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

Abstract

The present invention discloses a laser radar-based anti-pinch method for electric windows, an electric window and a storage medium, and relates to the field of electric doors and windows. In the present invention, 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 laser radar-based anti-pinch method for electric windows includes the following steps: obtaining echo data received by the two-dimensional laser radar; determining object information in the target plane according to the echo data; determining anti-pinch control data according to the object information, and controlling the electric window according to the anti-pinch control data. The present application achieves the technical effect of improving the reliability of the anti-pinch system.

Description

Technical Field

[0001] The present invention relates to the field of electric doors and windows, and in particular to an electric window anti-pinch method based on laser radar, an electric window and a storage medium. Background Art

[0002] As people's living requirements continue to improve, the demand for electric balconies is increasing, and the corresponding electric doors and windows are also gradually increasing. At present, laser shooting solutions are often used. Specifically, lasers in opposite directions are set at preset positions to prevent pinching when objects or people block them. However, this anti-pinch method is prone to failure as the electric balcony becomes larger, and this solution will actually have more blind spots or be unable to identify obstructing objects, which can easily lead 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 constitute 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 electric window anti-pinch method based on laser radar, an electric window and a storage medium, aiming to improve the reliability of the anti-pinch system.

[0005] To achieve the above objectives, the present invention provides a method for preventing electric window pinching based on laser radar. 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 method for preventing electric window pinching based on laser radar includes the following steps:

[0006] Acquiring echo data received by the two-dimensional laser radar;

[0007] determining object information within the target plane according to the echo data;

[0008] Anti-pinch control data is determined according to the object information, and the electric window is controlled according to the anti-pinch control data.

[0009] Optionally, the two-dimensional laser radar is a multi-echo detection radar, the target plane is within a window frame of the electric window, the window frame includes adjacent first and second window frames, a first roughness of the first window frame is less than a second roughness of the second window frame, and the step of acquiring echo data received by the two-dimensional laser radar includes:

[0010] 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.

[0011] Optionally, the object information includes: window frame point cloud data of the window frame and 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:

[0012] matching the plurality of echo data with preset echo data, and determining the echo data that is not successfully matched as target echo data;

[0013] generating the target point cloud data according to the target echo data;

[0014] 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.

[0015] Optionally, before the step of determining object information in the target plane according to the echo data, the method further includes:

[0016] Acquiring echo learning data, where the echo learning data is echo data received by the two-dimensional laser radar when no object is present in the window frame of the electric window;

[0017] Preset echo data is determined according to the echo learning data.

[0018] Optionally, the step of generating the target point cloud data according to the target echo data includes:

[0019] Determining 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 a laser radar directly scanning the target identifier, and the second-category target echo data is echo data generated by a laser radar indirectly scanning the target identifier;

[0020] Calculate a first portion of point cloud data based on the return time and corresponding scanning angle information of the first target echo data;

[0021] determining a second portion of point cloud data according to the second target echo data;

[0022] The target point cloud data is generated according to the first portion of point cloud data and the second portion of point cloud data.

[0023] Optionally, the step of determining a second portion of point cloud data according to the second target echo data includes:

[0024] determining associated echo data according to scanning angle information of the second target echo data;

[0025] Determining an echo path according to the associated echo data and the scanning angle information of the second target echo data, the echo path being a path from a position where the second echo data is generated to a position of the laser radar;

[0026] A second portion of point cloud data is determined according to the echo path and a return time of the second target echo data.

[0027] Optionally, 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 an adjacent first window frame and a 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.

[0028] Optionally, before the step of acquiring the echo data received by the two-dimensional laser radar, the step further includes:

[0029] The scanning angle of the two-dimensional laser radar is determined according to the installation position of the two-dimensional laser radar.

[0030] In addition, to achieve the above-mentioned purpose, the present invention also provides an electric window, which includes: a memory, a processor, and a laser radar-based electric window anti-pinch program stored on the memory and runnable on the processor, and the laser radar-based electric window anti-pinch program is configured to implement the steps of any of the above-mentioned laser radar-based electric window anti-pinch methods.

[0031] In addition, to achieve the above-mentioned purpose, the present invention also provides a storage medium, on which a laser radar-based electric window anti-pinch program is stored. When the laser radar-based electric window anti-pinch program is executed by a processor, the steps of any of the above-mentioned laser radar-based electric window anti-pinch methods are implemented.

[0032] The present invention proposes a method for preventing electric windows from being pinched based on laser radar, which obtains echo data received by the two-dimensional laser radar; determines object information within the target plane based on the echo data; and can more accurately determine information of the obstructing object compared to the technical solution of laser shooting, thereby determining anti-pinch control data based on the object information, and controlling the electric window based on the anti-pinch control data, thereby effectively reducing the situation where the obstructing object cannot be detected, increasing the probability of object recognition, and effectively improving the reliability of the anti-pinch system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 1 is a schematic diagram of the structure of the electric window in the hardware operating environment involved in the embodiment of the present invention;

[0034] Figure 2 This is a flow chart of a first embodiment of a method for preventing electric window pinching based on laser radar according to the present invention;

[0035] Figure 3 Detailed flowchart of step S2 in the second embodiment of the electric window anti-pinch method based on laser radar of the present invention;

[0036] Figure 4 Schematic diagram of a detailed flow of step S22 in the fourth embodiment of the electric window anti-pinch method based on laser radar of the present invention;

[0037] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0038] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] Reference Figure 1 , Figure 1 This is a schematic diagram of the electric window structure of the hardware operating environment involved in the embodiment of the present invention.

[0040] like Figure 1 As shown, the power window may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, an interactive device 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The interactive device 1003 may include a display and an input unit, such as a keyboard. Optionally, the interactive device 1003 may also connect to the communication bus via a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also be a storage device independent of the processor 1001. Furthermore, a power door having the same functionality and implementing the same method may be substituted for the power window. In addition, the electric window further comprises: a motor and a pulley, and the motor and the pulley can be arranged on the movable fan.

[0041] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the electric window, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0042] like Figure 1As 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 a power window program.

[0043] exist Figure 1 In the electric window shown, the network interface 1004 is mainly used for data communication with other devices; the interactive device 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the electric window of the present invention can be set in the electric window equipment, and the electric window calls the laser radar-based electric window anti-pinch program stored in the memory 1005 through the processor 1001, and executes the laser radar-based electric window anti-pinch method provided by the embodiment of the present invention.

[0044] The embodiment of the present invention provides a method for preventing electric window pinching based on laser radar. Figure 2 , Figure 2 This is a flow chart of a first embodiment of a method for preventing electric window pinching based on laser radar according to the present invention.

[0045] In this embodiment, 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:

[0046] Step S1, obtaining echo data received by the two-dimensional laser radar;

[0047] Common lidar systems typically calculate distance by emitting laser light and measuring its return time, using rotating mirrors to achieve two-dimensional scanning. The echo data here refers to the information returned by the lidar, and can be a two-dimensional lidar based on time-of-flight ranging.

[0048] Step S2, determining object information within the target plane according to the echo data;

[0049] Specifically, common object information that can be determined during the scanning process may include: position information, object cross-sectional area, cross-sectional shape, and the type of object to be identified. Preferably, a laser radar is set to collect corresponding echo data, and the point cloud data of the object in the target plane is determined based on the echo data, and the object information is determined based on the point cloud data. Optionally, two-dimensional laser radars are respectively set at two different positions to obtain echo data, and the point cloud data of the object in the target plane is determined based on the echo data, and the object information is determined based on the point cloud data, thereby ensuring the integrity of the object's point cloud data and improving the accuracy of the object information. The wavelength of the laser of the two-dimensional laser radar is not limited.

[0050] Step S3: determining anti-pinch control data according to the object information, and controlling the electric window according to the anti-pinch control data.

[0051] In this embodiment, the object information can be used to determine corresponding anti-pinch control data for different location information, cross-sectional areas, cross-sectional shapes, and object types. The anti-pinch control data can be determined based on the object's location, specifically the position data for the movable sash of the power window. For example, if an object is 10 cm from the edge of the fixed sash's window frame, the movable sash can be controlled to stop 15 cm from the edge of the fixed sash's window frame, thereby preventing pinching. Furthermore, when the preset object information is recognized, a corresponding prompt can be issued. For example, when a hollow rod is recognized, a corresponding prompt can be issued. When a towel is recognized on the lower window frame, a corresponding prompt can be issued after a preset rest time. When a finger is recognized, the power window's opening can be adjusted to its maximum. Specifically, the adjustment method can be set by the user. After the object information is recognized, different control schemes can be selected based on the object information, thereby generating different anti-pinch control data. Furthermore, after executing step S3, the process can return to step S1, thereby enabling real-time monitoring and effectively improving the reliability of the anti-pinch system.

[0052] In this embodiment, the echo data received by the two-dimensional laser radar is obtained; the object information in the target plane is determined based on the echo data; compared with the laser shooting technical solution, the information of the blocking object can be determined more accurately, so that the anti-pinch control data can be determined based on the object information, and the electric window can be controlled based on the anti-pinch control data, thereby effectively reducing the situation where the blocking object cannot be detected, improving the probability of object recognition, and effectively improving the reliability of the anti-pinch system.

[0053] Furthermore, based on the first embodiment, a second embodiment of the laser radar-based electric window anti-pinch method of the present invention is proposed. In this embodiment, the two-dimensional laser radar is a multi-echo detection radar, the target plane is within the window frame of the electric window, and the window frame includes adjacent first and second window frames. 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 laser radar includes:

[0054] 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.

[0055] In this embodiment, the first window frame is configured so that when the laser strikes the first window frame, the light is reflected by a mirror and strikes another location. The second window frame is configured so that when the laser strikes the second window frame, the light generates an echo while reducing mirror reflection. Preferably, a laser radar capable of receiving multiple echoes is selected. In other embodiments, the laser radar can receive echo data at each scanning angle. The default operating mode of a typical laser radar is to detect the strongest echo or the closest echo, and the scanning angle information includes the scanning angle. It should be noted that the lower the roughness, the greater the proportion of reflected light, resulting in a higher intensity of the reflected light. Consequently, under non-perpendicular incidence, the intensity of the light returning from the original path is lower. Under the same conditions, higher roughness generally results in higher intensity of the returned light under non-perpendicular incidence. In reality, it is impossible to achieve an absolutely smooth surface.

[0056] In this embodiment, by setting a first window frame and simultaneously setting a laser radar with multi-echo detection function, the mirror reflection can be effectively utilized to make a virtual image appear in the point cloud data determined by the echo data, and the use of this virtual image can increase the amount of point cloud data of the object in the target plane. Compared with the ordinary setting of a laser radar whose echo data can only determine the point cloud data on one side of the object, this method effectively utilizes the virtual image that the laser radar generally needs to avoid, thereby effectively improving the reliability of the anti-pinch system.

[0057] Furthermore, 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, referring to Figure 3 The step of determining object information within the target plane based on the echo data includes:

[0058] Step S21, matching the plurality of echo data with preset echo data, and determining the echo data that is not successfully matched as target echo data;

[0059] Preferably, after installation, the preset echo data herein is collected in a test state, where corresponding echo data is used as the preset echo data. The test state refers to a state where no objects other than the window frame are present within the target plane. In this embodiment, the scanning angle and time difference of the echo data are specifically matched, and data where 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 echo data may also be generated into point cloud data, and the target point cloud data may be determined from the point cloud data.

[0060] Step S22, generating the target point cloud data according to the target echo data;

[0061] Specifically, a coordinate system is constructed based on the position of the two-dimensional laser radar, and corresponding point cloud coordinates are generated according to the scanning angle of the target echo data and the laser reception time.

[0062] Step S23: determining the type label of the target identification object according to the target point cloud data.

[0063] The shape feature is determined according to the target point cloud data, and the corresponding type mark is determined according to the shape feature. The type mark can be used to determine the type of the target identification object.

[0064] In this embodiment, by matching multiple echo data with preset echo data, the echo data that has not been successfully matched is determined as the target echo data; the target point cloud data is generated based on the target echo data; and the type mark of the target identification object is determined based on the target point cloud data, thereby effectively improving the reliability of the anti-pinch system.

[0065] Furthermore, based on the first or second embodiment, a third embodiment of the electric window anti-pinch method based on laser radar of the present invention is proposed. In this embodiment, before the step of determining the object information within the target plane according to the echo data, the method further includes:

[0066] Acquiring echo learning data, where the echo learning data is echo data received by the two-dimensional laser radar when no object is present in the window frame of the electric window;

[0067] In some embodiments, the echo learning data can be obtained after the electric window is cleaned or repaired. Of course, in some embodiments, the echo learning data can also be obtained when the electric window is opened, thereby improving the accuracy of the echo learning data and enabling high-frequency

[0068] Preset echo data is determined according to the echo learning data.

[0069] The preset echo data is updated using the echo learning data.

[0070] In this embodiment, echo learning data is acquired, and preset echo data is determined based on the echo learning data, which can improve the efficiency of subsequently determining the target identification object.

[0071] Further, based on any of the above embodiments, a fourth embodiment of the electric window anti-pinch method based on laser radar of 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:

[0072] Step S221, determining first-category target echo data and second-category target echo data based on the target echo data, wherein the first-category target echo data is echo data generated by a laser radar directly scanning the target identifier, and the second-category target echo data is echo data generated by a laser radar indirectly scanning the target identifier;

[0073] 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 in the scanning angle corresponding to the target echo data, or when the echo data obtained first in the scanning angle corresponding to the target echo data is determined to be the first type of target echo data, and when the echo data is not the first type of echo data in the scanning angle 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 identification object that is not directly facing the laser radar.

[0074] Step S222, calculating a first portion of point cloud data according to the return time of the first target echo data and the corresponding scanning angle information;

[0075] The distance between the two-dimensional laser radar and the cloud point of the target object is determined according to the return time of the first target echo data, and the direction of the two-dimensional laser radar and the cloud point of the target object is determined according to the scanning angle information, so that the first part of the point cloud data can be calculated.

[0076] Step S223, determining a second portion of point cloud data according to the second target echo data;

[0077] The total distance traveled by the laser beam emitted by the two-dimensional lidar before reaching the target object is determined based on the return time of the second target echo data. Furthermore, echo data acquired at the same scanning angle as the second target echo data is determined and used as associated echo data. The coordinates of the reflection point of the laser beam upon reaching the target object are determined based on the associated echo data. The second portion of point cloud data is then determined based on the coordinates of the reflection point and the total distance traveled.

[0078] Step S224 : generating the target point cloud data according to the first portion of point cloud data and the second portion of point cloud data.

[0079] The first portion of point cloud data and the second portion of point cloud data are used together as the target point cloud data.

[0080] In this embodiment, the first type of target echo data and the second type of target echo data are determined by the target echo data, and the first part of point cloud data is calculated based on the return time and corresponding scanning angle information of the first target echo data; the second part of point cloud data is determined based on the second target echo data; and the target point cloud data is generated based on the first part of point cloud data and the second part of point cloud data, so that complete target point cloud data can be obtained.

[0081] Furthermore, the step of determining the second portion of point cloud data based on the second target echo data includes:

[0082] determining associated echo data according to scanning angle information of the second target echo data;

[0083] It should be noted that the associated echo data and the second target echo data herein represent 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, the point cloud corresponding to the associated echo data can be determined to be the window frame of a power window. Optionally, the associated echo data is matched with preset echo data; if a match is successful, the point cloud is determined to be the window frame. Furthermore, the optical path of the laser beam is determined based on the optical reflection law, the theorem that the angle of incidence equals the angle of incidence, and the scanning angle, i.e., the change in direction caused by reflection of the laser beam within the target plane at a specific scanning angle. In this embodiment, this change is utilized to determine object information, in contrast to the need to avoid virtual images caused by reflections during conventional lidar use.

[0084] Determining an echo path according to the associated echo data and the scanning angle information of the second target echo data, the echo path being a path from a position where the second echo data is generated to a position of the laser radar;

[0085] It should be noted that since the laser spot has a certain area, under conditions of varying roughness, the laser will undergo two processes: scattering and reflection when it hits an object. This can cause specular reflection and scattering on some surfaces with lower roughness. The specularly reflected light will reach the next location rather than returning directly. As a result, multiple echoes can be obtained from a single laser shot. Of course, these multiple echoes actually require a higher laser intensity. Generally speaking, dual-echo lidar is more common. Due to the influence of each reflection and scattering, the light intensity is reduced, and there are often only two to three echoes instead of more.

[0086] For example, if a laser radar is positioned at one corner of a rectangular window frame, the laser round-trip time for the associated echo data is 3.33 nanoseconds, the scanning angle is 45 degrees, and the laser round-trip time for the second target echo data is 4.995 nanoseconds, then it can be determined that a portion of the laser light traveled a total round-trip distance of 1 meter at 45 degrees. This allows the determination that reflection and return of the laser light occurred at a position 0.5 meters away at 45 degrees. Based on the fact that the incident angle is equal to the exit angle, the direction of the laser light can be determined, and the total distance corresponding to the portion of the laser light is determined to be 1.5 meters. Similarly, for more than one piece of associated echo data, the path of the laser radar's position can be determined. In other embodiments, a list of primary and secondary reflection optical path models is provided, and the list presets the calculation formula for the corresponding second portion of point cloud data.

[0087] A second portion of point cloud data is determined according to the echo path and a return time of the second target echo data.

[0088] Furthermore, based on any of the above embodiments, a fifth embodiment of the electric window anti-pinch method based on laser radar of the present invention is proposed, wherein 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, and the window frame includes adjacent first and second window frames, 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.

[0089] Furthermore, before the step of obtaining the echo data received by the two-dimensional laser radar, the step further includes:

[0090] The scanning angle of the two-dimensional laser radar is determined according to the installation position of the two-dimensional laser radar.

[0091] In this embodiment, when the two-dimensional laser radar is set on the corner of the window frame of the electric window, the scanning angle range of the two-dimensional laser radar is 0-90 degrees. When the two-dimensional laser radar is set on the edge of the window frame of the electric window, the scanning angle range of the two-dimensional laser radar is 0-180 degrees.

[0092] In addition, an embodiment of the present invention also proposes an electric window, which includes: a memory, a processor, and a laser radar-based electric window anti-pinch program stored on the memory and runnable on the processor, wherein the laser radar-based electric window anti-pinch program is configured to implement the steps of any of the above-mentioned laser radar-based electric window anti-pinch methods.

[0093] In addition, an embodiment of the present invention also proposes a storage medium, on which a laser radar-based electric window anti-pinch program is stored. When the laser radar-based electric window anti-pinch program is executed by a processor, the steps of any of the above-mentioned laser radar-based electric window anti-pinch methods are implemented.

[0094] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0095] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0096] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0097] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also 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; determining object information within the target plane according to the echo data; determining anti-pinch control data according to the object information, and controlling the electric window according to the anti-pinch control data; The two-dimensional laser radar is a multi-echo detection radar, the target plane is within a window frame of the electric window, the window frame includes a first window frame and a second window frame that are adjacent to each other, a first roughness of the first window frame is smaller than a second roughness of the second window frame, and the step of acquiring 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.

2. The laser radar-based electric window anti-pinch method according to claim 1, characterized in that: The object information includes: window frame point cloud data of the window frame and 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 target echo data; generating 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.

3. The laser radar-based electric window anti-pinch method according to claim 2, 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, where the echo learning data is echo data received by the two-dimensional laser radar when no object is present in the window frame of the electric window; Preset echo data is determined according to the echo learning data.

4. The laser radar-based electric window anti-pinch method according to claim 2, characterized in that: The step of generating the target point cloud data according to the target echo data includes: Determining 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 a laser radar directly scanning the target identifier, and the second-category target echo data is echo data generated by a laser radar indirectly scanning the target identifier; Calculating a first portion of point cloud data based on the return time and corresponding scanning angle information of the first type of target echo data; determining a second portion of point cloud data based on the second-category 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.

5. The laser radar-based electric window anti-pinch method according to claim 4, characterized in that: The step of determining the second portion of point cloud data based on the second type of target echo data includes: determining associated echo data according to the scanning angle information of the second-category target echo data; Determining an echo path according to the associated echo data and the scanning angle information of the second-category target echo data, wherein the echo path is a path from a position where the second-category target echo data is generated to a position of a laser radar; A second portion of point cloud data is determined according to the echo path and the return time of the second-category target echo data.

6. The method for preventing electric window pinching based on laser radar according to any one of claims 1 to 5, 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 an adjacent first window frame and a 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 the two frames adjacent to the angle position, and the first window frame is the two frames not adjacent to the angle position.

7. The laser radar-based electric window anti-pinch method according to 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.

8. 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. 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 7.

9. A storage medium, characterized in that: The storage medium stores a laser radar-based electric window anti-pinch program, which, when executed by the processor, implements the steps of the laser radar-based electric window anti-pinch method as described in any one of claims 1 to 7.

Images