Electric window anti-pinch method based on laser radar, electric window and storage medium

Abstract

The invention discloses an electric window anti-pinch method based on a laser radar, an electric window and a storage medium, and relates to the field of electric doors and windows. The electric window is provided with the two-dimensional laser radar, and the target plane scanned by the two-dimensional laser radar is parallel to the glass plane of the electric window; the electric window anti-pinch method based on the laser radar comprises the following steps: acquiring echo data received by the two-dimensional laser radar; determining object information in a target plane according to the echo data; anti-pinch control data are determined according to the object information, the electric window is controlled according to the anti-pinch control data, and the technical effect of improving the reliability of an anti-pinch system is achieved.

Description

Technical Field

[0001] The present invention relates to the field of electric windows, and particularly to an anti-pinch method for electric windows based on lidar, an electric window and a storage medium. Background Art

[0002] With the continuous improvement of people's living requirements, the demand for electric balconies is increasing, and correspondingly, the demand for electric windows is also gradually increasing. Currently, a laser pair emission scheme is often used. Specifically, lasers with opposite directions are set at preset positions so that anti-pinch is achieved when an object or a person blocks the lasers. However, with the increase in the size of the electric balcony, this anti-pinch method is prone to failure, and in fact, there are many blind spots or situations where the occluding object cannot be recognized in this scheme, which easily leads to anti-pinch failure.

[0003] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide an anti-pinch method for electric windows based on lidar, an electric window and a storage medium, aiming to improve the reliability of the anti-pinch system.

[0005] To achieve the above purpose, the present invention provides an anti-pinch method for electric windows based on lidar. The electric window is provided with a two-dimensional lidar, and the target plane scanned by the two-dimensional lidar is parallel to the glass plane of the electric window. The anti-pinch method for electric windows based on lidar includes the following steps: Obtain the echo data received by the two-dimensional lidar; Determine the object information in the target plane according to the echo data; Determine the anti-pinch control data according to the object information, and control the electric window according to the anti-pinch control data.

[0006] Optionally, the two-dimensional lidar is a multi-echo detection radar, the target plane is within the window frame of the electric window, the window frame includes adjacent first window frame and second window frame, and the first roughness of the first window frame is less than the second roughness of the second window frame. The step of obtaining the echo data received by the two-dimensional lidar includes: Obtain at least one echo data corresponding to each scanning angle of the two-dimensional lidar to obtain a plurality of the echo data, and the echo data includes corresponding scanning angle information.

[0007] Optionally, the object information includes: the window frame point cloud data of the window frame and the target point cloud data of the target recognition object. The step of determining the object information in the target plane according to the echo data includes: Match multiple pieces of the echo data with preset echo data, and determine the echo data that fails to be successfully matched as the target echo data; Generate the target point cloud data according to the target echo data; Determine the type label of the target identification object according to the target point cloud data, and the object information further includes: the type label.

[0008] Optionally, before the step of determining the object information in the target plane according to the echo data, the method further includes: Obtain echo learning data, where the echo learning data is the echo data received by the two-dimensional lidar when there is no object in the window frame of the electric window; Determine the preset echo data according to the echo learning data.

[0009] Optionally, the step of generating the target point cloud data according to the target echo data includes: Determine first-class target echo data and second-class target echo data according to the target echo data, where the first-class target echo data is the echo data generated by the lidar directly scanning the target identification object, and the second-class target echo data is the echo data generated by the lidar indirectly scanning the target identification object; Calculate the first part of the point cloud data according to the return time and the corresponding scanning angle information of the first target echo data; Determine the second part of the point cloud data according to the second target echo data; Generate the target point cloud data according to the first part of the point cloud data and the second part of the point cloud data.

[0010] Optionally, the step of determining the second part of the point cloud data according to the second target echo data includes: Determine associated echo data according to the scanning angle information of the second target echo data; Determine the echo path according to the associated echo data and the scanning angle information of the second target echo data, where the echo path is the path from the position where the second echo data is generated to the position of the lidar; Determine the second part of the point cloud data according to the echo path and the return time of the second target echo data.

[0011] Optionally, the electric window and the window frame of the electric window are rectangular, the lidar is arranged at the included angle position of two side frames of the electric window, the window frame includes adjacent first window frame and second window frame, the first roughness of the first window frame is less than the second roughness of the second window frame, the second window frame is two side frames adjacent to the included angle position, and the first window frame is two side frames not adjacent to the included angle position.

[0012] Optionally, before the step of obtaining the echo data received by the two-dimensional lidar, the method further includes: Determining the scanning angle of the two-dimensional lidar according to the installation position of the two-dimensional lidar.

[0013] In addition, to achieve the above object, the present invention further provides an electric window, which includes: a memory, a processor, and a lidar-based electric window anti-pinch program stored on the memory and executable on the processor. The lidar-based electric window anti-pinch program is configured to implement the steps of the lidar-based electric window anti-pinch method described in any one of the above.

[0014] In addition, to achieve the above object, the present invention further provides a storage medium, on which a lidar-based electric window anti-pinch program is stored. When the lidar-based electric window anti-pinch program is executed by a processor, it implements the steps of the lidar-based electric window anti-pinch method described in any one of the above.

[0015] The present invention provides a lidar-based electric window anti-pinch method, which includes obtaining the echo data received by the two-dimensional lidar; determining the object information in the target plane according to the echo data; compared with the technical solution of laser pair shooting, it can more accurately determine the information of the occluding object, so as to determine the anti-pinch control data according to the object information, and control the electric window according to the anti-pinch control data, thereby effectively reducing the situation of not being able to detect the occluding object, improving the object recognition probability, and effectively improving the reliability of the anti-pinch system. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of an electric window in the hardware operating environment related to the embodiment solution of the present invention; Figure 2 It is a schematic flowchart of the first embodiment of the lidar-based electric window anti-pinch method of the present invention; Figure 3 It is a detailed flowchart of step S2 in the second embodiment of the lidar-based electric window anti-pinch method of the present invention; Figure 4 It is a detailed flowchart of step S22 in the fourth embodiment of the lidar-based electric window anti-pinch method of the present invention; The realization, functional characteristics, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0017] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] Refer to Figure 1, Figure 1 It is a schematic diagram of the electric window structure of the hardware operating environment involved in the solution of the embodiment of the present invention.

[0019] As Figure 1 shown, the electric window may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, an interaction device 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The interaction device 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard). Optionally, the interaction device 1003 may also be connected to the communication bus through a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001. In addition, an electric door with the same function and implementing the same method replaces the electric window. In addition, the electric window further includes: a motor and a pulley, and the motor and the pulley may be arranged on the movable sash.

[0020] Those skilled in the art can understand that Figure 1 the structure shown in

[0021] does not constitute a limitation to the electric window, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements. Figure 1 shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and an electric window program.

[0022] In Figure 1 the shown electric window, the network interface 1004 is mainly used for data communication with other devices; the interaction device 1003 is mainly used for data interaction with users; the processor 1001 and the memory 1005 in the electric window of the present invention may be arranged in the electric window device. The electric window calls the electric window anti-pinch program based on lidar stored in the memory 1005 through the processor 1001 and executes the electric window anti-pinch method provided by the embodiment of the present invention.

[0023] The embodiment of the present invention provides an electric window anti-pinch method based on lidar. Refer to Figure 2 ,Figure 2 This is a schematic flowchart of the first embodiment of an electric window anti-pinch method based on lidar according to the present invention.

[0024] In this embodiment, the electric window is provided with a two-dimensional lidar. The target plane scanned by the two-dimensional lidar is parallel to the glass plane of the electric window. The electric window anti-pinch method based on lidar includes the following steps: Step S1, obtaining the echo data received by the two-dimensional lidar; The common working mode of lidar generally calculates the distance by emitting laser and measuring the return time, and realizes two-dimensional scanning by means of a rotating mirror. The echo data here is the information of the laser received by the lidar, and it can be a two-dimensional lidar based on the time-of-flight ranging method.

[0025] Step S2, determining the object information in the target plane according to the echo data; Specifically, the object information that can be determined during the scanning process generally includes: position information, object cross-sectional area, cross-sectional shape, and the type of the identified object. Preferably, a lidar is set to collect the corresponding echo data, the point cloud data of the object in the target plane is determined according to the echo data, and the object information is determined according to the point cloud data. Optionally, two-dimensional lidars are respectively set at two different positions to obtain echo data, the point cloud data of the object in the target plane is determined according to the echo data, and the object information is determined according to the point cloud data, so as to ensure the integrity of the point cloud data of the object, and further improve the accuracy of the object information. The wavelength of the laser of the two-dimensional lidar is not limited.

[0026] Step S3, determining the anti-pinch control data according to the object information, and controlling the electric window according to the anti-pinch control data.

[0027] In this embodiment, corresponding anti-pinch control data can be determined according to different position information, different object cross-sectional areas, different cross-sectional shapes, and different object types through the object information. The anti-pinch control data can be determined as the position data of the moving fan of the electric window according to the position where the object is located. For example, when the object is at a position 10 cm away from the window frame edge of the fixed fan, the moving fan can be controlled to stop at a position 15 cm away from the window frame edge of the fixed fan, thus avoiding the anti-pinch situation. In addition, when the preset item information is recognized, a corresponding prompt message can be issued. For example, when a hollow rod is recognized, a corresponding prompt message is issued. When it is recognized that there is a towel placed on the lower window frame, a corresponding prompt message is issued after a preset static time. When a finger is recognized, the opening degree of the electric window can be adjusted to the maximum. Specifically, the adjustment method can be set by the user. When the object information is recognized, different control schemes can be selected according to different object information, and then different anti-pinch control data can be generated. Further, after step S3 is executed, step S1 can also be returned to for execution, so as to achieve real-time monitoring and effectively improve the reliability of the anti-pinch system.

[0028] In this embodiment, by obtaining the echo data received by the two-dimensional lidar; determining the object information in the target plane according to the echo data; compared with the technical solution of laser pair shooting, the information of the occluding object can be determined more accurately, so that the anti-pinch control data can be determined according to the object information, and the electric window can be controlled according to the anti-pinch control data, thereby effectively reducing the situation of unable to detect the occluding object, improving the object recognition probability, and effectively improving the reliability of the anti-pinch system.

[0029] Further, based on the first embodiment, a second embodiment of the electric window anti-pinch method based on lidar according to the present invention is proposed. In this embodiment, the two-dimensional lidar is a multi-echo detection lidar, the target plane is inside the window frame of the electric window, the window frame includes adjacent first window frame and second window frame, and the first roughness of the first window frame is less than the second roughness of the second window frame. The step of obtaining the echo data received by the two-dimensional lidar includes: Obtain at least one echo data corresponding to each scanning angle of the two-dimensional lidar, and obtain a plurality of the echo data, where the echo data includes corresponding scanning angle information.

[0030] In this embodiment, by setting the first window frame, when the laser irradiates the first window frame, the light is reflected by the mirror surface and irradiates to another position. By setting the second window frame, when the laser irradiates the second window frame, while generating an echo, the generation of specular reflection is reduced. Preferably, a lidar capable of receiving multiple echoes is selected. In other embodiments, the lidar can receive echo data at each scanning angle. The default working mode of a general lidar is to detect the strongest echo or the nearest echo. The scanning angle information includes the scanning angle. It should be noted that the smaller the roughness, the larger the proportion of the reflected light, resulting in a higher light intensity of the reflected light. Therefore, in the case of non-normal incidence, the intensity of the light returning along the original path is lower. Under the same conditions, the higher the roughness, the higher the intensity of the light generally returned under non-normal incidence. In fact, it is impossible to achieve an absolutely smooth surface.

[0031] In this embodiment, by setting the first window frame and simultaneously setting a lidar with multi-echo function detection, the specular reflection can be effectively utilized, so that virtual images appear in the point cloud data determined by the echo data. By using this kind of virtual image, the number of point cloud data of the object in the target plane can be increased. Compared with the echo data of a general single lidar, which can only determine the point cloud data on one side of the object, this method effectively utilizes the virtual image that needs to be avoided in the general understanding of lidar, thus effectively improving the reliability of the anti-pinch system.

[0032] Further, the object information includes: the window frame point cloud data of the window frame and the target point cloud data of the target recognition object. Refer to Figure 3 , the step of determining the object information in the target plane according to the echo data includes: Step S21, matching multiple pieces of the echo data with preset echo data, and determining the unmatched echo data as target echo data; Preferably, after installation, in the test state, the corresponding echo data is collected as the preset echo data. The test state means that there are no other objects except the window frame in the target plane. In this embodiment, specifically, the echo data is matched according to the scanning angle and time difference of the echo data, and the data for which no corresponding preset echo data can be found in the echo data is selected as the target echo data. Of course, in some embodiments, all the echo data can also be generated into point cloud data, and the target point cloud data is determined in the point cloud data.

[0033] Step S22, generating the target point cloud data according to the target echo data; Specifically, a coordinate system is constructed based on the position of the two-dimensional lidar, and the corresponding point cloud coordinates are generated according to the scanning angle and laser reception time of the target echo data.

[0034] Step S23, determine the type label of the target identification object according to the target point cloud data.

[0035] Determine the shape features according to the target point cloud data, and determine the corresponding type label according to the shape features. The type label can be used to determine the type of the target identification object.

[0036] In this embodiment, by matching a plurality of the echo data with preset echo data, determine the echo data that fails to be successfully matched as the target echo data; generate the target point cloud data according to the target echo data; determine the type label of the target identification object according to the target point cloud data, thereby effectively improving the reliability of the anti-pinch system.

[0037] Further, based on the first embodiment or the second embodiment, a third embodiment of the electric window anti-pinch method based on lidar according to the present invention is proposed. In this embodiment, before the step of determining the object information in the target plane according to the echo data, the following is further included: Obtain echo learning data, where the echo learning data is the echo data received by the two-dimensional lidar in a state where there is no object in the window frame of the electric window; In some embodiments, the echo learning data can be obtained after cleaning and repairing the electric window. Of course, in some embodiments, the echo learning data can also be obtained when the electric window is opened, so as to improve the accuracy of the echo learning data, and thus can Determine the preset echo data according to the echo learning data.

[0038] Update the preset echo data through the echo learning data.

[0039] In this embodiment, obtaining the echo learning data and determining the preset echo data according to the echo learning data can improve the efficiency of subsequently determining the target identification object.

[0040] Further, based on any of the above embodiments, a fourth embodiment of the electric window anti-pinch method based on lidar according to the present invention is proposed. In this embodiment, referring to Figure 4 , the step of generating the target point cloud data according to the target echo data includes: Step S221, determine the first type of target echo data and the second type of target echo data according to the target echo data. The first type of target echo data is the echo data generated by the lidar directly scanning the target identification object, and the second type of target echo data is the echo data generated by the lidar indirectly scanning the target identification object; Specifically, the step of determining the first type of target echo data in the target echo data includes: when there is only one echo data corresponding to the scanning angle of the target echo data, or when it is the echo data obtained first among the scanning angles corresponding to the target echo data, determining the target echo data as the first type of target echo data; when it is the echo data that is not the first obtained among the scanning angles corresponding to the target echo data, determining the target echo data as the second type of target echo data. The second type of target echo data here is used to determine the point cloud of the side of the target recognition object that is not directly facing the lidar.

[0041] Step S222, calculate the first part of the point cloud data according to the return time of the first target echo data and the corresponding scanning angle information; Determine the distance between the two-dimensional lidar and the cloud point of the target object according to the return time of the first target echo data, and at the same time determine the direction between the two-dimensional lidar and the cloud point of the target object according to the scanning angle information, so as to calculate the first part of the point cloud data.

[0042] Step S223, determine the second part of the point cloud data according to the second target echo data; Determine the total travel distance of the laser emitted by the two-dimensional lidar when it reaches the target object according to the return time of the second target echo data. Further, it is necessary to determine the echo data obtained at the same scanning angle according to the second target echo data as the associated echo data, determine the coordinates of the light reflection point of the laser when it reaches the target object according to the associated echo data, and determine the second part of the point cloud data according to the coordinates of the light reflection point and the total travel distance.

[0043] Step S224, generate the target point cloud data according to the first part of the point cloud data and the second part of the point cloud data.

[0044] Use the first part of the point cloud data and the second part of the point cloud data together as the target point cloud data.

[0045] In this embodiment, the first type of target echo data and the second type of target echo data are determined through the target echo data, and the first part of the point cloud data is calculated according to the return time of the first target echo data and the corresponding scanning angle information; the second part of the point cloud data is determined according to the second target echo data; the target point cloud data is generated according to the first part of the point cloud data and the second part of the point cloud data, so as to obtain the complete target point cloud data.

[0046] Further, the step of determining the second part of the point cloud data according to the second target echo data includes: Determine the associated echo data according to the scanning angle information of the second target echo data; It should be noted that the associated echo data and the second target echo data here are used for the path of a single laser. Optionally, if the intensity of the associated echo data is lower than that of the second target echo data, it can be determined that the point cloud corresponding to the associated echo data is the window frame of the electric window. Optionally, the associated echo data is matched with the preset echo data. If the match is successful, it is determined as the window frame. And according to the law of reflection of light, the theorem that the angle of incidence is equal to the angle of emergence, and the scanning angle, the optical path of the completed laser is determined, that is, the change in direction caused by the reflection of the laser in the target plane corresponding to a scanning angle. In this embodiment, it is precisely by using this change that the determination of object information can be achieved, which is exactly the opposite of the need to avoid virtual images caused by reflection during the conventional use of lidar.

[0047] Determine the echo path according to the scanning angle information of the associated echo data and the second target echo data. The echo path is the path from the position where the second echo data is generated to the position of the lidar. It should be clear that since the laser spot has a certain area, in the case of different roughnesses, the laser will undergo two processes of scattering and reflection when irradiating an object. Thus, specular reflection and scattering will occur on some surfaces with lower roughness. The light of specular reflection will reach the next position instead of returning directly. Therefore, when irradiating the laser once, actually multiple echoes can be obtained. Of course, this multiple echoes actually require a relatively high laser intensity. Generally speaking, lidar with double echoes is more common. And due to the influence of each reflection and scattering, the light intensity will be reduced, and there are often only 2 to 3 echoes and not too many echoes.

[0048] For example: The lidar is set at one corner of a rectangular window frame. The round-trip time of the laser of the associated echo data is 3.33 nanoseconds, and the scanning angle is 45 degrees. The round-trip time of the laser of the second target echo data is 4.995 nanoseconds. Then it can be determined that a part of the laser has a total round-trip distance of 1 meter at 45 degrees, so it can be determined that reflection and the return of the laser occur at a position 0.5 meters away at 45 degrees. According to the fact that the angle of incidence is equal to the angle of emergence, the direction of the laser can be determined, and the total distance corresponding to a part of the laser is determined to be 1.5 meters. Similarly, for more than one associated echo data, the path of the position of the lidar can be determined. In other embodiments, a list of the optical path models of one-time reflection and two-time reflection, and a calculation formula for the corresponding second part of the point cloud data is preset in the list.

[0049] Determine the second part of the point cloud data according to the echo path and the return time of the second target echo data.

[0050] Further, based on any of the above embodiments, a fifth embodiment of the electric window anti-pinch method based on lidar according to the present invention is proposed. The electric window and the window frame of the electric window are rectangular. The lidar is disposed at the included angle position of two side frames of the electric window. The window frame includes adjacent first window frame and second window frame. The first roughness of the first window frame is less than the second roughness of the second window frame. The second window frame is two side frames adjacent to the included angle position, and the first window frame is two side frames not adjacent to the included angle position.

[0051] Further, before the step of obtaining the echo data received by the two-dimensional lidar, the following is further included: Determine the scanning angle of the two-dimensional lidar according to the installation position of the two-dimensional lidar.

[0052] In this embodiment, when the two-dimensional lidar is disposed at the corner of the window frame of the electric window, the range of the scanning angle of the two-dimensional lidar is 0-90 degrees. When the two-dimensional lidar is disposed on the side of the window frame of the electric window, the range of the scanning angle of the two-dimensional lidar is 0-180 degrees.

[0053] In addition, an embodiment of the present invention further provides an electric window, which includes: a memory, a processor, and a lidar-based electric window anti-pinch program stored on the memory and executable on the processor. The lidar-based electric window anti-pinch program is configured to implement the steps of the lidar-based electric window anti-pinch method described in any one of the above.

[0054] In addition, an embodiment of the present invention further provides a storage medium, on which a lidar-based electric window anti-pinch program is stored. When the lidar-based electric window anti-pinch program is executed by a processor, the steps of the lidar-based electric window anti-pinch method described in any one of the above are implemented.

[0055] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or system including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, article or system including the element.

[0056] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0057] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented through hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0058] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A laser radar-based electric window anti-pinch method, characterized in that: The electric window is provided with a two-dimensional laser radar, and the target plane scanned by the two-dimensional laser radar is parallel to the glass plane of the electric window. The electric window anti-pinch method based on the laser radar includes the following steps: Acquiring echo data received by the two-dimensional laser radar; Determine object information within the target plane according to the echo data; Anti-pinch control data is determined according to the object information, and the electric window is controlled according to the anti-pinch control data.

2. The laser radar-based electric window anti-pinch method according to claim 1, characterized in that: The two-dimensional laser radar is a multi-echo detection radar, the target plane is in a window frame of the electric window, the window frame includes a first window frame and a second window frame that are adjacent, the first roughness of the first window frame is less than the second roughness of the second window frame, and the step of acquiring the echo data received by the two-dimensional laser radar includes: Acquire at least one echo data corresponding to each scanning angle of the two-dimensional laser radar to obtain a plurality of echo data, wherein the echo data includes corresponding scanning angle information.

3. The laser radar-based electric window anti-pinch method according to claim 2, characterized in that: The object information includes: the window frame point cloud data of the window frame and the target point cloud data of the target identification object, and the step of determining the object information in the target plane according to the echo data includes: Matching the plurality of echo data with preset echo data, and determining the echo data that is not successfully matched as the target echo data; Generate the target point cloud data according to the target echo data; The type mark of the target identification object is determined according to the target point cloud data, and the object information also includes: the type mark.

4. The laser radar-based electric window anti-pinch method according to claim 3, characterized in that: Before the step of determining the object information in the target plane according to the echo data, the method further includes: Acquiring echo learning data, wherein the echo learning data is echo data received by the two-dimensional laser radar when no object exists in the window frame of the electric window; Preset echo data are determined according to the echo learning data.

5. The laser radar-based electric window anti-pinch method according to claim 3, characterized in that: The step of generating the target point cloud data according to the target echo data comprises: Determine first-category target echo data and second-category target echo data according to the target echo data, wherein the first-category target echo data is echo data generated by direct scanning of the target identifier by the laser radar, and the second-category target echo data is echo data generated by indirect scanning of the target identifier by the laser radar; Calculate the first part of point cloud data according to the return time and corresponding scanning angle information of the first target echo data; Determine a second portion of point cloud data according to the second target echo data; The target point cloud data is generated according to the first portion of point cloud data and the second portion of point cloud data.

6. The laser radar-based electric window anti-pinch method according to claim 5, characterized in that: The step of determining the second part of point cloud data according to the second target echo data comprises: determining associated echo data according to the scanning angle information of the second target echo data; Determine an echo path according to the scanning angle information of the associated echo data and the second target echo data, wherein the echo path is a path from the position where the second echo data is generated to the position of the laser radar; A second portion of point cloud data is determined according to the echo path and the return time of the second target echo data.

7. The method for preventing electric window pinching based on laser radar according to any one of claims 1 to 6, characterized in that: The electric window and the window frame of the electric window are rectangular, the laser radar is arranged at the angle position of the two frames of the electric window, the window frame includes adjacent first window frame and second window frame, the first roughness of the first window frame is less than the second roughness of the second window frame, the second window frame is two frames adjacent to the angle position, and the first window frame is two frames not adjacent to the angle position.

8. The method for preventing electric window pinching based on laser radar as claimed in claim 1, characterized in that: Before the step of acquiring the echo data received by the two-dimensional laser radar, the method further includes: The scanning angle of the two-dimensional laser radar is determined according to the installation position of the two-dimensional laser radar.

9. An electric window, characterized in that: The electric window includes: a memory, a processor, and a laser radar-based electric window anti-pinch program stored in the memory and executable on the processor, wherein the laser radar-based electric window anti-pinch program is configured to implement the steps of the laser radar-based electric window anti-pinch method as described in any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium stores an electric window anti-pinch program based on laser radar, and when the electric window anti-pinch program based on laser radar is executed by the processor, the steps of the electric window anti-pinch method based on laser radar as described in any one of claims 1 to 8 are implemented.

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