WO2022141098A1

WO2022141098A1 - Detection method and detection apparatus

Info

Publication number: WO2022141098A1
Application number: PCT/CN2020/141037
Authority: WO
Inventors: 李涛; 王闯
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2022-07-07
Also published as: CN114502976A

Abstract

A detection method and a detection apparatus (100, 400). The detection apparatus (100, 400) comprises at least one optical transmitter (110, 410), which is used for emitting an optical pulse sequence to a target area (S), and at least one optical receiver (120, 420), which is used for receiving at least some reflected signals, for the optical pulse sequence, from the target area (S), wherein the target area (S) comprises a first sub-area (S1) and a second sub-area (S2) other than the first sub-area (S1), the first sub-area (S1) corresponds to a first time period, and the second sub-area (S2) corresponds to a second time period; during the first time period, the optical transmitter (110, 410) continuously transmits a plurality of optical pulse sequences to the first sub-area (S1); the time interval of the second time period is greater than the transmission interval between any two optical pulse sequences transmitted during the first time period; and the optical receiver (120, 420) is configured to be turned on during the first time period and turned off during the second time period. By means of the detection method and the detection apparatus (100, 400), the efficiency of key area detection can be improved.

Description

Detection method and detection device

manual

technical field

The present application relates to the field of detection technology, and more particularly to a detection method and a detection device.

Background technique

During detection, the detection device usually transmits an optical pulse sequence to a target area through an optical transmitter, and uses an optical receiver to receive the reflected signal of the optical pulse sequence from the target area, thereby realizing detection of the target area. In this process, it is often necessary to focus on a certain area within the target area, and not to pay attention to other areas. The existing detection method and detection device will process all the data received by the optical receiver. Due to the large amount of data and the limited processing speed, the detection efficiency is low, especially when it is necessary to quickly detect targets and quickly detect scene changes. is not applicable.

SUMMARY OF THE INVENTION

The present application provides a detection method and a detection device. In a first aspect, an embodiment of the present application provides a detection method, and the method is applied to a detection device, where the detection device includes at least one light transmitter and at least one light receiver, and the light transmitter is used to emit light to a target area an optical pulse sequence, the optical receiver is configured to receive at least a partial reflection signal of the optical pulse sequence from the target area, wherein the target area includes a first sub-area and a second sub-area other than the first sub-area Sub-areas, the first sub-area corresponds to a first time period, and the second sub-area corresponds to a second time period; in the first time period, the light emitter continuously emits a large amount of light to the first sub-area. During the second period of time, the light receiver is turned off, and the time interval of the second period of time is greater than any two light emitted during the first period of time. The emission interval between pulse trains.

In a second aspect, an embodiment of the present application provides a detection device, the detection device includes at least one optical transmitter for transmitting a sequence of optical pulses to a target area; at least one optical receiver for receiving the target area pair At least part of the reflected signal of the optical pulse sequence, wherein the target area includes a first sub-area and a second sub-area except the first sub-area, the first sub-area corresponds to a first time period, and the The second sub-region corresponds to a second time period, and the light receiver is configured to be turned on in the first time period and turned off in the second time period.

In a third aspect, an embodiment of the present application provides a detection method, the method is applied to a detection device, the detection device includes at least one optical transmitter and at least one optical receiver, and the method includes: controlling the optical emission The optical receiver transmits the first detection signal to the target area at the first transmission frequency, and controls the optical receiver to receive the reflection signal of the first detection signal from the target area at the first reception frequency; the first sub-area of the The area is acquired based on the reflected signal; the optical transmitter is controlled to transmit at least a second detection signal to the first sub-area at a second transmission frequency, and the optical receiver is controlled to transmit a second detection signal when in an on state A receive frequency receives the reflected signal, wherein the second transmit frequency is greater than the first transmit frequency, and the second receive frequency is greater than the first receive frequency.

In a fourth aspect, an embodiment of the present application provides a detection method, the method is applied to a detection device, the detection device includes at least one optical transmitter and at least one optical receiver, and the method includes: acquiring the detection device A pre-defined first sub-area within a scan range that can be covered, a first time period is determined based on the scanning parameters corresponding to the first sub-area, and the light receiver is controlled only in the first time period. an open state; controlling the optical transmitter to transmit a detection signal at least to the first sub-area at a second transmission frequency, and controlling the optical receiver to receive a reflected signal at a second reception frequency when it is in an open state, the first 2. The transmitting frequency is greater than the first transmitting frequency, and the second receiving frequency is greater than the first receiving frequency; wherein, the first transmitting frequency is used when the optical transmitter transmits the detection signal to the scanning range that the detection device can cover The first receiving frequency is the receiving frequency adopted when the optical receiver receives the reflected signal from the scanning range that the detection device can cover.

In a fifth aspect, an embodiment of the present application provides a detection device, the detection device includes at least one optical transmitter, at least one optical receiver, and a control module, wherein: the control module is configured to control the optical transmitter to The first transmitting frequency transmits the first detection signal to the target area, and controls the optical receiver to receive the reflected signal of the first detection signal from the target area at the first receiving frequency; the control module is further configured to obtain a signal located at the target area In the first sub-area in the target area, a first time period is determined according to the scanning parameter corresponding to the first sub-area, and the light receiver is controlled to be turned on only in the first time period, wherein The first sub-area is obtained based on the reflected signal; the control module is further configured to control the optical transmitter to transmit at least a second detection signal to the first sub-area at a second transmission frequency, and control all The optical receiver receives the reflected signal at a second reception frequency when in an on state, wherein the second transmit frequency is greater than the first transmit frequency, and the second receive frequency is greater than the first receive frequency.

In a sixth aspect, an embodiment of the present application provides a detection device, the detection device includes at least one optical transmitter, at least one optical receiver, and a control module, wherein: the control module is used to obtain that the detection device can cover A predefined first sub-area within the scanning range of the first sub-area, a first time period is determined based on the scanning parameters corresponding to the first sub-area, and the light receiver is controlled to be turned on only within the first time period The control module is further configured to control the optical transmitter to transmit a detection signal at least to the first sub-region at a second transmission frequency, and to control the optical receiver to receive reflections at the second reception frequency when it is in an on state signal, the second transmit frequency is greater than the first transmit frequency, and the second receive frequency is greater than the first receive frequency; wherein, the first transmit frequency is the scanning range that the optical transmitter can cover to the detection device The transmitting frequency used when transmitting the detection signal, and the first receiving frequency is the receiving frequency used when the optical receiver receives the reflected signal from the scanning range that the detection device can cover.

In a seventh aspect, an embodiment of the present application provides a movable platform, where the movable platform includes the above detection device, and the detection device is configured to detect an area around the movable platform and generate point cloud data of the detected area , for the movement of the movable platform.

According to the detection method and detection device according to the embodiments of the present application, when it is necessary to perform key detection on a certain area, the optical receiver is only turned on in the time period corresponding to the area, and the optical receiver is turned off in other time periods, thereby reducing the data to be processed. The total amount, when the amount of data that the detection device can process per unit time is constant, since the total amount of data to be processed is reduced, the total processing time will also be reduced, which improves the detection efficiency of the area and is suitable for rapid detection. target and quickly detect scene changes.

Description of drawings

FIG. 1 shows a schematic diagram of a detection device and a detection method thereof according to an embodiment of the present application.

Fig. 2 shows a schematic diagram of an example of a first sub-region in a detection device and a detection method thereof according to an embodiment of the present application.

FIG. 3 is a schematic diagram illustrating an example of a first time period corresponding to a first sub-area in a detection apparatus and a detection method thereof according to an embodiment of the present application.

FIG. 4 shows a schematic structural block diagram of a detection apparatus according to another embodiment of the present application.

FIG. 5 shows a schematic flowchart of a detection method according to another embodiment of the present application.

FIG. 6 shows a schematic flowchart of a detection method according to still another embodiment of the present application.

Detailed ways

Example embodiments according to the present application will be described in detail below with reference to the accompanying drawings.

It should be understood that the application may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a," "an," and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "compose" and/or "include", when used in this specification, identify the presence of stated features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, parts and/or groups. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

First, a detection device and a detection method thereof according to an embodiment of the present application will be described with reference to FIG. 1 . FIG. 1 shows a schematic diagram of a detection apparatus 100 and a detection method thereof according to an embodiment of the present application. As shown in FIG. 1 , the detection device 100 may include at least one optical transmitter 110 and at least one optical receiver 120 (for brevity, only one optical transmitter and optical receiver are shown in FIG. 1 , when there are more optical transmitters When the transmitter is used, the outgoing directions of the light pulses emitted by each light transmitter can be different). Wherein, the light transmitter 110 is used for transmitting the light pulse sequence to the target area S; the light receiver 120 is used for receiving at least part of the reflected signal of the light pulse sequence by the target area S; wherein, the target area includes the first sub-area S1 and In the second sub-area S2 other than the first sub-area S1, a plurality of light pulse sequences are emitted to the first sub-area S1 to realize detection of the first sub-area, that is, the first sub-area can be understood as a plurality of The continuous area jointly determined by the optical pulse sequence, the first sub-area S1 corresponds to the first time period, during the first time period, the optical transmitter continuously transmits multiple optical pulse sequences to the first sub-area, and the second sub-area S2 corresponds to The second time period, the time interval of the second time period is greater than the transmission interval between any two optical pulse sequences transmitted in the first time period, the optical receiver 120 is configured to: turn on in the first time period, and in the second time period segment is closed.

In the embodiment of the present application, the optical receiver 120 of the detection device 100 is not always turned on, but is turned on in the first time period, and turned off in the second time period. is the state of no longer receiving optical signals; wherein, in the first period of time, the optical transmitter continuously transmits multiple light pulse sequences to the first sub-area, and the first period of time can be understood as receiving the initial position of the first sub-area S1 The time period from the start of the reflected signal to the optical pulse sequence to the time when the reflected signal of the optical pulse sequence from the end position of the first sub-region S1 is received (referred to as the first time period, in which the optical receiver 120 is configured to be turned on) ), the time interval of the second time period is greater than the emission interval between any two light pulse sequences emitted in the first time period, and the second time period can be understood as receiving the light from the initial position of the second sub-area S2 The time period from the start of the reflected signal of the pulse sequence to the time when the reflected signal of the optical pulse sequence from the end position of the second sub-region S2 is received (referred to as the second time period during which the optical receiver 120 is configured to be turned off). That is to say, in the embodiment of the present application, the detection method implemented by the detection device 100 is to realize the key detection of the first sub-area S1, so it turns on light reception in the first time period corresponding to the first sub-area S1 the optical receiver 120, so that the reflected signal in the first time period is received by the optical receiver 120 to realize the detection of the first sub-area S1, by turning off the optical receiver 120 in the second time period corresponding to the second sub-area S2, Furthermore, it is not necessary to process the reflected signals in the second time period, which reduces the total amount of data to be processed. Under the condition that the amount of data that can be processed by the detection device 100 per unit time is constant, since the total amount of data to be processed is reduced, the total amount of data to be processed is reduced. The processing time will also be reduced, the detection efficiency of the first sub-area S1 is improved, and it can be applied to the fast detection of the first sub-area S1; at the same time, since the data in the second time period corresponds to the second sub-area S2, Therefore, not receiving the data in the second time period will not affect the detection of the first sub-area S1. Therefore, the detection apparatus 100 according to the embodiment of the present application can realize the focused detection of the area that needs to be focused on (ie, the first sub-area S1 ).

Exemplarily, the first sub-area S1 may include, but is not limited to, an area of interest, an area where the detected object cannot be identified, an area where obstacles exist, an area where risk factors exist, an area with rich details, and the like. For example, when the detection device 100 is set on a movable platform such as an unmanned aerial vehicle, a car, a remote control car or a robot, the first sub-area S1 may be a certain area that the movable platform needs to pay attention to during the movement process. For example, when the movable platform is a car (such as a fully autonomous car or a semi-autonomous car), the detection device 100 may be disposed at the front of the car, and the first sub-area S1 may include at least a part of the area in front of the front of the car. In addition, although one first sub-area S1 is shown in FIG. 1 , it should be understood that the detection device 100 may detect more first sub-areas S1 , and accordingly, each first sub-area S1 corresponds to a first time part. When there are multiple first sub-areas S1, the time intervals of the respective corresponding first time periods may be the same or may be different.

In an embodiment of the present application, the first sub-area S1 may be preset, may be determined based on user input, or may be determined based on the reflection signal of the light pulse sequence by the target area S. FIG. 2 shows a schematic diagram of an example of a first sub-region in a detection apparatus and a detection method thereof according to an embodiment of the present application. As shown in Figure 2, based on the reflected signal of the optical pulse sequence from the target area, it is possible to determine a depth range (that is, the distance from the detection device) as [R1, R2], the elevation angle as θ1, and the azimuth angle as θ2. The area of focus (ie the first sub-area). Of course, this is only exemplary, and in other examples, the first sub-region may be determined by only one depth value, one angle (elevation or azimuth).

In the embodiment of the present application, the first time period corresponding to the first sub-area S1 may be determined according to the angle and/or distance of the first sub-area relative to the detection device 100 . In an embodiment of the present application, the optical receiver 120 is configured to be turned on in the first time period, which may include: from the start time of the first time period to the end time of the first time period, the light receiver 120 is kept in an on state. That is, the light receiver 120 may be configured to be turned on for the entire first period of time. In another embodiment of the present application, the first period of time may include at least one first sub-period and a second sub-period other than the at least one first sub-period, and the optical receiver 120 is configured to Turning on in the first time period may include: in each of the first sub-time periods, the light receiver 120 is turned on; in each second sub-time period, the light receiver 120 is turned off.

For example, FIG. 3 shows a schematic diagram in which the first time period corresponding to the first sub-region S1 includes multiple first sub-time periods and multiple second sub-time periods. As shown in FIG. 3 , the first time period corresponding to the first sub-region S1 includes a plurality of first sub-time periods T11 , T12 and T13 , and the first time period further includes a plurality of second sub-time periods T21 , T22 and T23 . The time intervals corresponding to each of the first sub-time periods T11, T12 and T13 may be the same or different; similarly, the time intervals corresponding to each of the second sub-time periods T21, T22 and T23 may be The same, it can be different. In this embodiment, since the optical transmitter transmits an optical pulse sequence, there is an emission interval between the optical pulse sequences transmitted each time, and no optical pulse is sent during the emission interval, and the first sub-period can be understood as being used for receiving light The time period of the optical pulse sequence emitted by the transmitter can also be understood as the time period during which the reflected signal from a certain position of the first sub-area S1 is received each time. Since no optical pulse is emitted in the emission interval of the optical transmitter, the emission interval corresponds to The receiving time period of can be represented by the second sub-period, that is, in the second sub-period, there is no reflected signal of the light pulse, and the signal received in the second sub-period, since it does not contain the reflected signal, Therefore, it can be considered that the signal in the second sub-period is an interference signal. By turning off the optical receiver in the second sub-period, the reception of the interference signal can be effectively suppressed, and the anti-interference performance of the detection device can be improved. In this embodiment, the first time period is further refined, and the time when the light receiver 120 should be turned on can be further refined.

In the embodiment of the present application, the second sub-region S2 may also correspond to a third time period, and the light emitter 110 may also be configured to be turned off during the third time period. The third time period can be understood as the time period during which the light transmitter 110 is to transmit the light pulse sequence to the second sub-region S2. Since the second sub-area S2 is an area other than the first sub-area S1, that is, an area that the detection device 100 does not need to pay much attention to, in this embodiment, not only the light receiver 120 is configured not to be turned on during the second time period , the optical transmitter 110 is also configured not to be turned on in the third time period, that is, the optical transmitter 110 is configured not to send a detection signal to the second sub-region, which can further simplify the detection process of the detection device 100 and save the optical transmitter 110 operating costs. In the embodiment of the present application, the third time period may be determined according to the distance and/or angle (elevation angle and/or azimuth angle) of the second sub-area S2 relative to the detection device 100 .

In a further embodiment of the present application, the transmission frequency used by the optical transmitter 110 to transmit the optical pulse sequence to the first sub-area S1 is greater than the transmission frequency used to transmit the optical pulse sequence to the second sub-area S2. Since the optical receiver 120 in the present application is configured to be turned off during the second time period corresponding to the second sub-area S2, the amount of data to be processed is reduced, which frees up bandwidth for information processing, which is the first sub-area S1 Increasing the number of point clouds provides more bandwidth. Therefore, in this embodiment, by increasing the emission frequency of the optical pulse sequence transmitted by the optical transmitter 110 to the first sub-area S1, the number of laser spots per unit time will be increased, and the reception of the optical receiver 120 can also be improved. frequency, which will greatly improve the point cloud density of the first sub-area S1, which is beneficial to enrich the area details of the first sub-area S1, thereby facilitating the identification of the first sub-area S1 or other application requirements.

For example, in the fields of autonomous driving, security, surveying and mapping, robotics, 3D printing, etc., there is a need to focus on scanning and detection in specific areas. For example, in the field of autonomous driving, there is a need to focus on scanning obstacles to identify obstacles, and in the field of security, there is an increase in risk factors. The demand for identification of cloud density, the demand for scanning point clouds for areas with rich details in the field of surveying and mapping, etc. In fact, many of the existing lidars have obvious point cloud scarcity problems in the edge area. Therefore, in order to increase the point cloud density per unit time, only the transmission frequency can be increased, but it is limited by the processing speed of the lidar receiving end. , the emission frequency basically cannot reach the upper limit of the laser, so the increase of the point cloud density of the lidar can only be achieved by increasing the integration time in the past. It is very suitable, because when the integration time is increased, the response time of the detection system will become slower, and at the same time, the smear phenomenon will be generated for fast moving objects. Therefore, it is a big problem to increase the point cloud density without increasing the integration time. On the other hand, it is also possible to redesign and replace the hardware to improve the overall hardware performance of the receiving end, and to use a higher-speed processing chip to increase the bandwidth of the entire receiving circuit, thereby improving the ability of the entire system to process larger amounts of data. However, these redesigns will increase the cost of the whole machine on the one hand, and increase the overall power consumption on the other hand; this method will increase the point cloud density within the overall field of view (FOV), but also increase for less concerned locations; Therefore, it is not necessary to increase the density of the point cloud in the whole FOV, and it will also increase the cost and power consumption.

However, in this embodiment of the present application as described above, it is precisely because the optical receiver 120 is configured to be turned off in the second time period corresponding to the second sub-area S2, so the amount of data to be processed is reduced, which makes the The bandwidth for information processing is released, providing more bandwidth for increasing the number of point clouds in the first sub-region S1. Therefore, in this embodiment, by increasing the emission frequency of the optical pulse sequence transmitted by the optical transmitter 110 to the first sub-area S1, the number of laser spots per unit time will be increased, and the reception of the optical receiver 120 can also be improved. frequency, which will greatly improve the point cloud density of the first sub-area S1, which is beneficial to enrich the area details of the first sub-area S1, thereby facilitating the identification of the first sub-area S1 or other application requirements. Further, if the density requirement is not met, the method of the present application can also increase the rotational speed of the motor of the detection device, increase the scanning frequency of the entire scene, thereby increasing the coverage of the first sub-area S1 until the required point cloud is reached. Density or hardware cap. That is to say, this embodiment of the present application can make maximum use of the existing hardware conditions under the condition that the hardware of the detection device (lidar) is basically unchanged, and can effectively increase the density of the point cloud in the spatial region of interest, which is very useful for The aforementioned methods of increasing the density of point clouds in the past have very beneficial effects.

In another embodiment of the present application, one scan of the first sub-region S1 by the light emitter 110 may be referred to as one scan period. Then, there may be at least two different scan periods. In different scan periods, The emission frequencies of the light transmitters 110 are different. In this embodiment, the emission frequencies of the optical transmitter 110 to the first sub-region S1 are different in different scanning periods, and it is also possible to dynamically change the emission frequency of the optical transmitter 110 according to requirements to achieve a dynamically variable point cloud density. Therefore, this embodiment of the present application can realize the dynamic adjustment of the point cloud in the detection device FOV, realize the reasonable distribution of the point cloud density in the whole FOV, and distribute the point cloud in the FOV area that needs attention in each time period, It can effectively improve the point cloud density and use efficiency of the detection device.

In a further embodiment of the present application, the detection device 100 may further include a sampling module and an operation module (not shown), wherein the sampling module may sample the signal received by the optical receiver 110 to obtain a sampling signal; operation The module can process the sampled signal to obtain the detection result of the first sub-area S1, such as the category information, reflection intensity information, speed information, distance information and azimuth information of the detected object in the first sub-area S1, etc. Wait. Based on the detection result of the first sub-area S1, obstacle avoidance, modeling, navigation, security protection, three-dimensional printing, surveying and mapping, etc. can be performed.

The above exemplarily shows a detection device and a detection method thereof according to an embodiment of the present application. Based on the above description, when the detection device and the detection method according to the above-mentioned embodiments of the present application need to perform key detection on a certain area, the optical receiver is only turned on in the time period corresponding to the area, and the optical receiver is turned off in other time periods. This further reduces the total amount of data that needs to be processed. Under the condition that the amount of data that the detection device can process per unit time is constant, since the total amount of data to be processed is reduced, the total processing time will also be reduced, which improves the detection of the area. efficiency. In addition, the detection device and detection method according to the above-mentioned embodiments of the present application can solve the limitation of the processing speed of the receiving end on the number of point clouds, exert the maximum potential of the hardware of the transmitting end, and significantly increase the density of point clouds in a specific area without increasing the integration time. , the response speed is high, and no hardware changes are required, the implementation process is relatively easy, and the cost is low.

The following describes a detection device and a detection method thereof according to other embodiments of the present application with reference to FIG. 4 to FIG. 6 .

FIG. 4 shows a schematic structural block diagram of a detection apparatus 400 according to another embodiment of the present application. As shown in FIG. 4 , the detection device 400 includes at least one optical transmitter 410 , at least one optical receiver 420 and a control module 430 (for simplicity, only one optical transmitter and one optical receiver are shown in FIG. 4 ). The detection apparatus 400 can be used to perform the detection method 500 shown in FIG. 5 and the detection method 600 shown in FIG. 6 . When the detection apparatus 400 performs different detection methods, the configurations of its components are different.

The detection method 500 that the detection apparatus 400 can perform is first described below. As shown in FIG. 5, the detection method 500 may include the following steps:

In step S510, the optical transmitter is controlled to transmit a first detection signal to the target area at a first transmission frequency, and the optical receiver is controlled to receive the reflection of the first detection signal by the target area at the first reception frequency Signal.

In step S520, a first sub-area located in the target area is acquired, a first time period is determined according to a scanning parameter corresponding to the first sub-area, and the light receiver is controlled only in the first time period is in an open state, wherein the first sub-region is acquired based on the reflected signal.

In step S530, the optical transmitter is controlled to transmit a second detection signal at least to the first sub-region at a second transmission frequency, and the optical receiver is controlled to receive a reflected signal at the second reception frequency when it is in an on state, The second transmit frequency is greater than the first transmit frequency, and the second receive frequency is greater than the first receive frequency.

In this embodiment, the control module 430 is configured to control the optical transmitter 410 to transmit the first detection signal to the target area at the first transmission frequency, and control the optical receiver 420 to receive the response of the target area to the first detection signal at the first reception frequency. reflection signal; the control module 430 is further configured to acquire the first sub-area located in the target area, determine the first time period according to the scanning parameters corresponding to the first sub-area, and control the light receiver 420 to be in the first time period only open state, wherein the first sub-area is acquired based on the reflected signal; the control module 430 is further configured to control the optical transmitter 410 to transmit at least the second detection signal to the first sub-area at the second transmission frequency, and control the optical receiver 420 to When in the open state, the reflected signal is received at a second receiving frequency, wherein the second transmitting frequency is greater than the first transmitting frequency, and the second receiving frequency is greater than the first receiving frequency.

The detection device 400 and the detection method 500 thereof according to this embodiment of the present application are generally similar to the detection device 100 and the detection method described above, both of which can control the on and off time of the optical receiver and reduce the total amount of data to be processed. It can reduce the total processing time and improve the detection efficiency of the key area (the first sub-area). The difference is that in this embodiment, the detection device 400 and the detection method 500 thereof are defined as the first sub-area determined according to the reflected signal of the target area, and the transmission frequency to the first sub-area is higher than the transmission frequency to the target area. , the receiving frequency of the first sub-area is also higher than that of the target area, so that the detection device 400 and the detection method 500 thereof can significantly increase the point cloud density of a specific area (ie, the first sub-area). Therefore, the detection device 400 can be regarded as a specific embodiment of the aforementioned detection device 100 and the detection method thereof.

In another embodiment, the detection apparatus 400 may implement another detection method 600 . As shown in FIG. 6, the detection method 600 may include the following steps:

In step S610, a pre-defined first sub-area within a scanning range that can be covered by the detection device is acquired, a first time period is determined based on a scanning parameter corresponding to the first sub-area, and the optical receiver is controlled to only is in an on state during the first time period.

In step S620, the optical transmitter is controlled to transmit a detection signal at least to the first sub-region at a second transmission frequency, and the optical receiver is controlled to receive a reflected signal at the second reception frequency when in an on state, the The second transmitting frequency is greater than the first transmitting frequency, and the second receiving frequency is greater than the first receiving frequency; wherein, the first transmitting frequency is when the optical transmitter transmits a detection signal to the scanning range that the detection device can cover The transmission frequency used, and the first reception frequency is the reception frequency used when the optical receiver receives the reflected signal from the scanning range that can be covered by the detection device.

In this embodiment, the control module 430 is configured to acquire a pre-defined first sub-area within the scanning range that the detection device 400 can cover, determine the first time period based on the scanning parameters corresponding to the first sub-area, and control the light reception The control module 430 is also used to control the light transmitter 410 to transmit detection signals to at least the first sub-region at the second transmission frequency, and control the light receiver 420 to be in the ON state The reflected signal is received at the second receiving frequency, the second transmitting frequency is greater than the first transmitting frequency, and the second receiving frequency is greater than the first receiving frequency; wherein, the first transmitting frequency is that the optical transmitter 410 transmits to the scanning range that the detection device 400 can cover The transmitting frequency used when detecting the signal, and the first receiving frequency is the receiving frequency used when the optical receiver 420 receives the reflected signal from the scanning range that the detection device can cover.

The detection device 400 and the detection method 600 thereof according to this embodiment of the present application are generally similar to the detection device 100 and the detection method described above, both of which can control the on and off time of the optical receiver and reduce the total amount of data to be processed. It can reduce the total processing time and improve the detection efficiency of the key area (the first sub-area). The difference is that in this embodiment, the first sub-region in the detection device 400 and the detection method 600 is defined in advance, and the emission frequency for the first sub-region is higher than when the light pulse is emitted for the entire scanning range of the detection device. The transmission frequency of the first sub-area is also higher than the reception frequency of the target area when the reflected signal is received for the entire scanning range of the detection device, so that the detection device 400 and the detection method 600 thereof can significantly increase the specific area (ie point cloud density of the first subregion). Therefore, the detection apparatus 400 and the detection method 600 thereof may be regarded as a specific embodiment of the foregoing detection apparatus 100 and the detection method thereof.

The same operations of the detection apparatus 400 when implementing the

detection methods

500 and 600 are described below.

In a further embodiment, the control module 430 may be further configured to: before controlling the optical transmitter 410 to transmit the second detection signal at the second transmission frequency, determine the fourth time period according to the scanning parameter corresponding to the first sub-area, and The light transmitter 410 is controlled to be in the ON state only during the fourth time period, so as to control the light transmitter 410 to transmit the second detection signal at the second transmission frequency when the light transmitter 410 is in the ON state. In this embodiment, the optical transmitter 410 is controlled to emit the optical pulse signal only to the first sub-region, which can further simplify the detection process of the detection device 400 and save the operation cost of the optical transmitter 410 .

In this embodiment of the present application, the first time period may be determined by the control module 430 according to the scanning depth and/or scanning angle corresponding to the first sub-region, and the fourth time period may be determined by the control module 430 according to the scanning depth and/or scanning angle corresponding to the first sub-region. The corresponding scanning angle is determined.

In the embodiment of the present application, the aforementioned first transmission frequency may be equal to the first reception frequency, and the second transmission frequency may be equal to the second reception frequency. In this embodiment, the transmit frequency and the receive frequency for the target area may be equal, and the transmit frequency and the receive frequency for the first sub-area may be equal.

In the embodiment of the present application, the control module 430 may acquire the first sub-region according to the following methods: generating at least one frame of point cloud image based on the reflected signal of the first detection signal from the target region; dividing the point cloud image into multiple sub-images block, and obtain the recognition probability of each sub-image block; compare the recognition probability of each sub-image block with a predetermined threshold, and determine the sub-image block whose recognition probability is lower than the predetermined threshold; obtain the sub-image block whose recognition probability is lower than the predetermined threshold The corresponding area is taken as the first sub-area. In this embodiment, the relatively difficult-to-recognize area is used as the first sub-area, which can improve the accuracy of the recognition result for each area.

In this embodiment of the present application, the control module 430 may acquire the first sub-area according to the following methods: generating at least one frame of point cloud image based on the reflected signal of the first detection signal from the target area; outputting the point cloud image to the user , so that the user determines the first sub-area in the target area based on the point cloud image; and receives an instruction indicating the first sub-area input by the user to obtain the first sub-area. In this embodiment, the first sub-region is acquired based on user input, and the point cloud density can be increased for a specific region according to user requirements.

In the embodiment of the present application, the number of the first sub-regions is more than one, and the control module 430 may determine one of the first time periods according to the scanning parameters corresponding to each of the first sub-regions, and control the optical receiver 420 is turned on in each determined first time period; or a first time period is jointly determined according to the scanning parameters corresponding to all the first sub-regions, and the light receiver 420 is controlled to be in the determined time period. is turned on within a first time period; in addition, the control module 430 may determine a fourth time period according to the scanning parameters corresponding to each of the first sub-regions, and control the light emitter 410 in the determined time period Turn on in each fourth time period; or jointly determine a fourth time period according to the scanning parameters corresponding to all the first sub-regions, and control the light emitter 410 in the determined fourth time period open inside. In this embodiment, when there is more than one area that needs to be focused on, the same control may be performed on each area, or all areas may be comprehensively and uniformly controlled.

In the embodiment of the present application, the control module 430 may be further configured to: generate a point cloud image based on the reflection signal received by the light receiver 420 at the second receiving frequency; acquire the recognition probability of the point cloud image, and determine the point cloud image Whether the recognition probability of the cloud image is lower than a predetermined threshold, when the point cloud image is lower than the predetermined threshold, control the light transmitter 410 to transmit a third detection signal at least to the first sub-region at a third transmission frequency , and control the optical receiver 420 to receive the reflected signal at a third receiving frequency when it is in an on state, wherein the third transmitting frequency is greater than the second transmitting frequency, and the third receiving frequency is greater than the second receiving frequency frequency. In this embodiment, whether it is necessary to continue to increase the point cloud density of the first sub-area can be determined according to the reflected signal of the first sub-area. Increase the transmit and receive frequencies for the first sub-region to further increase the point cloud density. Similar to the foregoing, the third transmit frequency and the third receive frequency may also be equal. Further, the control module 430 may be further configured to control the optical transmitter 410 to transmit the third detection signal at the third transmission frequency only within the fourth time period. In this embodiment, the optical transmitter 410 is still implemented to transmit the optical pulse signal only to the first sub-region, so as to save the operation cost of the optical transmitter 410 .

In this embodiment of the present application, the control module 430 may include a processor and a controller (not shown), wherein the processor may be configured to perform the acquisition of the first sub-region, the acquisition of the first time period, and the Based on the determination and the determination of the fourth time period, the controller may be used to perform the control on the optical transmitter 410 and the optical receiver 420 . In addition, the control module 430 may be a chip, and the chip is embedded in the detection device 400 or externally connected to the detection device 400 .

The above has exemplarily described the detection apparatus 400 and the

detection methods

500 and 600 implemented therein according to another embodiment of the present application. Based on the above description, when the detection device 400 and the

detection methods

500 and 600 implemented by the detection device 400 according to the embodiments of the present application need to perform key detection on a certain area, the optical receiver is only turned on in the time period corresponding to the area, and the other time periods are turned off. The optical receiver reduces the total amount of data that needs to be processed. Under the condition that the amount of data that can be processed by the detection device per unit time is certain, the total processing time will also be reduced due to the reduction of the total amount of data to be processed, which improves the accuracy of the optical receiver. detection efficiency in this area. In addition, the detection device and detection method according to the above-mentioned embodiments of the present application can solve the limitation of the processing speed of the receiving end on the number of point clouds, exert the maximum potential of the hardware of the transmitting end, and significantly increase the density of point clouds in a specific area without increasing the integration time. , the response speed is high, and no hardware changes are required, the implementation process is relatively easy, and the cost is low.

According to yet another aspect of the present application, a movable platform is also provided, which may include the

detection device

100 or 400 described above, the detection device is used to detect an area around the movable platform and generate point cloud data of the detected area , for the movement of movable platforms. Illustratively, the movable platform may be a drone or an unmanned vehicle.

Those of ordinary skill in the art can realize 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. Skilled artisans may implement the described functionality using different methods for a particular application, but such implementations should not be considered beyond the scope of this application.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.

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

Similarly, it is to be understood that in the description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, FIG. , or in its description. However, this method of application should not be construed as reflecting the intention that the claimed application claims more features than are expressly recited in the claims. Rather, as the corresponding claims reflect, the invention lies in the fact that the corresponding technical problem may be solved with less than all features of a single disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with the claims standing on their own as separate embodiments of this application.

It will be understood by those skilled in the art that all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or apparatus so disclosed may be used in any combination, except that the features are mutually exclusive. Processes or units are combined. Unless expressly stated otherwise, the features disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the present application within and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The present application can also be implemented as a program of apparatus (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable storage medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the application, and that alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

The above are only specific embodiments of the present application or descriptions of the specific embodiments, and the protection scope of the present application is not limited thereto. Any changes or substitutions should be included within the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A detection method, characterized in that the method is applied to a detection device, the detection device comprises at least one light transmitter and at least one light receiver, the light transmitter is used for emitting a light pulse sequence to a target area, the The optical receiver is used for receiving at least a part of the reflected signal of the optical pulse sequence by the target area, wherein,

The target area includes a first sub-area and a second sub-area other than the first sub-area, the first sub-area corresponds to a first time period, and the second sub-area corresponds to a second time period;

During the first time period, the light transmitter continuously transmits a plurality of light pulse sequences to the first sub-region, and the light receiver is turned on during the first time period, and during the second time period , the optical receiver is turned off, and the time interval of the second time period is greater than the emission interval between any two optical pulse sequences transmitted in the first time period.
The method according to claim 1, wherein, during the first time period, the optical receiver is turned on, comprising:

From the start time of the first time period to the end time of the first time period, the light receiver remains on.
The method of claim 1, wherein the first period of time comprises at least one first sub-period, and a second sub-period other than the at least one first sub-period, the During the first time period, the optical receiver is turned on, including:

During each of the first sub-periods, the light receiver is turned on;

During each of the second sub-periods, the light receiver is turned off.
The method according to claim 3, wherein the time intervals occupied by each of the first sub-time periods are not identical, and/or the time intervals occupied by each of the second sub-time periods are not identical Exactly the same.
The method according to any one of claims 1-4, wherein the first time period is determined according to the angle and/or distance of the first sub-region relative to the detection device.
The method according to claim 5, wherein the angle includes a pitch angle and/or an azimuth angle.
The method according to claim 1, wherein there are at least two first sub-regions, and/or at least two first time periods.
The method according to claim 7, wherein at least two of the first time periods contain different time intervals.
The method according to claim 1, wherein the second sub-area further corresponds to a third time period, and the method further comprises:

During the third time period, the light emitter is turned off.
The method according to claim 9, wherein the third time period is determined according to the angle of the second sub-region relative to the detection device.
The method according to claim 10, wherein the angle includes a pitch angle and/or an azimuth angle.
The method according to any one of claims 1-11, wherein there are at least two light emitters, and the light pulses emitted by different light emitters have different exit directions.
The method according to any one of claims 1-12, wherein the detection device further comprises a sampling module and an arithmetic module, and the method further comprises:

controlling the sampling module to sample the signal received by the optical receiver to obtain a sampling signal;

The operation module is controlled to process the sampled signal to obtain the detection result of the first sub-region.
The method according to claim 13, wherein the detection result comprises at least one of the following:

Category information, reflection intensity information, speed information, distance information and azimuth information of the detected object in the first sub-area.
The method according to claim 13, wherein the method further comprises: performing any one of the following according to the detection result: obstacle avoidance, modeling, navigation, security, three-dimensional printing, and surveying and mapping.
The method according to any one of claims 1-15, wherein the detection device is arranged on a movable platform, and the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote-controlled car, or a robot .
The method according to claim 16, wherein when the movable platform is an automobile, the detection device is arranged at the front of the automobile, and the first sub-area includes at least the front of the automobile. partial area.
The method according to any one of claims 1-17, wherein the vehicle is a fully automatic driving vehicle or a semi-automatic driving vehicle.
The method according to any one of claims 1-18, wherein the first sub-region includes at least one of the following:

Areas of interest, areas where the detected object cannot be identified, areas with obstacles, areas with risk factors, or areas with rich details.
The method according to any one of claims 1-19, characterized in that, when the optical transmitter transmits the optical pulse sequence to the first sub-area, an emission frequency adopted by the optical transmitter is higher than that of transmitting the optical pulse sequence to the second sub-area The emission frequency used in the optical pulse sequence, and/or, one scan period completed by the optical transmitter on the first sub-region is one scan period, and there are at least two different scan periods, and in the different scan periods Inside, the emission frequencies of the light transmitters are different.
The method according to any one of claims 1-20, wherein the first sub-area is determined based on user input, or is based on a reflection signal of the light pulse sequence by the target area definite.
A detection device, characterized in that the detection device comprises:

at least one light transmitter for transmitting a sequence of light pulses to the target area;

at least one optical receiver for receiving at least part of the reflected signal of the sequence of optical pulses by the target area,

Wherein, the target area includes a first sub-area and a second sub-area other than the first sub-area, the first sub-area corresponds to a first time period, and during the first time period, the light emission The device continuously transmits a plurality of light pulse sequences to the first sub-area, the second sub-area corresponds to a second time period, and the time interval of the second time period is greater than any two emitted in the first time period. The emission interval between the optical pulse sequences, the optical receiver is configured to be turned on during the first time period and turned off during the second time period.
The apparatus of claim 22, wherein the optical receiver is configured to be turned on during the first period of time, comprising:

From the start time of the first time period to the end time of the first time period, the light receiver remains on.
23. The apparatus of claim 22, wherein the first period of time comprises at least one first sub-period and a second sub-period other than the at least one first sub-period, the The optical receiver is configured to be turned on during the first time period, including:

During each of the first sub-periods, the light receiver is turned on;

During each of the second sub-periods, the light receiver is turned off.
The device according to claim 24, wherein the time interval occupied by each of the first sub-time periods is not exactly the same, and/or the time interval occupied by each of the second sub-time periods is not the same Exactly the same.
The device according to any one of claims 22-25, wherein the first time period is determined according to the angle and/or distance of the first sub-region relative to the detection device.
The apparatus of claim 26, wherein the angle includes a pitch angle and/or an azimuth angle.
The apparatus according to claim 22, wherein there are at least two first sub-regions, and/or at least two first time periods.
The device according to claim 28, wherein at least two of the first time periods include different time intervals.
The apparatus according to claim 22, wherein the second sub-region further corresponds to a third time period, and the light emitter is further configured to be turned off during the third time period.
The device of claim 30, wherein the third time period is determined according to an angle of the second sub-region relative to the detection device.
The apparatus of claim 31, wherein the angle includes a pitch angle and/or an azimuth angle.
The device according to any one of claims 22-32, wherein there are at least two light emitters, and the light pulses emitted by different light emitters have different exit directions.
The device according to any one of claims 22-33, wherein the detection device further comprises a sampling module and an arithmetic module, wherein:

The sampling module is used for sampling the signal received by the optical receiver to obtain a sampling signal;

The operation module is configured to process the sampled signal to obtain the detection result of the first sub-region.
The device according to claim 34, wherein the detection result comprises at least one of the following:

Category information, reflection intensity information, speed information, distance information and azimuth information of the detected object in the first sub-area.
The device according to claim 34, wherein the detection result is used to perform any one of the following: obstacle avoidance, modeling, navigation, security, three-dimensional printing, and mapping.
The device according to any one of claims 22-36, wherein the detection device is arranged on a movable platform, and the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, or a robot .
The device according to claim 37, wherein when the movable platform is a car, the detection device is arranged at the front of the car, and the first sub-area includes at least the front of the car. partial area.
The device according to any one of claims 22-38, wherein the vehicle is a fully autonomous vehicle or a semi-autonomous vehicle.
The device according to any one of claims 22-39, wherein the first sub-region includes at least one of the following:

Areas of interest, areas where the detected object cannot be identified, areas with obstacles, areas with risk factors, or areas with rich details.
The device according to any one of claims 22-40, characterized in that, when the optical transmitter transmits the optical pulse sequence to the first sub-area, the transmission frequency adopted by the optical transmitter is higher than that of transmitting the optical pulse sequence to the second sub-area The emission frequency used in the optical pulse sequence, and/or, one scan period completed by the optical transmitter on the first sub-region is one scan period, and there are at least two different scan periods, and in the different scan periods Inside, the emission frequencies of the light transmitters are different.
The apparatus according to any one of claims 22-41, wherein the first sub-area is determined based on user input, or is based on a reflection signal of the light pulse sequence by the target area definite.
A detection method, characterized in that the method is applied to a detection device, the detection device includes at least one optical transmitter and at least one optical receiver, and the method includes:

Controlling the optical transmitter to transmit a first detection signal to a target area at a first transmission frequency, and controlling the optical receiver to receive a reflection signal of the first detection signal from the target area at a first reception frequency;

Acquire a first sub-area located in the target area, determine a first time period according to the scanning parameters corresponding to the first sub-area, and control the optical receiver to be in an on state only within the first time period , wherein the first sub-region is obtained based on the reflected signal;

The optical transmitter is controlled to transmit at least a second detection signal to the first sub-region at a second transmission frequency, and the optical receiver is controlled to receive a reflected signal at a second reception frequency when in an on state, wherein the first The second transmit frequency is greater than the first transmit frequency, and the second receive frequency is greater than the first receive frequency.
The method of claim 43, wherein the method further comprises:

Before the optical transmitter is controlled to transmit the second detection signal at the second transmission frequency, a fourth time period is determined according to the scanning parameter corresponding to the first sub-area, and the optical transmitter is controlled only in the fourth time period. being in an on state for a period of time, so as to control the light transmitter to transmit a second detection signal at the second transmit frequency when the light transmitter is in an on state.
The method according to claim 44, wherein the first time period is determined according to the scanning depth corresponding to the first sub-region, and the fourth time period is determined according to the scanning depth corresponding to the first sub-region. The corresponding scanning angle is determined.
The method according to claim 43, wherein the first time period is determined according to the scanning angle and/or scanning depth corresponding to the first sub-region.
The method of claim 43, wherein the first transmit frequency is equal to the first receive frequency and the second transmit frequency is equal to the second receive frequency.
The method according to any one of claims 43-47, wherein the obtaining of the first sub-region comprises:

generating at least one frame of point cloud image based on the reflected signal of the first detection signal from the target area;

dividing the point cloud image into a plurality of sub-image blocks, and obtaining the recognition probability of each sub-image block;

comparing the identification probability of each sub-image block with a predetermined threshold, and determining sub-image blocks whose identification probability is lower than the predetermined threshold;

A region corresponding to a sub-image block whose identification probability is lower than the predetermined threshold is acquired as the first sub-region.
The method according to any one of claims 43-47, wherein the obtaining of the first sub-region comprises:

generating at least one frame of point cloud image based on the reflected signal of the first detection signal from the target area;

outputting the point cloud image to a user, so that the user determines a first sub-area within the target area based on the point cloud image;

An instruction indicating the first sub-area input by a user is received to acquire the first sub-area.
The method according to any one of claims 43-49, wherein the number of the first sub-regions is more than one,

The determining of the first time period according to the scanning parameters corresponding to the first sub-regions includes: determining one of the first time periods according to the scanning parameters corresponding to each of the first sub-regions, and controlling the light The receiver is turned on in each of the determined first time periods; or a first time period is jointly determined according to the scanning parameters corresponding to all the first sub-areas, and the optical receiver is controlled in the determined time period. open within a first time period;

The determining of the fourth time period according to the scanning parameters corresponding to the first sub-regions includes: determining one of the fourth time periods according to the scanning parameters corresponding to each of the first sub-regions, and controlling the light The transmitter is turned on in each of the determined fourth time periods; or one of the fourth time periods is jointly determined according to the scanning parameters corresponding to all the first sub-regions, and the light transmitter is controlled to be in the determined time period. A fourth time period is turned on.
The method according to any one of claims 43-50, wherein the method further comprises:

generating a point cloud image based on the reflected signal received by the light receiver at the second receive frequency;

Obtain the recognition probability of the point cloud image, and determine whether the recognition probability of the point cloud image is lower than a predetermined threshold, when the point cloud image is lower than the predetermined threshold, control the light emitter to emit a third transmitting a third detection signal at least to the first sub-region at a frequency, and controlling the optical receiver to receive a reflected signal at a third receiving frequency when in an on state, wherein the third transmitting frequency is greater than the second transmitting frequency , the third receiving frequency is greater than the second receiving frequency.
The method of claim 51, wherein the method further comprises:

The optical transmitter is controlled to transmit the third detection signal at the third transmission frequency only during the fourth time period.
The method according to claim 51 or 52, wherein the third transmission frequency is equal to the third reception frequency.
A detection method, characterized in that the method is applied to a detection device, the detection device includes at least one optical transmitter and at least one optical receiver, and the method includes:

Acquire a pre-defined first sub-area within the scanning range that can be covered by the detection device, determine a first time period based on the scanning parameters corresponding to the first sub-area, and control the light receiver to operate only in the first sub-area. be on for a period of time;

Controlling the optical transmitter to transmit a detection signal at least to the first sub-region at a second transmission frequency, and controlling the optical receiver to receive a reflected signal at a second reception frequency when in an on state, the second transmission frequency is greater than the first transmit frequency, and the second receive frequency is greater than the first receive frequency;

Wherein, the first transmission frequency is the transmission frequency used when the optical transmitter transmits the detection signal to the scanning range that can be covered by the detection device, and the first reception frequency is the transmission frequency of the optical receiver from the detection device The receiving frequency at which the reflected signal is received in the scan range that can be covered.
The method of claim 54, wherein the method further comprises:

Before the optical transmitter is controlled to transmit the detection signal at the second transmission frequency, a fourth time period is determined according to the scanning parameter corresponding to the first sub-area, and the optical transmitter is controlled only in the fourth time period is in an on state, so as to control the light transmitter to transmit a detection signal at the second transmission frequency when it is in an on state.
The method according to claim 55, wherein the first time period is determined according to the scanning depth corresponding to the first sub-region, and the fourth time period is determined according to the scanning depth corresponding to the first sub-region. The corresponding scanning angle is determined.
The method according to claim 54, wherein the first time period is determined according to the scanning angle and/or scanning depth corresponding to the first sub-region.
The method of claim 54, wherein the first transmit frequency is equal to the first receive frequency and the second transmit frequency is equal to the second receive frequency.
The method according to any one of claims 54-58, wherein the number of the first sub-regions is more than one,

The determining of the first time period according to the scanning parameters corresponding to the first sub-regions includes: determining one of the first time periods according to the scanning parameters corresponding to each of the first sub-regions, and controlling the light The receiver is turned on in each of the determined first time periods; or a first time period is jointly determined according to the scanning parameters corresponding to all the first sub-areas, and the optical receiver is controlled in the determined time period. open within a first time period;

The determining of the fourth time period according to the scanning parameters corresponding to the first sub-regions includes: determining one of the fourth time periods according to the scanning parameters corresponding to each of the first sub-regions, and controlling the light The transmitter is turned on in each of the determined fourth time periods; or one of the fourth time periods is jointly determined according to the scanning parameters corresponding to all the first sub-regions, and the light transmitter is controlled to be in the determined time period. A fourth time period is turned on.
The method of any one of claims 54-59, wherein the method further comprises:

generating a point cloud image based on the reflected signal received by the light receiver at the second receive frequency;

Obtain the recognition probability of the point cloud image, and determine whether the recognition probability of the point cloud image is lower than a predetermined threshold, when the point cloud image is lower than the predetermined threshold, control the light emitter to emit a third transmitting a third detection signal at least to the first sub-region at a frequency, and controlling the optical receiver to receive a reflected signal at a third receiving frequency when in an on state, wherein the third transmitting frequency is greater than the second transmitting frequency , the third receiving frequency is greater than the second receiving frequency.
The method of claim 60, wherein the method further comprises:

The optical transmitter is controlled to transmit a detection signal at the third transmission frequency only during the fourth time period.
The method of claim 60 or 61, wherein the third transmit frequency is equal to the third receive frequency.
A detection device, characterized in that the detection device comprises at least one light transmitter, at least one light receiver and a control module, wherein:

The control module is used to control the optical transmitter to transmit a first detection signal to the target area at a first transmission frequency, and to control the optical receiver to receive the first detection signal from the target area at a first reception frequency the reflected signal;

The control module is further configured to acquire a first sub-area located in the target area, determine a first time period according to a scanning parameter corresponding to the first sub-area, and control the light receiver to operate only in the first sub-area. is in an open state for a period of time, wherein the first sub-region is obtained based on the reflected signal;

The control module is further configured to control the optical transmitter to transmit a second detection signal at least to the first sub-area at a second transmission frequency, and to control the optical receiver to receive at the second reception frequency when it is in an on state A reflected signal, wherein the second transmit frequency is greater than the first transmit frequency and the second receive frequency is greater than the first receive frequency.
The apparatus of claim 63, wherein the control module is further configured to:

Before the optical transmitter is controlled to transmit the second detection signal at the second transmission frequency, a fourth time period is determined according to the scanning parameter corresponding to the first sub-area, and the optical transmitter is controlled only in the fourth time period. being in an on state for a period of time, so as to control the light transmitter to transmit a second detection signal at the second transmit frequency when the light transmitter is in an on state.
The device according to claim 64, wherein the first time period is determined by the control module according to the scanning depth corresponding to the first sub-region, and the fourth time period is determined by the control module It is determined according to the scanning angle corresponding to the first sub-region.
The apparatus according to claim 63, wherein the first time period is determined by the control module according to the scanning angle and/or scanning depth corresponding to the first sub-region.
The apparatus of claim 63, wherein the first transmit frequency is equal to the first receive frequency and the second transmit frequency is equal to the second receive frequency.
The device according to any one of claims 63-67, wherein the control module obtains the first sub-region, comprising:

generating at least one frame of point cloud image based on the reflected signal of the first detection signal from the target area;

dividing the point cloud image into a plurality of sub-image blocks, and obtaining the recognition probability of each sub-image block;

comparing the identification probability of each sub-image block with a predetermined threshold, and determining sub-image blocks whose identification probability is lower than the predetermined threshold;

A region corresponding to a sub-image block whose identification probability is lower than the predetermined threshold is acquired as the first sub-region.
The device according to any one of claims 63-67, wherein the control module obtains the first sub-region, comprising:

generating at least one frame of point cloud image based on the reflected signal of the first detection signal from the target area;

outputting the point cloud image to a user, so that the user determines a first sub-area within the target area based on the point cloud image;

An instruction indicating the first sub-area input by a user is received to acquire the first sub-area.
The device according to any one of claims 63-69, wherein the number of the first sub-regions is more than one,

The control module determining the first time period according to the scanning parameters corresponding to the first sub-regions includes: determining one of the first time periods according to the scanning parameters corresponding to each of the first sub-regions, and controlling all the first time periods. The optical receiver is turned on in each determined first time period; or one of the first time periods is jointly determined according to the scanning parameters corresponding to all the first sub-areas, and the optical receiver is controlled in the determined first time period. is turned on within a determined first time period;

The control module determining the fourth time period according to the scanning parameters corresponding to the first sub-regions includes: determining one of the fourth time periods according to the scanning parameters corresponding to each of the first sub-regions, and controlling all the fourth time periods. The optical transmitter is turned on in each of the determined fourth time periods; or one of the fourth time periods is jointly determined according to the scanning parameters corresponding to all the first sub-regions, and the optical transmitter is controlled to be turned on in the determined four time periods. is turned on within a determined fourth time period.
The device according to any one of claims 63-70, wherein the control module is further configured to:

generating a point cloud image based on the reflected signal received by the light receiver at the second receive frequency;

Obtain the recognition probability of the point cloud image, and determine whether the recognition probability of the point cloud image is lower than a predetermined threshold, when the point cloud image is lower than the predetermined threshold, control the light emitter to emit a third transmitting a third detection signal at least to the first sub-region at a frequency, and controlling the optical receiver to receive a reflected signal at a third receiving frequency when in an on state, wherein the third transmitting frequency is greater than the second transmitting frequency , the third receiving frequency is greater than the second receiving frequency.
The apparatus of claim 71, wherein the control module is further configured to:

The optical transmitter is controlled to transmit the third detection signal at the third transmission frequency only during the fourth time period.
The apparatus according to claim 71 or 72, wherein the third transmission frequency is equal to the third reception frequency.
The apparatus according to any one of claims 63-73, wherein the control module includes a processor and a controller, wherein the processor is configured to perform the acquisition of the first sub-region, the For the determination of the first time period and the determination of the fourth time period, the controller is configured to perform the control on the optical transmitter and the optical receiver.
The device according to any one of claims 63-73, wherein the control module is a chip, and the chip is embedded in the detection device or externally connected to the detection device.
A detection device, characterized in that the detection device comprises at least one light transmitter, at least one light receiver and a control module, wherein:

The control module is configured to acquire a pre-defined first sub-area within a scanning range that can be covered by the detection device, determine a first time period based on a scanning parameter corresponding to the first sub-area, and control the light receiving the device is only in the ON state during the first time period;

The control module is further configured to control the optical transmitter to transmit a detection signal at least to the first sub-area at a second transmission frequency, and to control the optical receiver to receive a reflected signal at the second reception frequency when it is in an on state , the second transmit frequency is greater than the first transmit frequency, and the second receive frequency is greater than the first receive frequency;

Wherein, the first transmission frequency is the transmission frequency used when the optical transmitter transmits the detection signal to the scanning range that can be covered by the detection device, and the first reception frequency is the transmission frequency of the optical receiver from the detection device The receiving frequency at which the reflected signal is received in the scan range that can be covered.
The apparatus of claim 76, wherein the control module is further configured to:

Before the optical transmitter is controlled to transmit the detection signal at the second transmission frequency, a fourth time period is determined according to the scanning parameter corresponding to the first sub-area, and the optical transmitter is controlled only in the fourth time period is in an on state, so as to control the light transmitter to transmit a detection signal at the second transmission frequency when it is in an on state.
The device according to claim 77, wherein the first time period is determined by the control module according to the scanning depth corresponding to the first sub-region, and the fourth time period is determined by the control module It is determined according to the scanning angle corresponding to the first sub-region.
The device according to claim 76, wherein the first time period is determined by the control module according to the scanning angle and/or scanning depth corresponding to the first sub-region.
The apparatus of claim 76, wherein the first transmit frequency is equal to the first receive frequency and the second transmit frequency is equal to the second receive frequency.
The device according to any one of claims 76-80, wherein the number of the first sub-regions is more than one,

The control module determining the first time period according to the scanning parameters corresponding to the first sub-regions includes: determining one of the first time periods according to the scanning parameters corresponding to each of the first sub-regions, and controlling all the first time periods. The optical receiver is turned on in each determined first time period; or a first time period is jointly determined according to the scanning parameters corresponding to all the first sub-areas, and the optical receiver is controlled in the determined first time period. is turned on within a determined first time period;

The control module determining the fourth time period according to the scanning parameters corresponding to the first sub-regions includes: determining one of the fourth time periods according to the scanning parameters corresponding to each of the first sub-regions, and controlling all the fourth time periods. The optical transmitter is turned on in each of the determined fourth time periods; or one of the fourth time periods is jointly determined according to the scanning parameters corresponding to all the first sub-regions, and the optical transmitter is controlled to be turned on in the determined four time periods. is turned on within a determined fourth time period.
The device according to any one of claims 76-81, wherein the control module is further configured to:

generating a point cloud image based on the reflected signal received by the light receiver at the second receive frequency;

Obtain the recognition probability of the point cloud image, and determine whether the recognition probability of the point cloud image is lower than a predetermined threshold, when the point cloud image is lower than the predetermined threshold, control the light emitter to emit a third transmitting a third detection signal at least to the first sub-region at a frequency, and controlling the optical receiver to receive a reflected signal at a third receiving frequency when in an on state, wherein the third transmitting frequency is greater than the second transmitting frequency , the third receiving frequency is greater than the second receiving frequency.
The apparatus of claim 82, wherein the control module is further configured to:

The optical transmitter is controlled to transmit the third detection signal at the third transmission frequency only within the fourth time period.
The apparatus of claim 82 or 83, wherein the third transmit frequency is equal to the third receive frequency.
The apparatus according to any one of claims 76-84, wherein the control module comprises a processor and a controller, wherein the processor is configured to perform the acquisition of the first subregion, the For the determination of the first time period and the determination of the fourth time period, the controller is configured to perform the control on the optical transmitter and the optical receiver.
The device according to any one of claims 76-84, wherein the control module is a chip, and the chip is embedded in the detection device or externally connected to the detection device.
A movable platform, characterized in that, the movable platform includes the detection device according to any one of claims 22-42 and 63-86, and the detection device is used to detect the surrounding of the movable platform. area and generate point cloud data of the detected area for the movement of the movable platform.
The movable platform of claim 87, wherein the movable platform is an unmanned aerial vehicle or an unmanned vehicle.