Dust removal method, device, apparatus and medium

Abstract

The present invention relates to the technical field of dust removal, in particular a dust removal method, a device, an apparatus, and a medium. The present invention comprises the following: determining a mapping relationship between an actual contact area of ​​the dust removal stick and the product to be cleaned and a downward pressure force according to the specification of the dust removal stick; determining the number of dust removal zones of the dust removal stick and a corresponding downward pressure value according to the number of dust particles, the surface area of ​​each dust particle, and the mapping relationship; dividing the dust removal stick into dust removal zones according to the number of dust removal zones; selecting one of the non-dust removal zones as a target zone, controlling the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and dust removal from the dust removal stick by means of the downward pressure with the specified pressure value.In the present application, the dust stick is divided into several dust sticking zones such that the geometric center of the dust sticking zone and the geometric center of the dust for dust removal overlap and touch, thereby preventing the zone in which a stick head has been used from repeatedly coming into contact with the product, which leads to secondary contamination, and improving the dust removal effect of the product to be cleaned.

Description

Technical field The present invention relates to the technical field of dust removal, in particular a dust removal method, a device, an apparatus and a medium. State of the art Precision semiconductor components have always been affected by dust, resulting in reduced yield. Many solutions have been developed to address the problem of dust contamination. Existing dust removal equipment typically uses wet cleaning or blow cleaning to clean the surfaces of electronic components and optical elements. Both wet and blow cleaning processes clean dusty and dust-free electronic components together, or dusty and dust-free optical elements together. This leads to the contamination of the surfaces of electronic components that were initially dust-free, as well as the contamination of the surfaces of optical elements that were initially dust-free. Furthermore, this creates secondary contamination, and the cleaning effect is not very satisfactory.Therefore, improving the dust removal efficiency in the dust removal of precision semiconductor components has become an urgent problem. Registration content In view of this, the embodiments of the present invention provide a dust removal method, a device, a apparatus and a medium to solve the problem that the dust removal effect in the dust removal process for precision semiconductor components is not very satisfactory. According to a first aspect, the embodiment of the present invention provides a dust removal method, wherein the dust removal method comprises: detecting a dust zone on a product to be cleaned; determining the number of dust particles in the dust zone and the surface area of ​​each dust particle; obtaining a specification for a dust removal stick; determining a mapping relationship between an actual contact area of ​​the dust removal stick and the product to be cleaned and a downward pressure force according to the specification of the dust removal stick; determining the number of dust removal zones of the dust removal stick and a corresponding downward pressure value according to the number of dust particles, the surface area of ​​each dust particle, and the mapping relationship; and subdividing the dust removal stick into dust removal zones according to the number of dust removal zones to obtain at least one dust removal zone.Selecting one of the non-dust-adherent dust-adhesive zones as a target zone for each target dust, controlling the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and dusting the dust-adhesive rod by means of downward pressure with the pressure value. According to a second aspect, the embodiment of the present invention provides a dust removal device, wherein the dust removal device comprises: a detection module for detecting a dust zone on a product to be cleaned and for determining the number of dust particles in the dust zone and the surface area of ​​each dust particle; a first determination module for obtaining a specification of a dust removal stick and for determining a mapping relationship between an actual contact area of ​​the dust removal stick and the product to be cleaned and a downward pressure force according to the specification of the dust removal stick;a subdivision module used to determine the number of dust-adherent zones of the dust-adherent rod and a corresponding downward pressure value according to the number of dusts, the dust area of ​​each dust, and the mapping relationship, and to subdivide the dust-adherent rod into dust-adherent zones according to the number of dust-adherent zones, in order to obtain at least one dust-adherent zone; a dedusting module used to select one of the non-dust-adherent dust-adherent zones as a target zone for each target dust, to control the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and to dedust the dust-adherent rod by means of the downward pressure with the pressure value. According to a third aspect, the embodiment of the present invention provides a computer device comprising a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the processor performs a dust removal method as described above. According to a fourth aspect, the embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and wherein the processor executes the computer program to implement a dust removal method according to the first aspect. Compared to the prior art, the present invention has the following advantageous effects: The present invention comprises: detecting a dust zone on a product to be cleaned; determining the number of dust particles in the dust zone and the surface area of ​​each dust particle; obtaining a specification for a dust-adhesive rod; determining a mapping relationship between the actual contact area of ​​the dust-adhesive rod and the product to be cleaned and a downward pressure force according to the specification of the dust-adhesive rod; determining the number of dust-adhesive zones of the dust-adhesive rod and a corresponding downward pressure value according to the number of dust particles, the surface area of ​​each dust particle, and the mapping relationship; subdividing the dust-adhesive rod into dust-adhesive zones according to the number of dust-adhesive zones to obtain at least one dust-adhesive zone.Selecting one of the non-dust-adherent dust-adhesive zones as a target zone for each target dust, controlling the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and dusting the dust-adhesive rod by means of downward pressure with the pressure value. In the present application, the dust-adhesive rod is divided into several dust-adhesive zones such that the geometric center of the dust-adhesive zone and the geometric center of the dust overlap and touch for dusting, thereby preventing the zone in which an adhesive rod head has been used from repeatedly coming into contact with the product, which leads to secondary contamination, and improving the dusting effect of the product to be cleaned. Description of the drawings To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings, which are to be used in describing the embodiments of the present invention, are briefly described below. Of course, the accompanying drawings described below represent only some of the embodiments of the present invention, and other accompanying drawings can be derived from the accompanying drawings by a person with normal technical knowledge without creative effort. Fig. 1 shows a schematic flowchart of a dust removal process in an embodiment of the present invention; Fig. 2 shows a schematic representation of a relationship between an actual contact area and a compression quantity in an embodiment of the present invention; Fig.Figure 3 shows a schematic representation of a relationship between a downward pressure force and a compression quantity in an embodiment of the present invention; Figure 4 shows a schematic representation of the structure of a dust removal device in an embodiment of the present invention; Figure 5 shows a schematic representation of the structure of a computer device in an embodiment of the present invention. Specific embodiments The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings. It is clear that the described embodiments represent only a part of the embodiments of the present invention and not all embodiments. All other embodiments that a person skilled in the art in this field could obtain from the embodiments in the present invention without any creative work should be considered to be covered by the scope of protection of the present invention. In the following description, certain details, such as specific system architectures and technologies, are presented for illustrative purposes rather than as limitations, to facilitate a comprehensive understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of known systems, circuits, and methods are omitted to avoid unnecessary details that could hinder the description of the present invention. It is understood that the term “comprehensive” in the description and the accompanying claims of the present invention indicates the presence of the described features, units, steps, processes, elements and / or components, but does not exclude the presence or addition of one or more other features, units, steps, processes, elements, components and / or combinations thereof. It is further understood that the term “and / or”, as used in the description and the attached claims of the present invention, refers to and includes any combination of one or more of the elements listed in the conjunction, as well as all possible combinations. As used in the description and the appended claims of the present invention, the term "if" can be interpreted, depending on the context, as "when", "as soon as", "in response to determination", or "in response to detection". Likewise, the expression "when determined" or "when [the described condition or event] is detected" can be interpreted, depending on the context, as "as soon as determined", "in response to determination", "as soon as [the described condition or event] is detected", or "in response to the detection of [the described condition or event]". Furthermore, the terms “first”, “second”, and “third”, etc., are used in the implementation of the description of the present invention and the claims for descriptive purposes only and are not to be understood as indicating or implying any relative meaning. References to “an embodiment” or “some embodiments” in the description of the present invention mean that one or more embodiments of the present invention include the specific features, structures, or properties described in connection with that embodiment. Consequently, statements in this description such as “in one embodiment,” “in some embodiments,” “in other embodiments,” or “in further embodiments” do not necessarily refer to the same embodiment or embodiments, but mean “one or more embodiments, but not all embodiments,” unless expressly stated otherwise. The terms “comprising,” “including,” “having,” and their variations all mean “including, but not limited to,” unless expressly stated otherwise. It is understood that the numerical order of the steps in the following embodiments does not imply a strict execution order. The sequence of the processes should be determined by their function and inherent logic and should not impose any restrictions on the implementation process of the embodiments of the present invention. To illustrate the technical solutions of the present invention, specific embodiments are described below. As shown in Fig. 1, Fig. 1 shows a schematic flow diagram of a dust removal process in an embodiment of the present invention, wherein the dust removal process may include the following steps: S101: Detecting a dust zone on a product to be cleaned, determining the number of dust particles in the dust zone and the dust area of ​​each dust particle. In step S101, a dust zone on a product to be cleaned is detected, and the number of dust particles in the dust zone and the dust area of ​​each dust particle are determined, where a dust zone is defined as a zone containing at least one dust particle, and where within the dust zone the number of dust particles and the dust area of ​​each dust particle are determined. In this embodiment, a surface image of a product to be cleaned is captured and subjected to grayscale processing and binarization to obtain a grayscale image. During binarization, the pixel value of the grayscale image is reset to 0 or 255 according to a specific rule, so that the surface image contains only two colors, namely black and white. Binarization significantly reduces the amount of data in the image while retaining a certain amount of information, which helps to shorten the subsequent image processing. To detect the dust zone on the product to be cleaned, the grayscale image can be compared to the standard grayscale image of the previously obtained standard surface image of the product to be cleaned. This comparison is made by comparing the pixel values ​​at the same position. If the difference between the pixel values ​​at the same position is greater than a predetermined threshold, the corresponding dust is assumed to be located at that pixel position, and the corresponding dust zone is recorded. It should be noted that the standard surface image and the surface image are dust-free product surface images taken with the same device in the same location and environment. After identifying the dust zone on the product to be cleaned, the number of dust particles within the dust zone and the surface area of ​​each dust particle are determined. The number of dust particles can be determined based on the combined area of ​​the dust particles; that is, dust particles within a combined area are counted as one dust particle. The surface area of ​​each dust particle can be determined based on the number of pixels containing the dust, by multiplying the number of pixels containing the dust by the area of ​​each pixel to obtain the corresponding surface area of ​​each dust particle. Optionally, the detection of a dust zone on a product to be cleaned includes the following: capturing a surface image of the product to be cleaned; determining the dust zone of the product to be cleaned according to the pixel values ​​of the surface image. In this embodiment, a surface image of the product to be cleaned is obtained, and a dust zone of the product to be cleaned is determined according to the pixel value of the surface image, i.e., it is determined according to a pixel value difference between the pixel points in the surface image and the normal pixel points, and if the pixel value difference is greater than a predetermined threshold, it is assumed that a corresponding dust is present. It should be noted that when determining the pixel value difference between pixel points, a pixel value of a normal pixel point in the surface image is first determined. This pixel value is then calculated and subtracted from the pixel value of each of the pixel points to obtain the pixel value difference between them. The pixel points whose pixel value differences exceed a predetermined threshold are identified as the dust zones of the product to be cleaned. S102: Obtaining a specification of a dusting stick, determining a mapping relationship between an actual contact area of ​​the dusting stick and the product to be cleaned and a downward pressure force according to the specification of the dusting stick. In step S102, the specification of the dusting stick is its size. Based on the size of the dusting stick, a mapping relationship is determined between the actual contact area of ​​the dusting stick and the product to be cleaned, and a downward pressure force. This mapping relationship represents a one-to-one correspondence between the downward pressure force and the contact area with the product to be cleaned once the size of the dusting stick is determined. In this embodiment, the dust-adhesive stick is a semi-solidified body in the shape of a water droplet. The dust-adhesive stick continues to dry in the air, and during the drying process, energy is released. The molecular motion within the stick generates an adsorption force, allowing the dust to be drawn away upon contact. The relationship between the actual contact area of ​​the dust-adhesive stick and the product to be cleaned, and a downward pressure force, varies depending on the dust-adhesive stick's specifications. After determining the dust-adhesive stick's specifications, the relationship between the actual contact area of ​​the dust-adhesive stick and the product to be cleaned, and a downward pressure force, is determined according to the dust-adhesive stick's specifications., if the area to be covered by the dusting stick is determined, the downward pressure force of the dusting stick can be determined according to the relationship shown in the figure, so that the actual contact area between the dusting stick and the product to be cleaned can meet the corresponding requirement under the corresponding downward pressure force of the dusting stick. In this embodiment, when determining the relationship between the actual contact area of ​​the dusting stick and the product to be cleaned and a downward pressure force, the relationship between the amount of compression and the actual contact area is first determined. The amount of compression is the amount of deformation of the dusting stick when the dusting stick is in contact with the product to be cleaned under the application of the downward pressure force. The actual contact area increases with increasing amount of compression and eventually tends to remain constant. As shown in Fig. 2, Fig.Figure 2 shows a schematic representation of the relationship between an actual contact area and a compression quantity in an embodiment of the present invention, wherein the horizontal coordinate is the compression quantity in mm² and the vertical coordinate is the actual contact area between the dusting stick and the product to be cleaned in mm². The relationship between the compression quantity and the downward pressure force is then determined. As shown in Figure 3, Figure 3 shows a schematic representation of the relationship between a downward pressure force and a compression quantity in an embodiment of the present invention, wherein the horizontal coordinate is the compression quantity in mm² and the vertical coordinate is the downward pressure force in MPa(G). According to Fig. 2 and Fig. 3, a mapping relationship is determined between the actual contact area of ​​the dusting stick and the product to be cleaned and the downward pressure force, i.e., when the desired actual contact area of ​​the dusting stick and the product to be cleaned is determined, a compression quantity of the dusting stick is determined according to Fig. 2, and according to Fig. 3, the downward pressure force required for the corresponding compression quantity is determined. In this embodiment, the relationship between the actual contact area of ​​the dust removal stick and the product to be cleaned and the downward pressure force is determined according to the specifications of the dust removal stick in order to facilitate the determination of the corresponding downward pressure force, which allows the dust removal device to be controlled in order to apply the appropriate pressure to the dust removal stick according to the downward pressure force in order to enable better removal of the corresponding dust. S103: Determining the number of dust-stick zones of the dust-stick and a corresponding downward pressure value according to the number of dusts, the dust area of ​​each dust and the mapping relationship; dividing the dust-stick into dust-stick zones according to the number of dust-stick zones to obtain at least one dust-stick zone. In step S103, the number of dust-adhesive zones of the dust-adhesive rod and the corresponding downward pressure value are determined according to the number of dust particles, the surface area of ​​each dust particle, and the mapping relationship, where the number of dust-adhesive zones is not less than the number of dust particles. The dust-adhesive rod is then subdivided into these zones to ensure at least one dust-adhesive zone, each zone serving to dedust a specific dust particle. In this embodiment, a total dust area is calculated based on the number of dust particles and the surface area of ​​each dust particle. Based on this total dust area, the actual contact area between the dusting stick and the product to be cleaned is determined. This actual contact area is greater than or equal to the total dust area to ensure complete removal of the dust corresponding to the dust zone when the dusting stick is in contact with the product. The number of dusting zones on the dusting stick is determined according to the number of dust particles, provided that the number of dusting zones is not less than the number of dust particles. According to the corresponding mapping relationship and the actual contact area, the pressure value of the downward pressure of the dust adhesive rod is determined so that the dust adhesive rod can reach the size of the corresponding actual contact area under the corresponding pressure value. According to the number of dust-adhesive zones, the dust stick is divided into dust-adhesive zones that correspond to the number of dust-adhesive zones to ensure that in the case where only one dust is removed from each dust-adhesive zone, all dusts can be removed from the divided dust-adhesive zones. It should be noted that if the dust stick is divided into dust-adhesive zones according to the number of dust-adhesive zones, the dust stick can be divided into dust-adhesive zones of equal area; that is, regardless of the size of the dust surface, the dust stick is divided into equal areas. The number of divided dust-adhesive zones is not less than the number of dust particles. In this embodiment, the number of dust-adhesive zones of the dust-adhesive stick is determined according to the number of dust particles, wherein the number of dust-adhesive zones is not less than the number of dust particles to ensure that a dust-adhesive zone not in contact with the dust can be used to come into contact with the corresponding dust when the dust is removed, thereby removing the corresponding dust, and to prevent the use of a dust-adhesive zone that is in contact with the dust from coming into contact with the corresponding dust and causing secondary contamination of the product to be cleaned. In another embodiment, when determining the number of dust-adhesive zones of the dust-adhesive rod, the number of dust-adhesive zones can also be determined according to a predetermined number of dust-adhesive zones, i.e., the number of dust-adhesive zones is independent of the number of dust particles, the number of dust-adhesive zones is determined as a fixed value, and according to the corresponding fixed value, the dust-adhesive rod is divided into dust-adhesive zones to obtain at least one dust-adhesive zone. It should be noted that after the dust stick is divided into dust sticking zones according to the corresponding fixed value, one of the dust particles will still be removed with a dust sticking zone. Optionally, the subdivision of the dust-adhesive strip into dust-adhesive zones according to the number of dust-adhesive zones in order to obtain at least one dust-adhesive zone includes the following operations: processing the zone corresponding to the actual contact area to obtain a processed zone to be subdivided; performing a subdivision of the dust-adhesive zones in the zone to be subdivided according to the number of dust-adhesive zones in order to obtain at least one dust-adhesive zone. In this embodiment, the zone corresponding to the actual contact area is processed to obtain the processed zone to be subdivided, wherein, when the zone corresponding to the actual contact area is processed, the actual contact area can be processed by an internal square to obtain an internal square of the actual contact area, and the internal square is determined as a processed zone to be subdivided. According to the number of dust-adhesive zones, the dust-adhesive zones are divided into the zone to be subdivided, and the number of subdivided dust-adhesive zones is equal to the number of dust-adhesive zones. S104: Selecting one of the non-dust-adherent dust-adhesive zones as a target zone for each target dust, controlling the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and dusting the dust-adhesive rod by means of downward pressure with the pressure value. In step S104, one of the non-dust-adherent dust-adhesive zones is selected as a target zone for each target dust, the geometric center of the target zone is controlled to align with the geometric center of the target dust, and the dust-adhesive rod is dedusted by means of downward pressure with the pressure value, whereby, when the geometric center of the target zone is controlled to align with the geometric center of the target dust, and the dust-adhesive rod is dedusted by means of downward pressure with the pressure value, the target zone is controlled to come into contact with the dust for dedusting. To prevent secondary contamination of the product being cleaned, this embodiment uses a non-adhesive dust removal zone, and any of the non-adhesive dust removal zones is used as the target zone. When the target zone is used for dust removal, its geometric center is controlled to align with the geometric center of the target dust, and the dust removal zone is dedusted by applying downward pressure with a specified pressure value. The geometric center of the target zone is controlled to align with the geometric center of the target dust so that the target zone and the target dust can come into contact over a maximum area, enabling the target zone to remove the dust. The dust removal stick is dedusted by means of downward pressure with the pressure value, so that the contact area between the dust removal stick and the product to be cleaned meets the requirements of the actual contact area, thus ensuring that the area of ​​the target zone is obtained by subdivision based on the actual contact area. It should be noted that when removing any dust, the dust removal sequence can be arbitrary and can also be determined based on the dust's coordinates or size. The exemplary embodiments do not impose any restrictions in this regard. It should be noted that during dust removal, the dust-adherent zones can be selected as the corresponding target zone sequentially, according to their arrangement. For example, if there are four dust-adherent zones arranged in two rows and two columns, the dust-adherent zone in the first row and first column can be selected as the target zone first, followed by the dust-adherent zone in the first row and second column, or the dust-adherent zone in the second row and first column. In other embodiments, the corresponding target zones can be selected in a different order, and this embodiment does not restrict this possibility. Optionally, prior to controlling the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and dedusting the dust stick by means of downward pressure with the pressure value, the procedure further includes: ordering each dust according to the dust surface area of ​​each dust to obtain a corresponding dedusting sequence; determining a target dust to be removed according to the dedusting sequence. In this embodiment, each dust is ordered from largest to smallest according to the surface area of ​​each dust to obtain a corresponding dust removal sequence, and according to the dust removal sequence, a target dust to be removed is determined, and the target dust is removed using the target zones. In this embodiment, the appropriate dust removal sequence is determined according to the size of the dust area. If the dust area is larger than the target area, a plurality of dust-sticking zones can be used as the target area, and these multiple dust-sticking zones can be used to perform the dust removal. When the plurality of dust-sticking zones is used for dust removal, the geometric center of the plurality of dust-sticking zones is aligned with the geometric center of the dust, and the dust-sticking rod is dusted by means of downward pressure with a specified pressure value. It should be noted that when dust is removed using multiple dust-adherent zones, if the remaining number of dust particles is less than or equal to the number of non-dust-adherent zones, the determination of a corresponding target zone and target dust continues. The geometric center of the target zone is aligned with the geometric center of the target dust, and the dust-adherent rod is dedusted using downward pressure with the specified pressure value. If, after dedusting a dust using multiple dust-adherent zones, the number of remaining dust particles is greater than the number of non-dust-adherent zones, the determination of the corresponding target zone and target dust continues.After ensuring that the geometric center of the target zone is aligned with the geometric center of the target dust, and after removing the dust stick by means of downward pressure with the pressure value, if there is no dust left behind to prevent the dust from being re-adhered by means of the dust-adhesive dust stick zone, a new dust stick can be used to remove the dust. In another embodiment, the dust can also be sorted according to the coordinates of its geometric center; that is, the dust can be removed in order of the coordinates of its geometric center. When sorting according to the coordinates of the geometric center, the order can be based on the magnitude of the horizontal coordinates or the magnitude of the vertical coordinates. If the horizontal coordinates are equal, the order is based on the magnitude of the vertical coordinates, or if the vertical coordinates are equal, the order is based on the magnitude of the horizontal coordinates. If the geometric center of the dust lies in the same row or column, the corresponding horizontal coordinates or the total vertical coordinates are equal, and then the sorting is based on the magnitude of the vertical coordinates or the magnitude of the horizontal coordinates.After the dust has been sorted, it is removed one after the other according to the corresponding order of sorting. The present invention comprises the following: detecting a dust zone on a product to be cleaned; determining the number of dust particles in the dust zone and the surface area of ​​each dust particle; obtaining a specification for a dust-adhesive rod; determining a mapping relationship between the actual contact area of ​​the dust-adhesive rod and the product to be cleaned and a downward pressure force according to the specification of the dust-adhesive rod; determining the number of dust-adhesive zones of the dust-adhesive rod and a corresponding downward pressure value according to the number of dust particles, the surface area of ​​each dust particle, and the mapping relationship; subdividing the dust-adhesive rod into dust-adhesive zones according to the number of dust-adhesive zones to obtain at least one dust-adhesive zone.Selecting one of the non-dust-adherent dust-adhesive zones as a target zone for each target dust, controlling the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and dusting the dust-adhesive rod by means of downward pressure with the pressure value. In the present application, the dust-adhesive rod is divided into several dust-adhesive zones such that the geometric center of the dust-adhesive zone and the geometric center of the dust overlap and touch for dusting, thereby preventing the zone in which an adhesive rod head has been used from repeatedly coming into contact with the product, which leads to secondary contamination, and improving the dusting effect of the product to be cleaned. As shown in Fig. 4, Fig. 4 shows a schematic representation of the structure of a dust removal device in an embodiment of the present invention. For better illustration, only the parts relevant to the embodiments of the present invention are shown. As shown in Fig. 4, the dust removal device 40 comprises a detection module 41, a first determination module 42, a subdivision module 43, and a dust removal module 44. A detection module 41, which is used to detect a dust zone on a product to be cleaned and to determine the number of dust particles in the dust zone and the dust area of ​​each dust particle. A first determination module 42, which serves to obtain a specification of a dust-adhesive rod and to determine a mapping relationship between an actual contact area of ​​the dust-adhesive rod and the product to be cleaned and a downward pressure force according to the specification of the dust-adhesive rod. A subdivision module 43, which serves to determine the number of dust-adhesive zones of the dust-adhesive rod and a corresponding downward pressure value according to the number of dusts, the dust area of ​​each dust and the mapping relationship, and to subdivide the dust-adhesive rod into dust-adhesive zones according to the number of dust-adhesive zones, in order to obtain at least one dust-adhesive zone. A dust removal module 44, which serves to select one of the non-dust-adherent dust-adhesive zones as a target zone for each target dust, to control the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and to remove dust from the dust-adhesive rod by means of downward pressure with the pressure value. Optionally, the subdivision module 43 includes the following: a processing unit used to process the zone corresponding to the actual contact area in order to obtain a processed zone to be subdivided; a receiving unit used to perform a subdivision of the dust-adhesive zones into the zone to be subdivided according to the number of dust-adhesive zones in order to obtain at least one dust-adhesive zone. Optionally, the dust removal device 40 further includes the following: an ordering module, which serves to order each dust according to the dust surface area of ​​each dust in order to obtain a corresponding dust removal sequence; a second determination module, which serves to determine a target dust to be removed according to the dust removal sequence. Optionally, the detection module 41 includes the following: a detection unit used to capture a surface image of the product to be cleaned; a determination unit used to determine the dust zone of the product to be cleaned according to the pixel values ​​of the surface image. It should be noted that the information interaction between the above modules, the execution process and other content, since they are based on the same idea as the embodiments of the present invention, the specific functions and technical effects brought about by them can be mentioned in the section on embodiments and will not be repeated here. Fig. 5 shows a schematic representation of the structure of a computer device in an embodiment of the present invention. As shown in Fig. 5, the computer device of this embodiment comprises at least one processor (only one is shown in Fig. 5), a memory, and a computer program that is stored in the memory and on which at least one processor can be executed, the processor executing the computer program to implement the steps of one of the various embodiments of the above dust removal method. The computer device may include the processor and memory, but is not limited to these. A person skilled in the art will understand that Fig. 5 is merely an example of a computer device and does not represent a limitation of the computer device, and that the computer device may contain more or fewer components than shown, or a combination of certain components, or various components, and may, for example, also include a network interface and the like. The processor can be a CPU, which could also be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a commercially available field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor, etc. The memory comprises a readable storage medium, internal memory, etc., wherein the internal memory may be the memory of a computer device and the internal memory provides an environment for the operation of an operating system and computer-readable instructions on the readable storage medium. The readable storage medium may be a hard disk drive of the computer device, and in other embodiments, it may also be an external storage device of the computer device, such as a plug-in hard disk drive installed in the computer device, a SmartMedia Card (SMC), a Secure Digital Card (SD), a flash card, and the like. Furthermore, the memory may comprise both an internal storage unit of the computer device and an external storage device.Memory is used to store an operating system, an application program, a bootloader, data, and other programs such as program code for a computer program. Memory can also be used to temporarily store data that has been or is being output. Experts will readily recognize that the functional units and modules described above are merely examples for illustrative purposes and clarity. In practical applications, the functions described above can be distributed across different functional units or modules as needed. That is, the internal structure of the device can be divided into various functional units or modules to perform all or some of the functions described above. The functional units and modules in the exemplary embodiments can be integrated into a single processing unit, exist as separate physical units, or be combined into a single unit comprising two or more units. Such integrated units can be implemented as either hardware or software functional units.Furthermore, the specific designations of the functional units and modules serve solely for differentiation purposes and do not limit the scope of protection of the present invention. The specific operating processes of the units and modules within the aforementioned device can be derived from the corresponding processes in the exemplary embodiments of the above method and are not explained in detail here. When integrated units are implemented as software functional units and sold or used as standalone products, they can be stored on a computer-readable storage medium. Based on this understanding, all or part of the process of the methods in the above exemplary embodiments can be executed by a computer program that instructs the corresponding hardware. The computer program can be stored on a computer-readable storage medium.When the computer program is executed by a processor, it can implement the steps of the exemplary embodiments of the procedure above. The computer program comprises the computer program code, which may be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium may include, but is not limited to: any unit or device capable of transmitting computer program code, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunications signals, and software distribution media. Examples of software distribution media include USB flash drives, portable hard drives, magnetic disks, and optical media. In certain jurisdictions, due to legislation and patent practice, computer-readable media may not include electrical carrier signals or telecommunications signals. The present invention can implement all or part of the processes described in the above embodiments by means of a computer program product. When the computer program product is executed on a computer device, it causes the device to perform the steps described in the embodiments of the method. The above embodiments each focus on specific aspects. Details omitted or not explicitly documented in one embodiment can be found in the descriptions of other embodiments. Those skilled in the art will recognize that the units and algorithmic steps described in the embodiments disclosed herein can be implemented using electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and the design constraints of the technical solution. Experts may employ various methods to implement the described functionality for each specific application; however, such implementations should not be considered to be outside the scope of the present invention. In the embodiments described herein, it should be understood that the disclosed device / computer equipment and the disclosed method may also be implemented by other means. For example, the embodiments of the device / computer equipment described above are merely illustrative. The division into modules or units, for instance, represents only a logical functional division; an alternative division may be used in the actual implementation. Several units or components may be combined or integrated into another system, or certain functions may be omitted or not performed. Furthermore, the connections or direct couplings or communication links shown or described may be indirect couplings or communication links between interfaces, devices, or units and may take electrical, mechanical, or other forms. The units depicted as separate components may or may not be physically separate, and the components depicted as units may or may not be physical units, i.e., they may be located in one place or distributed across a multitude of network units. Some or all of these units can be selected as needed to fulfill the purpose of the technical solutions of the present embodiment. Finally, it should be noted that the above embodiments serve only to illustrate the technical solutions of the present invention and are not to be considered as limiting it; although the present invention has been described in detail with reference to the above embodiments, a person with normal technical knowledge should understand that it is still possible to modify the technical solutions recorded in the above embodiments or to replace some of the technical features contained therein with equivalent features; such modifications or replacements do not result in the essence of the corresponding technical solutions being removed from the spirit and scope of the technical solutions of the embodiments of the present invention which are covered by the scope of protection of the present invention.

Claims

A dust removal method characterized in that the dust removal method comprises: capturing a dust zone on a product to be cleaned, determining the number of dust particles in the dust zone and the surface area of ​​each dust particle; obtaining a specification for a dust stick, determining a mapping relationship between an actual contact area of ​​the dust stick and the product to be cleaned and a downward pressure force according to the specification of the dust stick; determining the number of dust stick zones of the dust stick and a corresponding downward pressure value according to the number of dust particles, the surface area of ​​each dust particle, and the mapping relationship; subdividing the dust stick into dust stick zones according to the number of dust stick zones to obtain at least one dust stick zone;Selecting one of the non-dust-adherent dust-adhesive zones as a target zone for each target dust, controlling the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and dusting the dust-adhesive rod by means of downward pressure with the pressure value. Dust removal method according to claim 1, characterized in that the subdivision of the dust-adhesive rod into dust-adhesive zones according to the number of dust-adhesive zones in order to obtain at least one dust-adhesive zone comprises the following operations: processing the zone corresponding to the actual contact area in order to obtain a processed zone to be subdivided; performing a subdivision of the dust-adhesive zones in the zone to be subdivided according to the number of dust-adhesive zones in order to obtain at least one dust-adhesive zone. A dust removal method according to claim 1, characterized in that, prior to controlling the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and dust removal from the dust stick by means of downward pressure with the pressure value, it further comprises: arranging each dust according to the dust surface area of ​​each dust to obtain a corresponding dust removal sequence; determining a target dust to be removed according to the dust removal sequence. Dust removal method according to claim 1, characterized in that the detection of a dust zone on a product to be cleaned comprises the following operations: capturing a surface image of the product to be cleaned; determining the dust zone of the product to be cleaned according to the pixel values ​​of the surface image. A dust removal device characterized in that the dust removal device comprises: a detection module for detecting a dust zone on a product to be cleaned and for determining the number of dust particles in the dust zone and the surface area of ​​each dust particle; a first determination module for obtaining a specification of a dust stick and for determining a mapping relationship between an actual contact area of ​​the dust stick and the product to be cleaned and a downward pressure force according to the specification of the dust stick; a subdivision module for determining the number of dust stick zones of the dust stick and a corresponding downward pressure value according to the number of dust particles, the surface area of ​​each dust particle, and the mapping relationship, and for subdividing the dust stick into dust stick zones according to the number of dust stick zones in order to obtain at least one dust stick zone;a dust removal module which serves to select one of the non-dust-adherent dust-adhesive zones as a target zone for each target dust, to control the geometric center of the target zone so that it is aligned with the geometric center of the target dust, and to remove dust from the dust-adhesive rod by means of downward pressure with the pressure value. Dust removal device according to claim 5, characterized in that the subdivision module comprises: a processing unit for processing the zone corresponding to the actual contact surface in order to obtain a processed zone to be subdivided; a receiving unit for carrying out a subdivision of the dust adhesion zones in the zone to be subdivided according to the number of dust adhesion zones in order to obtain at least one dust adhesion zone. Dust removal device according to claim 5, characterized in that the dust removal device further comprises: an ordering module which serves to order each dust according to the dust surface area of ​​each dust in order to obtain a corresponding dust removal sequence; a second determination module which serves to determine a target dust to be removed according to the dust removal sequence. Dust removal device according to claim 5, characterized in that the detection module comprises: a detection unit for capturing a surface image of the product to be cleaned; a determination unit for determining the dust zone of the product to be cleaned according to the pixel values ​​of the surface image. Computer device, characterized in that the computer device comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a dust removal method according to one of claims 1 to 4. Computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, characterized in that the processor executes the computer program to implement a dust removal method according to one of claims 1 to 4.

Images