one embodiment, determining the contour scanning range and other scanning ranges within the detection range according to the area identification data includes: Determine the contour of the target based on the area recognition data; Based on the neighboring area where the contour of the target is extended, the contour scanning range and other scanning ranges within the detection range are determined based on the neighboring area.

[0011] In one embodiment, determining the contour scanning range and other scanning ranges within the detection range based on the adjacent area includes: The area covered between plus and minus N centimeters on both sides of the contour line is determined as the contour scanning range; where N is an adaptively changing value, the value of N is increased when the contour line is more complex; correspondingly, the value of N is reduced when the contour line is simpler.

[0012] In a second aspect, the present application provides an OPA laser radar control device, the device comprising: a control module 100 and a data processing module 200 connected to each other, wherein the control module 100 is used to output a control instruction according to a processing result of the data processing module to control the OPA laser radar to scan and detect a detection range to obtain point cloud data, wherein the detection range includes a contour scanning range and other scanning ranges, and the point cloud data includes a first point cloud and a second point cloud, wherein the first point cloud is a point cloud corresponding to the contour scanning range, and the second point cloud is a point cloud corresponding to the other scanning ranges, and the contour scanning range is determined based on the target contour within the detection range, and the point cloud density of the first point cloud is greater than the point cloud density of the second point cloud; The data processing module 200 is used to obtain detection results based on the point cloud data.

[0013] In a third aspect, the present application provides a computing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the embodiments of the present application when executing the computer program.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method in the embodiments of the present application are implemented.

[0015] The detection method based on OPA laser radar provided in the present application scans and detects the detection range to obtain point cloud data, wherein the detection range includes a contour scanning range and other scanning ranges, and the point cloud data includes a first point cloud and a second point cloud, the first point cloud is the point cloud corresponding to the contour scanning range, and the second point cloud is the point cloud corresponding to the other scanning ranges, the contour scanning range is determined based on the target contour within the detection range, and the point cloud density of the first point cloud is greater than the point cloud density of the second point cloud; the detection result is obtained based on the point cloud data. This scheme makes full use of the highly flexible scanning characteristics of the OPA laser radar to perform a fine scan in the area where the target contour is located, while ensuring that more target description information can be obtained, reducing the number of point clouds obtained, that is, reducing the amount of data in the detection process, which is conducive to the rapid calculation of subsequent processing processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] in: Figure 1 is a flowchart of a detection method based on an OPA laser radar according to an embodiment of the present application; Figure 2 It is a structural schematic diagram of an OPA laser radar control device shown in an embodiment of the present application; Figure 3 It is a schematic diagram of the structure of a computing device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to facilitate the understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings below. The preferred embodiments of the present application are provided in the drawings. However, the present application can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0019] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0020] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0021] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0022] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0023] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0024] The present application embodiment provides a detection method based on OPA laser radar, such as Figure 1 As shown, the method comprises the following steps: Step 110: Scan the detection range to obtain point cloud data.

[0025] Among them, the detection range described in this embodiment refers to the range of target detection when the OPA laser radar itself performs detection. The detection range may include a contour scanning range and other scanning ranges, and the contour scanning range is determined based on the target contour within the detection range. The target contour area can be an adjacent area based on the extension of the contour line of the target. For example, the area covered between positive and negative N centimeters on both sides of the contour line can be set as the contour scanning range, and N is a value set according to actual conditions. Of course, the setting rules of the target contour area can also be further optimized according to the basic characteristics of the contour line. For example, when the contour line is more complex, the value of N can be adaptively expanded to increase the partial area. Correspondingly, when the contour line is relatively simple, the value of N can be adaptively reduced to reduce the partial area.

[0026] In this embodiment, the point cloud data includes a first point cloud and a second point cloud, the first point cloud is a point cloud corresponding to a contour scanning range, the second point cloud is a point cloud corresponding to other scanning ranges, and the point cloud density of the first point cloud is greater than the point cloud density of the second point cloud; Step 120: Obtain detection results based on the point cloud data.

[0027] The detection method based on OPA laser radar proposed in this embodiment makes full use of the highly flexible scanning characteristics of OPA laser radar, performs fine scanning in the area where the target contour is located, and performs relatively rough scanning in other areas. This can not only "describe" the appearance characteristics of the target more finely with laser point cloud, but also is more conducive to target recognition. The "description" of the target appearance by this method is clearer than the contour features of the point cloud obtained by other methods. Given that the target contour can distinguish the target itself most of the time (most of the current point cloud target recognition methods need to rely on the target size for judgment), therefore, when using the point cloud obtained by this method for target detection, the feature description of the target can be found more quickly, and target recognition based on the target contour features can be realized, which is more conducive to the fine recognition of the target. This application only performs fine scanning on the contour area, and relatively rough scanning on other parts. This ensures that more target description information can be obtained while reducing the number of point clouds obtained, that is, reducing the amount of data in the detection process, which is conducive to the rapid calculation of subsequent processing.

[0028] In addition, compared with the strategy of simply dividing the scanning range into target area and non-target area, performing fine scanning on the target area and coarse scanning on the non-target area (which is still difficult to use for fine contour recognition, identity recognition, etc.), the solution of the present application can ensure that more contour information is obtained with a smaller amount of data, especially in terms of ensuring the comprehensive acquisition of feature points in the process of detecting the target. Compared with the previous detection strategy of the target area and non-target area, the point cloud obtained by the present application is more conducive to applications such as fine target contour recognition and target identity recognition.

[0029] In one of the optional embodiments, some solutions for determining the contour scanning range and other scanning ranges are also provided. The method can be implemented with the assistance of a visual sensor, or it can be considered to rely on the detection of the OPA laser sensor itself. The method is usually implemented using the following solution: obtaining the area identification data of the detection range; determining the contour scanning range and other scanning ranges within the detection range based on the area identification data. The area identification data can be an image or a point cloud.

[0030] When a visual sensor is used to assist, the area identification data is an image. When implementing this method to determine the contour scanning range and other scanning ranges, it is necessary to calibrate after installing the OPA lidar and the visual sensor so that the image collected by the visual sensor and the point cloud of the OPA lidar can be in the same coordinate system. The specific calibration method can be a calibration method based on calibration objects, high-precision maps, etc., and of course, it can also be other achievable calibration methods in the field. After the installation and calibration are completed, the visual sensor collects images, and identifies the region of interest on the collected image, and determines the contour scanning range and other scanning ranges within the detection range based on the identification results.

[0031] When the OPA laser sensor itself is used to determine the contour scanning range and other scanning ranges, it is necessary to first perform an initial scan of the detection range using the OPA laser radar to obtain area identification data. Then, the contour scanning range and other scanning ranges are confirmed by taking advantage of the characteristic that the laser can accurately and real-time obtain distance values. Specifically, the distance difference between adjacent point cloud points in the area identification data is calculated, and the contour scanning range and other scanning ranges within the detection range are determined based on the distance difference.

[0032] It should be noted that the above-mentioned confirmation of contour scanning range and other scanning ranges through images and point clouds are only some feasible methods provided by the present application. In some other cases, other types of data can be selected as area identification data based on actual conditions, such as millimeter waves, visible light, infrared, microwaves, etc. Accordingly, after selecting the corresponding data as area identification data, a suitable algorithm (an adaptively improved algorithm can be considered) can be selected to process the data to realize the confirmation of contour scanning range and other scanning ranges.

[0033] In another optional embodiment, the contour scanning range and other scanning ranges can be determined by modeling. The region recognition data can be first processed using a target detection algorithm to obtain a target category; the contour scanning range and other scanning ranges can be determined based on the target category and a corresponding preset model, where the preset model is a pre-modeled model.

[0034] In some other embodiments, in addition to considering the accuracy and fineness of the contours of each target when modeling, it is also necessary to consider the imaging perspective relationship (spatial information such as distance, angle, height, etc.) caused by the position of each target when it is detected. At this time, in addition to the need to identify the category of the target, it is also necessary to consider the impact of spatial information on the contour line in the vehicle-mounted laser radar. Therefore, it can be considered to process the spatial information of the target to obtain perspective information, and the perspective information is used to coordinate the output results of the preset model to determine the contour scanning range and other scanning ranges. Furthermore, it can be considered to use two learning models or adaptation algorithms, respectively for processing the contour presented by the target and for visual display based on the position of the target. These two learning models or adaptation algorithms can be parallel architectures, or they can process the contour first and then make corresponding visual angle displays based on the contour. For example, when a vehicle-mounted laser radar detects a vehicle in front, the outline of the vehicle can be described from two dimensions within the field of view of the vehicle-mounted laser radar. One is the outline information of the vehicle itself (ideal design outline), and the other is the relative position of the vehicle (perspective relationship). This embodiment processes these two types of information separately, fully considering the spatial information of the vehicle's shape outline and position, which can reduce the complexity of the information and provide the outline faster and more accurately.

[0035] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0036] Corresponding to the detection method based on OPA laser radar described in the above embodiment, Figure 2 The structure block diagram of the OPA laser radar control device provided in the embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown. Figure 2 The device includes: a control module 100 and a data processing module 200, wherein the control module 100 is used to output a control instruction according to the processing result of the data processing module to control the OPA laser radar to scan and detect the detection range to obtain point cloud data, wherein the detection range includes a contour scanning range and other scanning ranges, and the point cloud data includes a first point cloud and a second point cloud, wherein the first point cloud is a point cloud corresponding to the contour scanning range, and the second point cloud is a point cloud corresponding to the other scanning ranges, and the contour scanning range is determined based on the target contour within the detection range, and the point cloud density of the first point cloud is greater than the point cloud density of the second point cloud; The data processing module 200 is used to obtain detection results based on the point cloud data.

[0037] In one of the optional embodiments, the data processing module 200 is further used to obtain area identification data of the detection range; and determine the contour scanning range and other scanning ranges within the detection range according to the area identification data.

[0038] In one of the optional embodiments, the control module 100 is also used to control the OPA laser radar to perform an initial scan of the detection range to obtain area identification data; accordingly, the data processing module 200 is used to calculate the distance difference between adjacent point cloud points in the area identification data; and determine the contour scanning range and other scanning ranges within the detection range based on the distance difference.

[0039] In one of the optional embodiments, the data processing module 200 is used to process the area recognition data using a target detection algorithm to obtain a target category; determine the contour scanning range and other scanning ranges based on the target category and a corresponding preset model, and the preset model is a pre-modeled model.

[0040] In one of the optional embodiments, the data processing module 200 is further used to process the spatial information of the target to obtain perspective information, and the perspective information is used to determine the contour scanning range and other scanning ranges in conjunction with the output result of the preset model.

[0041] In one of the optional embodiments, the data processing module 200 is further used to determine the contour of the target according to the area recognition data; based on the adjacent area where the contour of the target is extended, the contour scanning range and other scanning ranges within the detection range are determined based on the adjacent area.

[0042] In one of the optional embodiments, the data processing module 200 is also used to determine the area covered between positive and negative N centimeters on both sides of the contour line as the contour scanning range; wherein N is an adaptively changing value, and the value of N is increased when the contour line is more complex; correspondingly, the value of N is reduced when the contour line is simpler.

[0043] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0044] Figure 3 This is a schematic diagram of the structure of a computing device provided in one embodiment of the present application. Figure 3 As shown, the computing device 3 of this embodiment includes: at least one processor 60 ( Figure 3A processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60 (only one is shown), and when the processor 60 executes the computer program 62, the steps in any of the above-mentioned detection method embodiments based on OPA lidar are implemented.

[0045] The computing device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 3 It is only an example of the computing device 6 and does not constitute a limitation on the computing device 3 proposed in this application. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0046] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0047] In some embodiments, the memory 61 may be an internal storage unit of the computing device 6, such as a hard disk or memory of the computing device 6. In other embodiments, the memory 61 may also be an external storage device of the computing device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computing device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the computing device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0048] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0049] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0050] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0051] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0052] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0053] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0054] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0055] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0056] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0057] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

[0058] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A detection method based on OPA laser radar, characterized in that: include: Scanning and detecting the detection range to obtain point cloud data, wherein the detection range includes a contour scanning range and other scanning ranges, and the point cloud data includes a first point cloud and a second point cloud, the first point cloud is a point cloud corresponding to the contour scanning range, and the second point cloud is a point cloud corresponding to the other scanning ranges, the contour scanning range is determined based on the target contour within the detection range, and the point cloud density of the first point cloud is greater than the point cloud density of the second point cloud; A detection result is obtained based on the point cloud data.

2. The detection method according to claim 1, characterized in that: The method further comprises: Acquiring area identification data of the detection range; The contour scanning range and other scanning ranges within the detection range are determined according to the area recognition data.

3. The detection method according to claim 2, characterized in that: The acquiring of the area identification data of the detection range comprises: Performing an initial scan of the detection range by the OPA laser radar to obtain area identification data; Accordingly, determining the contour scanning range and other scanning ranges within the detection range according to the area recognition data includes: Calculating the distance difference between adjacent point cloud points in the area recognition data; The contour scanning range and other scanning ranges within the detection range are determined according to the distance difference.

4. The detection method according to claim 2, characterized in that: Determining the contour scanning range and other scanning ranges within the detection range according to the area recognition data includes: Processing the region recognition data using a target detection algorithm to obtain a target category; The contour scanning range and other scanning ranges are determined based on the target category and a corresponding preset model, and the preset model is a pre-modeled model.

5. The method according to claim 4, characterized in that The method further comprises: The spatial information of the target is processed to obtain perspective information, and the perspective information is used to determine the contour scanning range and other scanning ranges in coordination with the output result of the preset model.

6. The method according to claim 2, characterized in that Determining the contour scanning range and other scanning ranges within the detection range according to the area recognition data includes: Determine the contour of the target based on the area recognition data; Based on the neighboring area where the contour of the target is extended, the contour scanning range and other scanning ranges within the detection range are determined based on the neighboring area.

7. The method according to claim 6, characterized in that Determining a contour scanning range and other scanning ranges within the detection range based on the adjacent area includes: The area covered between plus and minus N centimeters on both sides of the contour line is determined as the contour scanning range; where N is an adaptively changing value, the value of N is increased when the contour line is more complex; correspondingly, the value of N is reduced when the contour line is simpler.

8. An OPA laser radar control device, characterized in that: The device includes: A control module 100 and a data processing module 200 are interconnected, wherein the control module 100 is used to output a control instruction according to a processing result of the data processing module to control the OPA laser radar to scan and detect the detection range to obtain point cloud data, wherein the detection range includes a contour scanning range and other scanning ranges, and the point cloud data includes a first point cloud and a second point cloud, wherein the first point cloud is a point cloud corresponding to the contour scanning range, and the second point cloud is a point cloud corresponding to the other scanning ranges, and the contour scanning range is determined based on the target contour within the detection range, and the point cloud density of the first point cloud is greater than the point cloud density of the second point cloud; The data processing module 200 is used to obtain detection results based on the point cloud data.

9. A computing device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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