Pollutant removal method and device based on multi-pulse laser

The invention provides a pollutant removal method and device based on multi-pulse laser, and the method comprises the steps: carrying out the scanning modeling of a to-be-removed part, generating a three-dimensional model of the to-be-removed part, and determining the type and distribution condition of pollutants; planning a pollutant removal track according to the stereoscopic model, and determining the pollutant removal track; and a galvanometer is used for cooperatively controlling a robot to remove pollutants in the target area on the to-be-removed component. In this way, the pollutant removal effect and accuracy of the substrate surface of the to-be-removed component can be enhanced, and damage to the to-be-removed component is reduced. 本公开提供了一种基于多脉冲激光的污染物清除方法和装置，其中，所述方法包括：对待清除部件进行扫描建模，生成所述待清除部件的立体模型，并确定污染物的种类和分布状况；根据所述立体模型对污染物的清除轨迹进行规划，确定污染物的清除轨迹；利用振镜协同控制机器人对所述待清除部件上的目标区域内的污染物进行清除。以此方式，能够增强待清除部件的基底表面的污染物清除效果和精准程度，减少对待清除部件的损伤。