As a hot research topic in urban geography, spatiotemporal interaction analysis has been used to detect the hotspot mobility patterns of crowds and urban structures based on the origin-destination (OD) flow data, which provide useful information for urban planning and traffic management applications. However, existing methods mainly focus on the detection of explicit spatial interaction patterns (such as spatial flow clusters) in OD flow data, with less attention to the discovery of underlying crowd travel demands. Therefore, this paper proposes a framework to discover the crowd travel demands by associating the dynamic spatiotemporal interaction patterns and the contextual semantic features of the geographical environment. With urban functional zones (UFZs) as the basic units of human mobility in urban spaces, this paper gives a case study in Wuhan, China, to detect and interpret the human mobility patterns based on the characteristics of spatiotemporal interaction between UFZs. Firstly, we build the spatiotemporal interaction matrix based on the OD flows of different UFZs and analyze the characteristics of the interaction matrix. Then, hotspot poles, defined as the local areas where people gather significantly, are extracted using the Gi-statistic-based spatial hotspot detection algorithm. Next, we develop a frequent interaction pattern mining method to detect the frequent interaction patterns of the hotspot poles. Finally, based on the detected frequent interaction patterns, we discover the travel demands of crowds with semantic features of corresponding urban functional zones. The characteristics of crowd travel distance and travel time are further discussed. Experiments with floating car data, road networks, and POIs in Wuhan were conducted, and results show that the underlying travel demands can be better discovered and interpreted by the proposed framework and methods in this paper. This study helps to understand the characteristics of human movement and can provide support for applications such as urban planning and facility optimization.