Foreign matter removing method, device and equipment and storage medium

The invention relates to a foreign matter removing method and device, equipment and a storage medium. The method comprises the steps of obtaining point cloud data of a contact network and a foreign matter in a target area; analyzing the point cloud data, and determining the position of an intersection line of the contact network and the foreign matter; planning a cutting path based on the position of the intersecting line and a preset cutting rule; and a laser transmitter is controlled to transmit laser, so that the laser cuts the foreign matter along the cutting path. The point cloud data of the contact net and the foreign matter are obtained, the position of the intersecting line of the contact net and the foreign matter is determined, then the cutting path is planned according to the position of the intersecting line, the laser transmitter is controlled to transmit laser to complete cutting of the foreign matter, and a traditional manual cleaning mode can be replaced; the automatic cleaning of foreign matt