Detection method and device, movable platform and storage medium

Abstract

A detection method, device, movable platform and storage medium, the detection method is used for detecting a device scanning a detection environment, the detection device comprises an emitter for emitting a light pulse and a scanning module for emitting after constantly changing the transmission direction of the light pulse. The method comprises: determining a region of interest in the scanning range of the detection device; adjusting the emission frequency of the emitter and / or adjusting the rotation speed of the optical element in the scanning module during the scanning of the region of interest by the detection device; wherein the corresponding point cloud density of the region of interest after adjustment is higher than the corresponding point cloud density when not adjusted. The embodiment realizes improving the point cloud density of the region of interest.

Description

Technical Field

[0001] This application relates to the field of detection technology, and more specifically, to a detection method, apparatus, mobile platform, and storage medium. Background Technology

[0002] Detection devices play a vital role in many fields, such as on mobile and non-mobile platforms, for remote sensing, obstacle avoidance, mapping, modeling, and environmental perception. Mobile platforms, in particular, such as robots, manually operated aircraft, unmanned aerial vehicles, unmanned vehicles, and unmanned vessels, can use detection devices for navigation in complex environments, enabling path planning, obstacle detection, and obstacle avoidance.

[0003] The detection device generates sensing data (such as point cloud) for the detection environment by reflecting light pulses into the detection environment and generating the reflected light pulses. However, the low point cloud density acquired by the detection device in related technologies leads to low accuracy of point cloud detection results. For example, in the field of navigation, low point cloud density may lead to errors in obstacle detection results, which may result in serious accidents. Summary of the Invention

[0004] In view of this, one of the objectives of this application is to provide a detection method, apparatus, mobile platform and storage medium.

[0005] In a first aspect, embodiments of this application provide a detection method for a detection device to scan a detection environment. The detection device includes a transmitter for emitting light pulses and a scanning module for continuously changing the transmission direction of the light pulses before emitting them.

[0006] The method includes:

[0007] Determine the region of interest within the scanning range of the detection device;

[0008] During the scanning of the region of interest by the detection device, the emission frequency of the transmitter is adjusted and / or the rotational speed of the optical elements in the scanning module is adjusted; wherein, the point cloud density corresponding to the region of interest after adjustment is higher than the point cloud density corresponding to the region of interest without adjustment.

[0009] Secondly, embodiments of this application provide a detection device, including a transmitter, a scanning module, and a processor;

[0010] The transmitter is used to emit light pulses;

[0011] The scanning module includes at least one optical element, which is used to continuously change the transmission direction of the light pulse before emitting it;

[0012] The processor is used to determine the region of interest within the scanning range of the detection device; during the scanning of the region of interest by the detection device, the transmission frequency of the transmitter is adjusted and / or the rotational speed of the optical elements in the scanning module is adjusted; wherein, the point cloud density corresponding to the region of interest after adjustment is higher than the point cloud density corresponding to the region of interest without adjustment.

[0013] Thirdly, embodiments of this application provide a mobile platform, including:

[0014] Organism;

[0015] A power system, installed on the body, is used to drive the movable platform to move;

[0016] And, the detection device as described in the second aspect, mounted on the mobile platform.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing executable instructions that, when executed by a processor, implement the method described in the first aspect.

[0018] This application provides a detection method for a detection device to scan the detection environment. This embodiment considers that in practical applications, not all perceived information (e.g., point clouds) within the scanning range of the detection device is necessarily valid; typically, only some areas of perceived information are valid. Therefore, this application identifies a region of interest (ROI) and adjusts the transmission frequency of the detector's transmitter and / or the rotational speed of the optical elements within the detector's scanning module while scanning the ROI. This results in a higher point cloud density corresponding to the ROI after adjustment compared to the unadjusted state, thereby increasing the point cloud density of the ROI. This improves the accuracy of point cloud detection results. Furthermore, identifying the ROI also helps reduce the power consumption of the detection device and extends its service life. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of an autonomous driving scenario provided in one embodiment of this application;

[0021] Figure 2 This is a schematic flowchart of a detection method provided in one embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the circuit structure of a detection device provided in one embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the structure of a detection device provided in one embodiment of this application;

[0024] Figure 5A and Figure 5B This is a different schematic diagram of determining the target range by the direction of movement according to one embodiment of this application;

[0025] Figure 6 and Figure 7 These are different schematic diagrams of the region of interest provided in one embodiment of this application;

[0026] Figure 8A This is a schematic diagram showing the overlapping scanning ranges of two detection devices provided in one embodiment of this application;

[0027] Figure 8B This is a schematic diagram of a region of interest provided in one embodiment of this application;

[0028] Figure 9 This is a schematic diagram illustrating how increasing the frequency can improve point cloud density, according to one embodiment of this application.

[0029] Figure 10A and Figure 10B This is a comparative schematic diagram of the region of interest before and after adjustment, provided in one embodiment of this application;

[0030] Figure 11 This is another structural diagram of the detection device provided in one embodiment of this application;

[0031] Figure 12 This is a structural diagram of a mobile platform provided in one embodiment of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] To address the issue of low accuracy in point cloud detection due to low point cloud density in related technologies, this application provides a detection method for a detection device to scan the detection environment. The detection device includes a transmitter for emitting light pulses and a scanning module for continuously changing the transmission direction of the light pulses before emission. During the scanning process, a region of interest (ROI) is determined within the scanning range of the detection device. Then, while scanning the ROI, the emission frequency of the transmitter and / or the rotation speed of the optical elements within the scanning module are adjusted, resulting in a higher point cloud density in the ROI after adjustment compared to the unadjusted state. This embodiment considers that in practical applications, not all perceived information (e.g., point cloud) within the scanning range of the detection device is necessarily valid; typically, only some areas of perceived information are valid. Therefore, this application identifies the ROI and adjusts the emission frequency and / or rotation speed during scanning to increase the point cloud density in the ROI. This improves the accuracy of point cloud detection results, reduces the power consumption of the detection device, and extends its service life.

[0034] The detection method can be applied to a detection device, which includes, but is not limited to, lidar, laser detection equipment, etc. In one embodiment, the detection device is used to sense external environmental information, such as distance information, orientation information, reflection intensity information, and speed information of environmental targets. In one implementation, the detection device can detect the distance from the target object to the detection device by measuring the time of light propagation between the detection device and the target object, i.e., the time-of-flight (TOF) of light. Alternatively, the detection device can also detect the distance from the target object to the detection device using other techniques, such as detection methods based on phase shift measurement or frequency shift measurement, without limitation.

[0035] The detection device can be mounted on a mobile platform, which can be a mobile vehicle. The vehicle can traverse the environment using one or more propulsion units. The vehicle can be an airborne, land-based, waterborne, or space-based vehicle. The vehicle can be unmanned. The vehicle may be able to traverse the environment without human occupants. Alternatively, the vehicle may carry human occupants. Exemplary examples include, but are not limited to, unmanned aerial vehicles (UVAs), autonomous vehicles, unmanned boats, or mobile robots.

[0036] In an exemplary application scenario, please refer to Figure 1 Taking the detection device 20 mounted on an autonomous vehicle 10 as an example: the number of detection devices 20 can be one or more, and can be specifically set according to the actual application scenario. Figure 1 The diagram shows four detection devices 20 and their scanning ranges. The mounting positions of the detection devices 20 can be specifically set according to the actual application scenario; for example, the detection devices 20 can be mounted in front, behind, or to the side of the autonomous vehicle 10. During the operation of the autonomous vehicle 10, the detection devices 20 can be used to scan the environment to obtain perception data (e.g., point clouds), and then perform path planning, obstacle detection, or obstacle avoidance based on the acquired perception data.

[0037] As an example, when the autonomous vehicle 10 is moving straight forward, a region of interest can be determined within the scanning range of the detection device 20 installed in front of the vehicle. During the scanning of the region of interest by the detection device 20, the transmission frequency of the transmitter of the detection device 20 and / or the rotation speed of the optical elements in the scanning module of the detection device 20 are adjusted to increase the point cloud density corresponding to the region of interest, thereby assisting the autonomous vehicle 10 to drive safely and reliably based on the point cloud in the region of interest.

[0038] As an example, when the autonomous vehicle 10 is reversing, a region of interest can be determined within the scanning range of the detection device 20 installed at the rear of the vehicle. By adjusting the transmission frequency of the transmitter and / or the rotation speed of the optical element, the point cloud density corresponding to the region of interest can be increased, thereby assisting the autonomous vehicle 10 to drive safely and reliably based on the point cloud in the region of interest.

[0039] As an example, when an autonomous vehicle is performing target detection (e.g., obstacle detection), it can determine the region of interest (ROI) within the scanning range of the detection device based on the location information of the target to be detected. By adjusting the transmission frequency of the transmitter and / or the rotation speed of the optical elements, the point cloud density corresponding to the ROI can be increased, thereby achieving accurate target detection and tracking based on the point cloud within the ROI.

[0040] The detection method provided in the embodiments of this application will be described below. Please refer to [link / reference]. Figure 2 This application provides a detection method for a detection device to scan a detection environment. The detection device includes a transmitter for emitting light pulses and a scanning module for continuously changing the transmission direction of the light pulses before emission. The method includes:

[0041] In step S101, the region of interest within the scanning range of the detection device is determined.

[0042] In step S102, during the scanning of the region of interest by the detection device, the emission frequency of the transmitter is adjusted and / or the rotational speed of the optical elements in the scanning module is adjusted; wherein, the point cloud density corresponding to the region of interest after adjustment is higher than the point cloud density corresponding to the region of interest before adjustment.

[0043] The circuit structure of the detection device is described here: Please refer to [link / reference needed]. Figure 3 The diagram below shows a circuit diagram of a detection device according to an exemplary embodiment of this application. The detection device 20 includes at least a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130, and a processing circuit 140.

[0044] The transmitting circuit 110 can emit light pulses (for example, the transmitting circuit can be disposed in a transmitter for emitting light pulses). The receiving circuit 120 can receive light pulses reflected by a probe in the detection environment, and perform photoelectric conversion on the light pulses to obtain an electrical signal. After processing the electrical signal, it can be output to the sampling circuit 130. The sampling circuit 130 can sample the electrical signal to obtain a sampling result. The arithmetic circuit 140 can determine the distance between the detection device 20 and the probe based on the sampling result of the sampling circuit 130.

[0045] Optionally, the detection device 20 may also include a control circuit 150, which can control other circuits, such as controlling the working time of each circuit and / or setting parameters for each circuit.

[0046] It should be understood that, although Figure 3 The detection device shown includes a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130, and a processing circuit 140 for emitting one optical pulse for detection. However, the embodiments of this application are not limited to this. The number of any one of the transmitting circuit 110, receiving circuit 120, sampling circuit 130, and processing circuit 140 can also be at least two, for emitting at least two optical pulses in the same direction or in different directions respectively. The at least two optical pulses can be emitted simultaneously or at different times.

[0047] The structure of the detection device is described here: Please refer to [link / reference needed]. Figure 4Here, we will take the transmission process of the light pulse using a coaxial optical path in the detection device 20 as an example: The ranging module 200 includes a ranging module 200 and a scanning module 300. The ranging module 200 includes a transmitter 201 (which may include the transmitting circuit 110 mentioned above), a collimating element 203, a detector 202 (which may include the receiving circuit 120, sampling circuit 130 and a calculation circuit 140 mentioned above), and an optical path changing element 204; the scanning module 300 includes at least two moving optical elements 301 and at least two drivers 302 corresponding to the optical elements 301.

[0048] The transmitter 201 is used to emit light pulses. The collimating element 203 is disposed in the output light path of the transmitter 201 to collimate the light pulses emitted from the transmitter 201, and to collimate the light pulses emitted from the transmitter 201 into parallel light for emission to the scanning module 300.

[0049] The optical element 301 in the scanning module 300 is placed in the output optical path of the transmitter 201. The moving optical element 301 in the scanning module 300 is used to continuously change the transmission direction of the light pulse before output, so that the light pulse emitted by the transmitter 201 scans the detection environment in two dimensions.

[0050] Figure 4 In the illustrated embodiment, the rotation of three optical elements 301 around a common axis is used as an example: the driver 302 corresponding to each optical element 301 drives the optical element 301 to rotate, causing the optical element 301 to change the direction of the light pulse collimated by the collimating element 203. Under the drive of the driver 302, the optical element 301 can project the collimated light pulse in different directions at different times, thereby enabling the scanning of a larger spatial range.

[0051] In one embodiment, the optical element 301 includes a pair of relatively non-parallel surfaces through which the collimated light pulse passes. In one embodiment, the optical element 301 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the optical element 301 includes a wedge-shaped prism for refracting the collimated light pulse. In one embodiment, the optical element 301 includes a mirror for reflecting the collimated light pulse. The rotational speeds of the individual optical elements 301 are different. It is understood that the rotational speed is a vector, including direction and magnitude, and the different rotational speeds may have different directions, different magnitudes, or both.

[0052] The light pulse emitted into the detection environment is reflected by the detector, passes through the scanning module 300, and then enters the collimating element 203. The collimating element 203 is also used to converge the light pulse reflected back by the detector. The detector 202 is used to receive at least part of the light pulse reflected back through the collimating element 203, generate three-dimensional points based on the reflected light pulse, and output a point cloud frame containing several three-dimensional points at a specified frame rate.

[0053] In this implementation, the optical path changing element 204 can be used to merge the transmitting and receiving optical paths within the detection device 20 before the collimating element 203, allowing the transmitting and receiving optical paths to share the same collimating element 203, thus making the optical path more compact. Alternatively, in other implementations, the transmitter 201 and detector 202 may each use their own collimating element 203, with the optical path changing element 204 positioned on the optical path after the collimating element 203.

[0054] Considering the small aperture of the light pulse emitted by the transmitter 201 and the large aperture of the reflected light pulse received by the detector 20, the optical path changing element 204 can use a small-area reflector to combine the transmitting and receiving optical paths. In other implementations, the optical path changing element 204 can also use a reflector with a through-hole, where the through-hole transmits the light pulse emitted by the transmitter 201, and the reflector reflects the reflected light pulse back to the detector 202. This reduces the obstruction of the reflected light by the support of the small reflector in cases where a small reflector is used.

[0055] exist Figure 4 In the illustrated embodiment, the optical path changing element 204 is offset from the optical axis of the collimating element 203. In some other implementations, the optical path changing element 204 may also be located on the optical axis of the collimating element 203.

[0056] In one embodiment, each optical element 301 is coated with an antireflective film. Optionally, the thickness of the antireflective film is equal to or close to the wavelength of the light pulse emitted by the transmitter 201, which can increase the intensity of the transmitted light beam.

[0057] In one embodiment, a filter layer is coated on the surface of an element (such as collimating element 203, optical path changing element 204, etc.) located on the beam propagation path in the detection device 20, or a filter is provided on the beam propagation path to at least transmit the wavelength of the beam emitted by the transmitter 201 and reflect other wavelengths, so as to reduce the noise of ambient light to the detector 202.

[0058] In some embodiments, the transmitter 201 emits nanosecond-level laser pulses. Further, the laser pulse reception time can be determined, for example, by detecting the rise time and / or fall time of an electrical signal pulse. Thus, the detection device 20 can use the pulse reception time information and the pulse emission time information to calculate the TOF (Time of Flight), thereby determining the distance from the object to the detection device 20.

[0059] In some embodiments, the detection device further includes a processor for executing the steps of the detection method provided in the embodiments of this application. It is understood that the above description of the structure of the detection device is merely illustrative, and the embodiments of this application do not impose any limitations on it.

[0060] In some embodiments, the detection method provided in this application can be applied to a detection device that can scan the detection environment in two dimensions, wherein the field of view of the detection device in one dimension is larger than the field of view in the other dimension. For example, for a detection device mounted on an autonomous vehicle, based on the movement characteristics of the autonomous vehicle, the field of view of such a device is typically larger in the horizontal dimension than in the vertical dimension. Of course, the detection method provided in this application can also be applied to scenarios where the field of view in both dimensions is equally large, without any limitation.

[0061] In step S101, before scanning the detection environment using the detection device, the detection device can first determine the region of interest (ROI) within the scanning range of the detection device. Here, it can be considered that perceptual data (e.g., point clouds) relating to the ROI is considered data with relatively high attention, while perceptual data (e.g., point clouds) relating to non-ROIs are considered data with relatively low attention.

[0062] The detection device mounted on the mobile platform can be one or more, and its mounting position on the mobile platform can be specifically set according to the actual application scenario. For example, it can be mounted at the front, rear, and / or side of the mobile platform. In one example, taking an autonomous vehicle as the mobile platform, based on the movement characteristics of autonomous vehicles, the detection device can be installed at the front, rear, and side of the autonomous vehicle.

[0063] In one example, when the detection device is mounted in front of the autonomous vehicle, as the autonomous vehicle moves straight forward, the area in front of the autonomous vehicle can be identified as the area of ​​high interest, while the area behind or to the side of the autonomous vehicle is of relatively low interest. Therefore, the area in the area in front of the autonomous vehicle within the scanning range of the detection device can be identified as the region of interest.

[0064] In one embodiment, when the detection device is mounted on a mobile platform, the mobile platform typically focuses more on sensing information along its movement path, and the direction of movement of the mobile platform is one of the key factors determining the movement path; therefore, the region of interest can be determined based on the direction of movement of the mobile platform; in this embodiment, the region of interest is determined based on the direction of movement of the mobile platform, and the point cloud density corresponding to the region of interest is subsequently increased by adjusting the transmission frequency of the (transmitter) and / or the rotation speed of the (scanning module) of the detection device, thereby effectively assisting the mobile platform to move safely and reliably.

[0065] In one possible implementation, the region of interest may be located within a target area of ​​the mobile platform facing the direction of movement; the target area is located within the scanning range of the detection device, or the target area intersects with the scanning range of the detection device. During movement, the mobile platform pays relatively high attention to the target area facing the direction of movement, while paying relatively low attention to other directions. For example, please refer to... Figure 5A ( Figure 5A (Taking an autonomous vehicle as an example), the target range can be a specified angular range with the movable platform as the vertex and the direction of movement as the angle bisector. The specified angle can be specifically set according to the actual application scenario, such as 10°, 12°, or 14°; as an example, please refer to Figure 5B ( Figure 5B Taking an autonomous vehicle as an example, the target range can be a rectangular range of a specified size facing the direction of movement. The specified size can be specifically set according to the actual application scenario. For example, the specified size is not smaller than the size of the movable platform. Of course, the setting of the target range is not limited to this and can be specifically set according to the actual application scenario.

[0066] For example, see, for instance Figure 5A as well as Figure 6 Taking the installation of a detection device in front of an autonomous vehicle as an example, during the forward straight-line movement of the autonomous vehicle 10, the region within a specified angle range with the autonomous vehicle 10 as the vertex and the forward straight-line direction as the angle bisector can be determined as the region of interest. For example... Figure 6The gray area in the diagram represents the region of interest.

[0067] In one example, the detection device is mounted in front of the movable platform. When the movable platform moves forward in a straight line, the detection device can determine a region of interest within its scanning range. For example, it can determine a target area facing the forward direction within its scanning range. This target area can be a specified angular range with the movable platform as a vertex and the forward direction as the angle bisector. The region within the target area is the region of interest. For example, please refer to [link to example description]. Figure 6 When the detection device is mounted directly in front of the movable platform, during the forward movement of the movable platform, a target range facing the forward movement direction is determined within the scanning range of the detection device. The area within the target range is the region of interest, wherein the target range facing the forward movement direction is located within the scanning range of the detection device, and the region of interest is located in the middle of the scanning range of the detection device.

[0068] In another example, the detection device is mounted at the rear of the movable platform. When the movable platform reverses, the detection device can determine a region of interest within its scanning range. For example, it can determine a target area facing the reverse direction within its scanning range, and the area corresponding to the target area is the region of interest. For instance, when the detection device is mounted directly behind the movable platform, the region of interest can be determined within its scanning range during the platform's reverse movement. The region of interest is located in the middle of the scanning range.

[0069] Of course, considering that in practical applications, the mounting positions of the detection device on the mobile platform are not the same, and it may not necessarily be installed exactly in front of and / or behind the mobile platform, that is, the region of interest is not necessarily located in the middle of the scanning range of the detection device. There may be deviations based on the installation position of the detection device. Therefore, the region of interest is determined jointly based on the moving direction of the mobile platform and the mounting position of the detection device on the mobile platform. This embodiment takes into account the problem that the scanning range may vary due to differences in the mounting position of the detection device, and considers the mounting position of the detection device when determining the region of interest, thereby further ensuring the accuracy of the determined region of interest.

[0070] For example, a target range facing the moving direction can be determined based on the moving direction of the mobile platform, and its scanning range can be determined based on the mounting position of the detection device. The portion where the target range and the scanning range intersect is defined as the region of interest. For example, please refer to [link to relevant documentation]. Figure 7 Taking the example of a detection device installed in front of an autonomous vehicle, the detection device is positioned slightly to the right of the front of the autonomous vehicle. As the autonomous vehicle moves forward in a straight line, the region corresponding to the intersection of the target area facing the direction of movement and the scanning range is the region of interest. The region of interest is located slightly to the left of the scanning range. Figure 7 The region of interest in the example is only, but is not limited to this.

[0071] In some embodiments, the region of interest is also related to the mobile environment of the mobile platform. For example, in an autonomous driving scenario, when an autonomous vehicle is driving on a one-way street, it needs to pay attention to road information from the direction of movement; when an autonomous vehicle is driving at an intersection, in addition to paying attention to road information from the direction of movement, it also needs to pay attention to road information from other directions to ensure safe and reliable driving. Therefore, the region of interest can be determined jointly based on the mobile platform's direction of movement and the mobile environment.

[0072] For example, when the mobile platform moves in an intersection scenario, the region of interest can be determined within the scanning range of the detection device based on the moving direction of the mobile platform and other directions determined based on the intersection. For example, when the mobile platform moves in a non-intersection scenario, the region of interest can be determined within the scanning range of the detection device based on the moving direction of the mobile platform.

[0073] In some embodiments, considering the differences in the mounting position of the detection device on the mobile platform, the region of interest is determined jointly based on the moving direction of the mobile platform, the moving environment, and the mounting position of the detection device, thereby helping to ensure the accuracy of the region of interest.

[0074] In some embodiments, considering the differences in the mounting positions of the detection devices on the mobile platform, there may be at least two detection devices whose scanning ranges are both related to the direction of movement of the mobile platform. For example, please participate... Figure 8A , Figure 8AThe illustration shows a scenario where two detection devices 20 are installed in front of an autonomous vehicle 10. When the autonomous vehicle 10 is moving straight forward, both detection devices 20 have valid information within their scanning ranges that is of high interest to the vehicle in the forward direction, typically located at the boundary of their scanning ranges. The detection devices 20 can then determine regions of interest within the scanning ranges of the at least two detection devices 20 based on the direction of movement of the mobile platform; these regions of interest are typically located at the boundary of the scanning ranges of the at least two detection devices 20.

[0075] In cases where at least two of the detection devices are mounted in close proximity or where at least two of the detection devices have a large field of view, such as Figure 8A As shown, there may be a situation where the scanning ranges of the at least two detection devices overlap. Considering that the sensing data (such as point clouds) corresponding to the overlapping areas within the scanning ranges of the at least two detection devices is a superposition of point clouds obtained by scanning the area by the at least two detection devices, that is, the point cloud density of the overlapping areas within the scanning ranges of the at least two detection devices is already sufficiently dense, in order to further reduce the power consumption of the detection devices, it is advisable not to increase the point cloud density of the overlapping areas. Therefore, when determining the region of interest, the overlapping areas within the scanning ranges of the at least two detection devices can be disregarded, and the region of interest can be determined from the non-overlapping areas within the scanning ranges of the at least two detection devices. Increasing the point cloud density of the region of interest determined from the non-overlapping areas is beneficial to reducing the power consumption of the detection devices.

[0076] As mentioned above, when the scanning ranges of at least two detection devices are related to the moving direction of the movable platform, the region of interest is usually located at the intersection of the scanning ranges of the at least two detection devices. In other words, the region of interest determined in this embodiment is adjacent to the overlapping area within the scanning ranges of the at least two detection devices.

[0077] For example, the detection device can determine the region of interest from non-overlapping areas within the scanning range of at least two detection devices based on the movement direction of the movable platform; for instance, it can determine a target range facing the movement direction based on the movement direction of the movable platform, and determine the region of interest related to the target range in the non-overlapping area as the region of interest.

[0078] In one example, please refer to Figure 8B ,exist Figure 8ABased on this, when the autonomous vehicle is traveling straight ahead, a target range can be determined in the direction of the autonomous vehicle's forward movement. The region related to the target range within the non-overlapping areas scanned by the two detection devices is then defined as the region of interest. It can be seen that the region of interest is adjacent to the overlapping areas scanned by the two detection devices. In this embodiment, when determining the region of interest, the overlapping areas within the scanned areas of the at least two detection devices can be disregarded, meaning the region of interest requiring increased point cloud density is reduced, which helps to further reduce the power consumption of the detection devices.

[0079] It is understood that this embodiment does not impose any restrictions on the mounting position of the at least two detection devices on the movable platform. For example, the at least two detection devices may be mounted at the front, rear, and / or side of the movable platform. In cases where the scanning ranges of the at least two detection devices overlap, for example, both at least two detection devices may be mounted at the front of the movable platform or both at the side of the movable platform; or, for example, one of the at least two detection devices may be mounted at the front or rear of the movable platform, and the other at the side of the movable platform.

[0080] In some embodiments, when there are multiple detection devices mounted on a mobile platform at different locations, not all detection devices need to determine the region of interest. A target detection device can be determined from among the multiple detection devices based on the moving direction of the mobile platform, or based on the moving direction of the mobile platform and the moving environment. This target detection device is the one from which the region of interest needs to be determined. For example, the scanning range of the detection device can be determined based on its mounting location, and a target range facing the moving direction can be determined based on the moving direction of the mobile platform. The detection devices whose target range intersects with the scanning range are the target detection devices for which the region of interest needs to be determined. Other detection devices can operate in normal working mode without adjusting the transmitter's transmission frequency and / or the rotation speed of the optical elements in the scanning module, thereby reducing the power consumption of the detection devices and extending their service life.

[0081] Furthermore, when the moving direction or moving environment of the mobile platform changes, the detection device can re-determine the target detection device from multiple detection devices based on the changed moving direction and / or changed moving environment of the mobile platform, and determine the region of interest within the scanning range of the target detection device, thereby effectively assisting the mobile platform to operate safely and reliably.

[0082] In an exemplary embodiment, at least two detection devices are mounted on a movable platform, including a first detection device and a second detection device. The first detection device is mounted in front of and / or behind the movable platform, and the number of the first detection devices can be one or more. The second detection device is mounted on the side of the movable platform, and the number of the second detection devices can be one or more. When the movable platform is in a specified movement state, the specified movement state refers to a state in which the movement direction or movement environment of the movable platform changes. For example, the specified movement state includes a turning state and / or the state in which the movable platform is moving at an intersection. In this state, it is necessary to redetermine the region of interest. The detection device can adjust the region of interest within the scanning range of the first detection device according to the movement direction and / or the movement environment, and determine the region of interest within the scanning range of the second detection device, thereby obtaining the redetermined region of interest. The redefined region of interest is located at the boundary between the scanning range of the first detection device and the scanning range of the second detection device; furthermore, if there is an overlapping area between the scanning range of the first detection device and the scanning range of the second detection device, the redefined region of interest is located in the non-overlapping area between the scanning range of the first detection device and the scanning range of the second detection device, and the redefined region of interest is adjacent to the overlapping area between the scanning range of the first detection device and the second detection device.

[0083] In some embodiments, in scenarios involving target detection (such as target tracking or obstacle detection), the more point cloud data collected for a target, the better the accuracy of target detection. Therefore, in some embodiments, embodiments of this application can determine the region of interest (ROI) within the scanning range of the detection device based on the location information of the target to be detected. The ROI includes the target to be detected. Subsequently, when the detection device scans the ROI, it can increase the point cloud density of the ROI by adjusting the transmission frequency of the transmitter of the detection device and / or adjusting the rotation speed of the optical elements in the scanning module of the detection device. This is beneficial to improving the accuracy of subsequent target detection using the point cloud corresponding to the ROI.

[0084] In a target detection scenario, if the target to be detected is located in a region of non-interest within the scanning range of the detection device, the detection device can adjust the region of interest based on the location information of the target to be detected. The adjusted region of interest will contain the target to be detected, thereby improving the accuracy of subsequent target detection using the point cloud corresponding to the region of interest.

[0085] In some embodiments, the aforementioned detection device includes at least a transmitter, a scanning module, and a detector; the transmitter is used to emit light pulses; the optical elements in the scanning module are used to continuously change the transmission direction of the light pulses before emitting them, thereby achieving a two-dimensional scan of the detection environment; the detector is used to receive the reflected light pulses, generate three-dimensional points based on the reflected light pulses, and output a point cloud frame containing several three-dimensional points at a specified frame rate. The higher the frame rate of the output point cloud frames, the more point cloud frames are output per unit time, and the less acquisition time is corresponding to each point cloud frame. Consequently, the point cloud density corresponding to each point cloud frame is also reduced. To improve the point cloud density, the detection method of this application embodiment can be implemented when the specified frame rate is higher than a preset threshold or when the specified frame rate is increased. That is, when the specified frame rate is higher than the preset threshold or when the specified frame rate is increased, the region of interest within the scanning range of the detection device is determined. Subsequently, when the detection device scans the region of interest, it can adjust the transmission frequency of the transmitter of the detection device and / or adjust the rotation speed of the optical elements in the scanning module of the detection device to increase the point cloud density of the region of interest, thereby compensating for the problem of insufficient point cloud density caused by high frame rate.

[0086] In step S102, after determining the region of interest (ROI), during the scanning of the detection environment by the detection device, when the detection device scans the ROI, the emission frequency of the transmitter and / or the rotation speed of the optical elements in the scanning module are adjusted so that the point cloud density corresponding to the ROI after adjustment is higher than the point cloud density before adjustment. The purpose of adjusting the emission frequency of the transmitter and / or adjusting the rotation speed of the optical elements in the scanning module is to reduce the difference in the emission angles of two adjacent light pulses emitted to the ROI, so that more light pulses are emitted to the ROI, thereby increasing the point cloud density of the ROI. In other words, the difference in the emission angles of two adjacent light pulses emitted to the ROI is smaller than the difference in the emission angles of two adjacent light pulses emitted to the non-ROI region.

[0087] In some embodiments, the transmitter in the detection device determines whether the region of interest has been scanned each time it emits a light pulse. If so, the transmitter's emission frequency is adjusted and / or the rotation speed of the optical elements in the scanning module is adjusted. If the region of interest has not been scanned, the transmitter is controlled to emit light pulses at a normal frequency or normal rotation speed.

[0088] In one possible implementation, during the scanning of the detection environment, the detection device can determine its current scanning position based on a pre-stored correspondence between the rotation speed and position of the scanning module. Then, based on the current scanning position, it can determine whether the detection device is scanning the region of interest. For example, if it is determined that the current scanning position belongs to the region of interest, and the detection device is scanning the region of interest, then the detection device can adjust the emission frequency of the transmitter and / or adjust the rotation speed of the optical elements in the scanning module to increase the point cloud density corresponding to the region of interest.

[0089] In another possible implementation, considering the limited precision of the driver used to drive the optical elements in the scanning module, the actual rotation speed and position are not perfectly correlated. That is, there is an error in the current scanning position of the detection device determined above. In this case, the detection device can obtain the position information of the previous three-dimensional point generated by the detector in the detection device. When it is determined based on the position information of the previous three-dimensional point that the previous three-dimensional point generated by the detector is located in the region of interest, it is determined that the detection device is scanning the region of interest. The detection device can adjust the transmission frequency of the transmitter and / or adjust the rotation speed of the optical elements in the scanning module to increase the point cloud density corresponding to the region of interest.

[0090] Of course, the two methods mentioned above can be combined to determine whether the detection device has scanned the region of interest. This embodiment does not impose any restrictions on this.

[0091] In some embodiments, the detection device can increase the point cloud density within the region of interest by increasing the transmission frequency of the transmitter; for example, Figure 9 As shown, frequency curve 11 represents the normal uniform laser emission frequency, and frequency curve 12 shows the case where the emission frequency of the emitter is increased when the region of interest is scanned. The frequency between 111 and 112 is doubled or increased, and the corresponding point cloud distribution is shown at the bottom of the figure. Compared with other positions, the point cloud density in the region between positions 111 and 112 is increased, and the density of the point cloud in each ring of the region of interest is increased.

[0092] In some embodiments, the detection device can increase the point cloud density in the region of interest by reducing the rotational speed of the optical elements in the scanning module. As the rotational speed of the optical elements decreases, the number of light pulses emitted by the transmitter to the region of interest per unit time increases, thereby increasing the point cloud density in the region of interest.

[0093] In some embodiments, the detection device can increase the point cloud density in the region of interest by increasing the emission frequency of the transmitter and the rotation speed of the optical elements in the scanning module; wherein, increasing the rotation speed of the optical elements in the scanning module increases the number of scans of the region of interest, and increasing the emission frequency of the transmitter increases the number of light pulses emitted to the region of interest, thereby increasing the point cloud density in the region of interest.

[0094] For example, in an autonomous driving scenario, when the detection device is mounted directly in front of and / or behind the autonomous vehicle, the region of interest is located in the middle of the scanning range of the detection device. As the autonomous vehicle moves forward or backward, the detection device scans the environment. When the detection device detects the region of interest, the transmission frequency of the transmitter and / or the rotation speed of the optical elements within the scanning module of the detection device are adjusted to ensure that the point cloud density corresponding to the region of interest after adjustment is higher than the point cloud density before adjustment. For example, please refer to [link to relevant documentation]. Figure 10A as well as Figure 10B , Figure 10A The point cloud frame obtained by the detection device without adjusting the transmitter's transmission frequency and / or the rotational speed of the optical elements within the scanning module. Figure 10B To compare the point cloud frames obtained by the detection device after adjusting the transmitter's transmission frequency and / or the rotational speed of the optical elements within the scanning module. Figure 10A and Figure 10B It can be seen that, Figure 10B The point cloud density is denser in the central part of the cloud.

[0095] In some embodiments, considering that the non-interest areas within the scanning range typically have low attention, the transmission frequency of the transmitter in the detection device can be reduced during the scanning of the non-interest areas, thereby reducing the power consumption of the detection device and extending its service life.

[0096] Accordingly, please refer to Figure 11 This application also provides a detection device 20, including a transmitter 201, a scanning module 300, and a processor 100;

[0097] The transmitter 201 is used to emit light pulses;

[0098] The scanning module 300 includes at least one optical element 301, which is used to continuously change the transmission direction of the light pulse before emitting it.

[0099] The processor 100 is used to determine the region of interest within the scanning range of the detection device 20; during the scanning of the region of interest by the detection device 20, the transmission frequency of the transmitter 201 is adjusted and / or the rotational speed of the optical element 301 in the scanning module 300 is adjusted; wherein, the point cloud density corresponding to the region of interest after adjustment is higher than the point cloud density corresponding to the region of interest without adjustment.

[0100] The processor 100 is connected to the transmitter 201 and is used to adjust the transmission frequency of the transmitter 201; and the processor 100 is connected to the driver 302 in the scanning module 300 and is used to adjust the rotation speed of the optical element 301 in the scanning module 300; the driver 302 is used to drive the optical element 301 to rotate.

[0101] The number of processors 100 can be one or more. Each processor 100 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0102] In one embodiment, when the detection device 20 is mounted on a mobile platform, the region of interest is determined according to the direction of movement of the mobile platform.

[0103] In one embodiment, the region of interest is determined jointly based on the moving direction of the mobile platform and the mounting position of the detection device 20 on the mobile platform.

[0104] In one embodiment, when at least two of the detection devices 20 are mounted on a movable platform, the region of interest is determined from a non-overlapping region within the scanning range of the at least two detection devices 20.

[0105] In one embodiment, the region of interest is adjacent to an overlapping region within the scanning range of at least two of the detection devices 20.

[0106] In one embodiment, at least two of the detection devices 20 are mounted on the front of the movable platform, or at least two of the detection devices 20 are mounted on the side of the movable platform.

[0107] In one embodiment, the detection device 20 is mounted in front of and / or behind the movable platform;

[0108] The processor 100 is also configured to: determine the region of interest within the scanning range of the detection device 20 when the movable platform is moving forward or backward.

[0109] In one embodiment, when the detection device 20 is mounted directly in front of and / or behind the movable platform, the region of interest is located in the middle of the scanning range of the detection device 20.

[0110] In one embodiment, at least two of the detection devices 20 are mounted on a movable platform; the at least two detection devices 20 include a first detection device 20 and a second detection device 20; the first detection device 20 is mounted in front of and / or behind the movable platform, and the second detection device 20 is mounted on the side of the movable platform.

[0111] In one embodiment, the processor 100 is further configured to: adjust the region of interest within the scanning range of the first detection device 20 and determine the region of interest within the scanning range of the second detection device 20 when the movable platform is in a specified moving state.

[0112] In one embodiment, the designated movement state includes a turning state and / or a state in which the movable platform moves at an intersection.

[0113] In one embodiment, the region of interest is determined based on the location information of the target to be detected.

[0114] In one embodiment, the processor 100 is further configured to: if the target to be detected is located in a region of non-interest within the scanning range of the detection device 20, adjust the region of interest according to the location information of the target to be detected.

[0115] In one embodiment, the adjusted region of interest includes the target to be detected.

[0116] In one embodiment, the detection device 20 further includes a detector 202, which is used to generate three-dimensional points based on the reflected light pulses and output a point cloud frame containing a plurality of three-dimensional points at a specified frame rate.

[0117] In one embodiment, the processor 100 is further configured to: determine the region of interest within the scanning range of the detection device 20 when the specified frame rate is higher than a preset threshold or the specified frame rate is increased.

[0118] In one embodiment, the processor 100 is further configured to: determine the current scanning position of the detection device 20 based on a pre-stored correspondence between the rotation speed and position of the scanning module 300; and determine whether the detection device 20 is scanning the region of interest based on the current scanning position.

[0119] In one embodiment, the detection device 20 further includes a detector 202 for generating three-dimensional points based on the reflected light pulses;

[0120] The processor 100 is further configured to: determine that the detection device 20 is scanning the region of interest if the previous three-dimensional point generated by the detector 202 is located within the region of interest.

[0121] In one embodiment, the detection device 20 is used to scan the detection environment in two dimensions;

[0122] The field of view of the detection device 20 in one dimension is larger than the field of view in another dimension.

[0123] In one embodiment, the detection device 20 has a larger field of view in the horizontal dimension than in the vertical dimension.

[0124] In one embodiment, the processor 100 is further configured to: increase the transmission frequency of the transmitter 201.

[0125] In one embodiment, the processor 100 is further configured to: reduce the rotational speed of the optical element 301 within the scanning module 300.

[0126] In one embodiment, the processor 100 is further configured to: increase the transmission frequency of the transmitter 201 and the rotational speed of the optical element 301 within the scanning module 300.

[0127] In one embodiment, the processor 100 is further configured to: reduce the transmission frequency of the transmitter 201 during the scanning of a region of non-interest by the detection device 20.

[0128] In one embodiment, after adjustment, the difference in the emission angles of two adjacent light pulses emitted to the region of interest is less than the difference in the emission angles of two adjacent light pulses emitted to the region of non-interest.

[0129] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0130] The various embodiments described herein can be implemented using, for example, computer software, hardware, or any combination thereof, on a computer-readable medium. For hardware implementations, the embodiments described herein can be implemented using at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field-programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, or an electronic unit designed to perform the functions described herein. For software implementations, embodiments such as processes or functions can be implemented with a separate software module that allows the performance of at least one function or operation. The software code can be implemented by a software application (or program) written in any suitable programming language, and the software code can be stored in memory and executed by a controller.

[0131] Accordingly, please refer to Figure 12 This application also provides a mobile platform 01, comprising:

[0132] Body 001;

[0133] The power system 002 is installed on the body 001 and is used to drive the movable platform 01 to move.

[0134] And the aforementioned detection device 20 mounted on the mobile platform 01.

[0135] In one embodiment, when at least two of the detection devices are mounted on the movable platform, the region of interest of the detection devices is determined from the non-overlapping region within the scanning range of the at least two detection devices.

[0136] In one embodiment, the region of interest is adjacent to an overlapping region within the scanning range of at least two of the detection devices.

[0137] In one embodiment, at least two of the detection devices are mounted on the front of the movable platform, and / or at least two of the detection devices are mounted on the side of the movable platform.

[0138] In one embodiment, when the detection device is mounted directly in front of and / or directly behind the movable platform, the region of interest of the detection device is located in the middle of the scanning range of the detection device.

[0139] In one embodiment, at least two of the detection devices are mounted on the movable platform; the at least two detection devices include a first detection device and a second detection device; the first detection device is mounted on the front and / or rear of the movable platform, and the second detection device is mounted on the side of the movable platform.

[0140] In one embodiment, based on the mobility characteristics of the mobile platform, the detection device may also be mounted on the top and / or bottom of the mobile platform, for example, the detection device may be mounted on the top and / or bottom of a drone.

[0141] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions that can be executed by a processor of the device to perform the described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0142] A non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a terminal's processor, enables the terminal to perform the methods described above.

[0143] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0144] The methods and apparatus provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A detection method, characterized in that, The detection device is used to scan the detection environment. The detection device includes a transmitter for emitting light pulses and a scanning module for continuously changing the transmission direction of the light pulses before emitting them. The method includes: Determine the region of interest within the scanning range of the detection device; wherein, when at least two of the detection devices are mounted on a movable platform, the region of interest is determined from non-overlapping regions within the scanning ranges of at least two of the detection devices; During the scanning of the region of interest by the detection device, the emission frequency of the transmitter is adjusted and / or the rotational speed of the optical elements in the scanning module is adjusted; wherein, the point cloud density corresponding to the region of interest after adjustment is higher than the point cloud density corresponding to the region of interest without adjustment.

2. The method according to claim 1, characterized in that, When the detection device is mounted on a mobile platform, the region of interest is determined according to the direction of movement of the mobile platform.

3. The method according to claim 2, characterized in that, The region of interest is determined jointly based on the moving direction of the mobile platform and the mounting position of the detection device within the mobile platform.

4. The method according to claim 3, characterized in that, The region of interest includes the portion intersecting the target range determined by the direction of movement of the mobile platform and the scanning range determined by the mounting position of the detection device.

5. The method according to claim 1, characterized in that, The region of interest is adjacent to an overlapping region within the scanning range of at least two of the detection devices.

6. The method according to claim 1, characterized in that, The detection device is mounted on the front and / or rear of the movable platform; The determination of the region of interest within the scanning range of the detection device includes: When the movable platform moves forward or backward, the region of interest within the scanning range of the detection device is determined.

7. The method according to claim 1 or 6, characterized in that, When the detection device is mounted directly in front of and / or behind a movable platform, the region of interest is located in the middle of the scanning range of the detection device.

8. The method according to claim 1, characterized in that, At least two of the aforementioned detection devices are mounted on a mobile platform; At least two of the detection devices include a first detection device and a second detection device; The first detection device is mounted on the front and / or rear of the movable platform, and the second detection device is mounted on the side of the movable platform.

9. The method according to claim 8, characterized in that, The determination of the region of interest within the scanning range of the detection device includes: When the movable platform is in a specified moving state, the region of interest within the scanning range of the first detection device is adjusted, and the region of interest within the scanning range of the second detection device is determined.

10. The method according to claim 9, characterized in that, The specified movement state includes turning and / or the movement of the movable platform at an intersection.

11. The method according to claim 1, characterized in that, The region of interest is determined based on the location information of the target to be detected.

12. The method according to claim 1 or 11, characterized in that, The determination of the region of interest within the scanning range of the detection device also includes: If the target to be detected is located in a region of non-interest within the scanning range of the detection device, the region of interest is adjusted according to the location information of the target to be detected.

13. The method according to claim 12, characterized in that, The adjusted region of interest contains the target to be detected.

14. The method according to claim 1, characterized in that, The detection device also includes a detector, which is used to generate three-dimensional points based on the reflected light pulses; The method further includes: The detector generates three-dimensional points, and a point cloud frame containing several three-dimensional points is output at a specified frame rate.

15. The method according to claim 14, characterized in that, The determination of the region of interest within the scanning range of the detection device includes: If the specified frame rate is higher than a preset threshold or the specified frame rate is increased, the region of interest within the scanning range of the detection device is determined.

16. The method according to claim 1, characterized in that, Also includes: The current scanning position of the detection device is determined based on the pre-stored correspondence between the rotation speed and position of the scanning module. The detection device is determined to be scanning the region of interest based on the current scanning position.

17. The method according to claim 1 or 16, characterized in that, The detection device also includes a detector, which is used to generate three-dimensional points based on the reflected light pulses; The method further includes: If the previous 3D point generated by the detector is located within the region of interest, it is determined that the detection device is scanning the region of interest.

18. The method according to claim 1, characterized in that, The detection device is used to scan the detection environment in two dimensions; The field of view of the detection device in one dimension is larger than the field of view in another dimension.

19. The method according to claim 18, characterized in that, The detection device has a larger field of view in the horizontal dimension than in the vertical dimension.

20. The method according to claim 1, characterized in that, Adjusting the transmission frequency of the transmitter includes: Increase the transmission frequency of the transmitter.

21. The method according to claim 1, characterized in that, Adjusting the rotational speed of the optical elements within the scanning module includes: Reduce the rotational speed of the optical elements within the scanning module.

22. The method according to claim 1, characterized in that, Adjusting the transmission frequency of the transmitter and adjusting the rotational speed of the optical elements within the scanning module include: Increase the transmission frequency of the transmitter and the rotation speed of the optical elements in the scanning module.

23. The method according to claim 1, characterized in that, Also includes: During the scanning of the non-interest area by the detection device, the transmission frequency of the transmitter is reduced.

24. The method according to claim 1, characterized in that, After adjustment, the difference in the emission angles of two adjacent light pulses emitted to the region of interest is less than the difference in the emission angles of two adjacent light pulses emitted to the region of non-interest.

25. A detection device, characterized in that, Includes a transmitter, scanning module, and processor; The transmitter is used to emit light pulses; The scanning module includes at least one optical element, which is used to continuously change the transmission direction of the light pulse before emitting it; The processor is used to determine a region of interest within the scanning range of the detection device; wherein, when at least two of the detection devices are mounted on a movable platform, the region of interest is determined from a non-overlapping region within the scanning range of the at least two detection devices; during the scanning of the region of interest by the detection device, the transmission frequency of the transmitter is adjusted and / or the rotational speed of the optical elements within the scanning module is adjusted; wherein, the point cloud density corresponding to the region of interest after adjustment is higher than the point cloud density corresponding to the region of interest without adjustment.

26. The apparatus according to claim 25, characterized in that, When the detection device is mounted on a mobile platform, the region of interest is determined according to the direction of movement of the mobile platform.

27. The apparatus according to claim 26, characterized in that, The region of interest is determined jointly based on the moving direction of the mobile platform and the mounting position of the detection device within the mobile platform.

28. The apparatus according to claim 27, characterized in that, The region of interest includes the portion intersecting the target range determined by the direction of movement of the mobile platform and the scanning range determined by the mounting position of the detection device.

29. The apparatus according to claim 25, characterized in that, The region of interest is adjacent to an overlapping region within the scanning range of at least two of the detection devices.

30. The apparatus according to claim 25, characterized in that, The detection device is mounted on the front and / or rear of the movable platform; The processor is also configured to: determine the region of interest within the scanning range of the detection device when the movable platform is moving forward or backward.

31. The apparatus according to claim 25 or 30, characterized in that, When the detection device is mounted directly in front of and / or behind a movable platform, the region of interest is located in the middle of the scanning range of the detection device.

32. The apparatus according to claim 25, characterized in that, At least two of the aforementioned detection devices are mounted on a mobile platform; At least two of the detection devices include a first detection device and a second detection device; The first detection device is mounted on the front and / or rear of the movable platform, and the second detection device is mounted on the side of the movable platform.

33. The apparatus according to claim 32, characterized in that, The processor is further configured to: when the movable platform is in a specified moving state, adjust the region of interest within the scanning range of the first detection device, and determine the region of interest within the scanning range of the second detection device.

34. The apparatus according to claim 33, characterized in that, The specified movement state includes turning and / or the movement of the movable platform at an intersection.

35. The apparatus according to claim 25, characterized in that, The region of interest is determined based on the location information of the target to be detected.

36. The apparatus according to claim 25 or 35, characterized in that, The processor is further configured to: if the target to be detected is located in a region of non-interest within the scanning range of the detection device, adjust the region of interest according to the location information of the target to be detected.

37. The apparatus according to claim 36, characterized in that, The adjusted region of interest contains the target to be detected.

38. The apparatus according to claim 25, characterized in that, The detection device also includes a detector, which is used to generate three-dimensional points based on the reflected light pulses and output point cloud frames containing several three-dimensional points at a specified frame rate.

39. The apparatus according to claim 38, characterized in that, The processor is further configured to: determine the region of interest within the scanning range of the detection device when the specified frame rate is higher than a preset threshold or the specified frame rate is increased.

40. The apparatus according to claim 25, characterized in that, The processor is further configured to: determine the current scanning position of the detection device based on the pre-stored correspondence between the rotation speed and position of the scanning module; and determine whether the detection device is scanning the region of interest based on the current scanning position.

41. The apparatus according to claim 25 or 40, characterized in that, The detection device also includes a detector, which is used to generate three-dimensional points based on the reflected light pulses; The processor is further configured to: determine that the detection device is scanning the region of interest if the previous three-dimensional point generated by the detector is located within the region of interest.

42. The apparatus according to claim 25, characterized in that, The detection device is used to scan the detection environment in two dimensions; The field of view of the detection device in one dimension is larger than the field of view in another dimension.

43. The apparatus according to claim 42, characterized in that, The detection device has a larger field of view in the horizontal dimension than in the vertical dimension.

44. The apparatus according to claim 25, characterized in that, The processor is also used to: increase the transmission frequency of the transmitter.

45. The apparatus according to claim 25, characterized in that, The processor is also used to: reduce the rotational speed of the optical elements within the scanning module.

46. ​​The apparatus according to claim 25, characterized in that, The processor is also used to: increase the transmission frequency of the transmitter and the rotational speed of the optical elements in the scanning module.

47. The apparatus according to claim 25, characterized in that, The processor is also configured to: reduce the transmission frequency of the transmitter during the scanning of a region of non-interest by the detection device.

48. The apparatus according to claim 25, characterized in that, After adjustment, the difference in the emission angles of two adjacent light pulses emitted to the region of interest is less than the difference in the emission angles of two adjacent light pulses emitted to the region of non-interest.

49. A mobile platform, characterized in that, include: Organism; A power system, installed on the body, is used to drive the movable platform to move; And, the detection device as described in any one of claims 25 to 48, mounted on the mobile platform.

50. The mobile platform according to claim 49, characterized in that, When at least two of the detection devices are mounted on the mobile platform, the region of interest of the detection devices is determined from the non-overlapping region within the scanning range of the at least two detection devices.

51. The mobile platform according to claim 50, characterized in that, The region of interest is adjacent to an overlapping region within the scanning range of at least two of the detection devices.

52. The mobile platform according to claim 50 or 51, characterized in that, At least two of the detection devices are mounted on the front of the movable platform, and / or at least two of the detection devices are mounted on the side of the movable platform.

53. The mobile platform according to claim 49, characterized in that, When the detection device is mounted directly in front of and / or behind the movable platform, the region of interest of the detection device is located in the middle of the scanning range of the detection device.

54. The mobile platform according to claim 49, characterized in that, At least two of the aforementioned detection devices are mounted on the mobile platform; At least two of the detection devices include a first detection device and a second detection device; The first detection device is mounted on the front and / or rear of the movable platform, and the second detection device is mounted on the side of the movable platform.

55. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores executable instructions that, when executed by a processor, implement the detection method as described in any one of 1 to 24.

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