An airborne laser de-icing device for large objects

Abstract

The present invention discloses an airborne laser de-icing device for large objects, which can solve the problems of low intelligence level, large design difficulty and easy adverse impact on the environment in the existing de-icing methods for large objects. The device includes: a mobile carrier, on which a drone and a laser emission module are carried, and the laser emission module is used for emitting laser; the drone is used for flying according to flight parameters; a laser processing head, carried on the drone and connected to the laser emission module through an optical fiber, and is used for providing laser to the surface of the object to be de-iced; an inclination detection module, carried on the drone and used for detecting the inclination angle of the drone in real time; and a control module, used for controlling the operation of the drone and controlling the laser emission module to turn off when the inclination angle exceeds a preset angle. The present invention can be used for de-icing large objects such as the fan blades of a wind power station and the pantograph lines of high-speed trains.

Description

Technical Field

[0001] The present invention relates to an airborne laser de-icing device for large objects, belonging to the technical field of wind power generation. Background Art

[0002] A wind turbine is a power device that converts wind energy into mechanical work. The mechanical work drives the rotor to rotate, and finally outputs alternating current. The blade is the unit that absorbs wind energy and is used to convert the kinetic energy of the air into the mechanical energy of the blade rotation. The blade is an important component for the unit to absorb wind energy. It has a large contact area with the air and is easily affected by icing. The hazards of blade icing are mainly as follows: (1) It changes the airfoil of the blade and reduces the power generation efficiency; (2) The ice load of each blade is not the same, increasing the unbalanced load of the unit. To ensure the safety of the fan, the unit will automatically shut down, resulting in a reduction in the available hours of the unit, thus affecting the safety and power generation performance of the wind turbine unit; (3) During the icing and de-icing of the blade, the ice columns on the blade will automatically fall off, posing a safety hazard.

[0003] When de-icing the blade in the prior art, the following three methods are mainly used: The first is the air-heating method. It uses a heat source to heat the air in the internal cavity of the blade structure, forcibly blows air to form an air circulation in the cavity to heat the blade shell, and transfers the heat to the outer surface of the shell to achieve heating of the outer surface of the blade for de-icing. When using the air-heating de-icing method, the safety of the additional load, the reliability of the device installation, and the safety of the circuit are the key concerns; at the same time, the air-heating de-icing performance is greatly affected by the internal cavity structure of the blade, and the designability is poor. The second is the electro-thermal method. It is a method of heating the blade shell by arranging resistive materials or devices with power-on heating functions on the surface or inside of the blade shell and achieving the de-icing effect through power-on. When using the electro-thermal de-icing method, the service life and maintainability of the electro-thermal de-icing circuit and the connection of components are very important, and the lightning tolerance ability cannot be ignored; in addition, the designability of the air-heating de-icing performance is poor, and the position arrangement of the heating system is crucial. The third is the physical de-icing method. It is a method of de-icing by directly applying a de-icing agent to the ice-covered part on the outer surface of the ice-covered blade. When using the physical de-icing method, the impact of the de-icing agent on the blade and the environment needs to be carefully considered; at the same time, due to the characteristics of the de-icing agent application device being exposed outdoors for a long time and being used short-term in winter, the weather resistance of the whole and its components must be concerned. Summary of the Invention

[0004] The present invention provides an airborne laser de-icing device for large objects, which can solve the problems of low intelligence level, large design difficulty, and easy adverse impact on the environment of the existing blade de-icing methods.

[0005] The present invention provides an airborne laser de-icing device for large objects, including:

[0006] A mobile carrier for moving on the ground or on the sea surface, on which a drone and a laser emission module are carried, the laser emission module being used for emitting laser; the drone being used for flying according to flight parameters;

[0007] A laser processing head, carried on the drone and connected to the laser emission module through an optical fiber, for providing laser to the surface of the object to be de-iced;

[0008] An inclination detection module, carried on the drone, for detecting the inclination angle of the drone in real time;

[0009] A control module, connected to the laser emission module, the drone and the inclination detection module, for controlling the operation of the drone and, when the inclination angle is greater than or equal to a preset angle, controlling the laser emission module to turn off.

[0010] Optionally, the laser processing head includes:

[0011] A collimation component, arranged at the outgoing end of the optical fiber, for collimating the laser.

[0012] Optionally, the laser processing head further includes:

[0013] A homogenization component, arranged at the outgoing end of the collimation component, for adjusting the laser spot into a homogenized spot.

[0014] Optionally, the laser processing head further includes:

[0015] A galvanometer component, arranged at the outgoing end of the homogenization component, for adjusting the size of the laser spot.

[0016] Optionally, the laser processing head further includes:

[0017] A focusing component, arranged at the outgoing end of the galvanometer component, for focusing the laser so that the focal plane of the laser coincides with the surface of the object to be de-iced.

[0018] Optionally, the device further includes:

[0019] A ranging module, carried on the drone, for detecting the distance information and angle information between the drone and the surface of the object to be de-iced in real time;

[0020] The control module is connected to the drone, the laser processing head and the ranging module, and is used for adjusting the flight parameters of the drone and the laser parameters of the laser processing head according to the distance information and the angle information, so that the focal plane of the laser is located on the surface of the object to be de-iced.

[0021] Optionally, the device further includes:

[0022] An image acquisition module, mounted on the drone, for acquiring surface images of the object to be de-iced;

[0023] The control module is connected to the image acquisition module, and is configured to determine the de-icing effect according to the surface image of the object to be de-iced, and control the operation of the drone and the laser emission module according to the de-icing effect.

[0024] Optionally, the device further includes:

[0025] A temperature measurement module, mounted on the drone, for real-time detection of the surface temperature of the object to be de-iced;

[0026] The control module is connected to the temperature measurement module, and is configured to control the laser emission module to turn off when the surface temperature is greater than or equal to a preset temperature.

[0027] Optionally, the image acquisition module is a CCD component, and the CCD component is arranged on the coaxial optical path of the laser processing head.

[0028] Optionally, the laser emission module includes:

[0029] An optical fiber laser for emitting laser;

[0030] A laser water chiller for water-cooling the optical fiber laser;

[0031] A generator set for supplying power to the optical fiber laser.

[0032] Optionally, the drone includes:

[0033] A drone body for flying according to flight parameters;

[0034] An airborne platform, connected to the bottom of the drone body, and the laser processing head and the inclination detection module are fixed on the airborne platform.

[0035] The beneficial effects that can be produced by the present invention include:

[0036] (1) The airborne laser de-icing device provided by the present invention performs on-line operation on objects to be de-iced such as fan blades at high altitude by carrying a lightweight laser processing head on a drone. The mobile carrier carries a laser emission module composed of an optical fiber laser, a generator set and a laser water chiller to move along with the drone, and a stable transmission of the laser beam is realized between the two through an optical fiber. The device can greatly improve the laser de-icing power and de-icing efficiency on the premise of ensuring the high endurance and high working stability of the drone, and has the advantages of high intelligence, high de-icing efficiency, high de-icing quality, etc.

[0037] (2) The airborne laser de-icing device provided by the present invention homogenizes and shapes the laser spot through a homogenization component, improving the consistency of the de-icing effect in the laser action area. At the same time, the real-time adjustment of the laser action optical path is achieved through a ranging module, ensuring that the output laser focal plane always falls on the surface of the processed area of the object to be de-iced, avoiding problems such as inconsistent laser action optical paths caused by changes in the attitude of the unmanned aerial vehicle (UAV), changes in the surface curvature of the blade, or changes in terrain and landforms, and the resulting differences in laser de-icing effects. Secondly, the present invention can also monitor the temperature distribution characteristics of the laser scanning area of the object to be de-iced in real time through a temperature measurement module. When the highest temperature in the laser scanning area exceeds the blade surface damage threshold (i.e., the preset temperature), the laser emission module is controlled to stop emitting light, preventing local damage to the blade caused by inconsistent ice layer thickness or removal rate on the blade surface. Furthermore, the present invention can also make an online judgment on the icing condition and de-icing effect of the surface of the object to be de-iced through an image acquisition module and a control module. Finally, the device is also equipped with an inclination detection module, which can avoid accidents such as the UAV tilting due to sudden events such as strong winds, resulting in the laser processing position deviating from the object to be de-iced and threatening the personal safety on the ground, effectively ensuring the safe use of the device.

[0038] (3) The airborne laser de-icing device provided by the present invention can achieve dynamic scanning of the laser beam through beam homogenization and a galvanometer component, or output a large-sized spot through beam homogenization and multi-beam stitching. On this basis, by carrying a UAV motion platform, rapid and efficient de-icing operations on the surfaces of workpieces with different shapes can be realized. Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of the airborne laser de-icing device provided by an embodiment of the present invention for de-icing a wind turbine blade;

[0040] Figure 2 It is a schematic structural diagram of the UAV provided by an embodiment of the present invention;

[0041] Figure 3 It is a schematic structural diagram of a laser processing head, an inclination detection module, a ranging module, and an image acquisition module provided by an embodiment of the present invention;

[0042] Figure 4 It is a schematic structural diagram of a multi-beam stitching laser processing head, a homogenization component, an inclination detection module, and a temperature measurement module provided by an embodiment of the present invention;

[0043] Figure 5 It is a schematic structural diagram of a mobile vehicle, a laser emission module, and a control module provided by an embodiment of the present invention.

[0044] List of Components and Reference Numerals:

[0045] 1. UAV; 11. UAV body; 12. airborne platform; 2. laser processing head; 21. homogenization component; 22. galvanometer component; 23. focusing component; 24. laser; 25. temperature measurement module; 3. mobile vehicle; 31. helipad; 4. optical fiber; 5. object to be de-iced; 6. inclination detection module; 7. ranging module; 8. image acquisition module; 91. fiber laser; 92. laser water chiller; 93. generator set; 10. control module. Detailed implementation manners

[0046] The present invention will be described in detail below in conjunction with embodiments, but the present invention is not limited to these embodiments.

[0047] An embodiment of the present invention provides an airborne laser de-icing device for large objects, which mainly realizes the surface de-icing of high-altitude special structures by using a UAV to carry a high-power laser, such as Figures 1 to 5 As shown, it includes:

[0048] A mobile carrier, which is used to move on the ground or on the sea surface, and is equipped with a UAV and a laser emission module thereon. The laser emission module is used to emit high-power laser 24 to remove the ice layer on the surface of the object to be de-iced; the UAV 1 is used to fly according to flight parameters. In practical applications, the mobile carrier can be a mobile vehicle 3 on the ground or a mobile ship on the sea surface. The flight parameters can include flight attitude, flight altitude, flight direction, etc.

[0049] The laser processing head 2 is carried on the UAV 1 and is connected to the laser emission module through the optical fiber 4, and is used to provide the laser 24 to the surface of the object to be de-iced 5. In practical applications, the laser processing head 2 can be a variable spot laser processing head or a fixed spot laser processing head, and the embodiments of the present invention do not limit this. One laser emission module can be paired with one laser processing head 2, or can be paired with two or more laser processing heads 2, or can also be multiple laser emission modules paired with 1 laser processing head 2, and the embodiments of the present invention do not limit this either. For example, the object to be de-iced 5 can be a wind turbine blade.

[0050] The temperature measurement module 25 is carried on the UAV 1 and is used to detect the surface temperature of the object to be de-iced 5 in real time; in practical applications, the temperature measurement module 25 can be an infrared imaging sensor or an infrared thermal imager.

[0051] The inclination detection module 6 is carried on the UAV 1 and is used to detect the inclination angle of the UAV 1 in real time; in practical applications, the inclination detection module 6 can be a biaxial inclination detection sensor.

[0052] The control module 10 is connected to the laser emission module, the drone 1, the inclination detection module 6, and the temperature measurement module 25, and is used to control the operation of the drone, and to control the laser emission module to turn off when the inclination angle is greater than or equal to a preset angle, or when the highest temperature in the laser scanning area of the object to be de-iced 5 is greater than or equal to a preset temperature.

[0053] The control module can adjust the flight parameters of the drone according to the characteristics of the de-icing mechanism, so that the distance and action position of the laser processing head 2 meet the requirements of laser de-icing.

[0054] Among them, the preset angle is the maximum tilt angle of the drone 1 set in advance, and the preset temperature is the threshold temperature for damage to the blade substrate set in advance. The specific values of the preset angle and the preset temperature in the embodiments of the present invention are not limited, and those skilled in the art can set them according to the actual situation. In practical applications, the biaxial inclination detection sensor can detect the inclination angle of the drone 1 in real time. When the inclination angle is greater than the set preset angle, it immediately feeds back to the control module 10 on the ground and turns off the laser, so as to prevent the drone 1 from tilting due to strong wind, resulting in the deviation of the laser processing position from the object to be de-iced 5 and posing a threat to the personal safety on the ground; the infrared thermal imager can detect the temperature distribution characteristics of the laser action area in real time. When the highest temperature in this area is greater than the set preset temperature, it immediately feeds back to the control module 10 on the ground and turns off the laser, so as to prevent excessive laser energy input from damaging the surface of the blade substrate.

[0055] In the present invention, the drone 1 includes:

[0056] The drone body 11 is used to fly according to flight parameters;

[0057] The airborne platform 12 is connected to the bottom of the drone body 11, and the laser processing head 2 and the inclination detection module 6 are fixed on the airborne platform 12.

[0058] The drone body 11 can stably and efficiently execute flight tasks according to the instructions of the ground control module 10, and hover in the air after accurately reaching the designated position with the laser processing head 2 carried. The power of the drone body 11 can be provided by a battery instead, or by fuel power generation.

[0059] Furthermore, the laser processing head 2 is installed at the tail of the drone 1. According to different de-icing methods, it is divided into a laser scanning processing head and a multi-beam stitching laser processing head. The laser scanning processing head mainly includes: a collimation component, a homogenization component 21, a galvanometer component 22, and a focusing component 23 arranged in sequence along the optical path; the multi-beam stitching laser processing head mainly includes: a collimation component and a homogenization component 21 arranged in sequence along the optical path. Among them, the collimation component is used to collimate the laser 24; the homogenization component 21 is used to adjust the laser spot of the laser 24 into a homogenized spot; the galvanometer component 22 is used to adjust the size of the laser spot of the laser 24 and perform rapid scanning and de-icing on the object to be de-iced; the focusing component 23 is used to focus the laser 24 so that the focal plane of the laser 24 coincides with the surface of the object to be de-iced 5.

[0060] Reference Figure 3 As shown, the collimation component can collimate the laser beam 24 transmitted over a long distance through the optical fiber 4; the homogenization component 21 can reshape the Gaussian spot into a homogenized spot, and the energy distribution at the center and edges is basically the same, so as to ensure that the effect of the laser action area during the processing is basically the same, and the surface of the workpiece will not be damaged due to excessive central energy; the galvanometer component 22 can control its movement through a program to output a laser spot with the required shape and size, and control the movement of the focusing component 23 through a program to adjust the output laser action focal plane.

[0061] Furthermore, the device further includes:

[0062] A ranging module 7, carried on the drone 1, is used to detect the distance information and angle information between the drone 1 and the surface of the object to be de-iced 5 in real time; in practical applications, the ranging module 7 can be a ranging sensor. The control module 10 is connected to the drone 1, the laser processing head 2, and the ranging module 7, and is used to adjust the flight parameters of the drone 1 and the laser parameters of the laser processing head 2 according to the distance information and angle information, so that the focal plane of the laser 24 is located on the surface of the object to be de-iced 5. Among them, the laser parameters can include laser power, laser spot size and shape, the focal position of the laser 24, etc.

[0063] In the present invention, the ranging module 7 and the temperature measurement module 25 are installed on both sides of the emission port of the laser processing head 2, and the inclination detection module 6 is installed at the rear of the laser processing head 2. The ranging module 7 can measure the distance between the laser processing head 2 and the surface of the de-icing blade to be required in real time according to the flight height and angle of the drone 1 and the surface height of the object to be de-iced 5. The measurement data is interacted with the control module 10 on the ground through the data transmission module, and the flight attitude of the drone 1 and the dynamic focusing component 23 are controlled to adjust the laser optical path in real time, so that the focal plane of the output laser is always located on the surface of the object to be de-iced 5.

[0064] Preferably, the device further includes:

[0065] The image acquisition module 8 is mounted on the drone 1 and is used to acquire the surface image of the object to be de-iced 5;

[0066] The control module 10 is connected to the image acquisition module 8 and is used to determine the icing condition and de-icing effect according to the surface image of the object to be de-iced 5, and control the operation of the drone 1 and the laser emission module according to the icing condition and de-icing effect.

[0067] In practical applications, the image acquisition module 8 can be a CCD component, and the CCD component is arranged on the coaxial optical path of the laser processing head 2.

[0068] The image acquisition module 8 is installed in the coaxial optical path of the laser processing head 2, and can observe and record the de-icing state in real time.

[0069] Reference Figure 4 As shown, the ground mobile system uses a mobile vehicle 3 as a mobile carrier, on which a laser emission module is arranged, which mainly consists of a fiber laser 91, a laser water chiller 92 and a generator set 93; the fiber laser 91 is used to emit laser 24; the laser water chiller 92 is used to water-cool the fiber laser 91; the generator set 93 is used to supply power to the fiber laser 91. In the embodiment of the present invention, the generator set 93 can use a battery to replace the power supply, or can generate electricity with fuel.

[0070] The ground control module 10 (or console) of the drone 1 and the landing pad 31 of the drone 1 are also arranged on the mobile vehicle 3. Among them, the fiber laser 91 and the laser water chiller 92 are located below the landing pad 31 of the drone 1, and the generator set 93 is installed in the carriage of the mobile vehicle 3.

[0071] The present invention also provides an airborne / vehicle-mounted linkage laser de-icing method, which includes the following steps:

[0072] (1) Move the mobile vehicle 3 to the designated position in the processing area, and the drone 1 carrying the laser processing head 2 takes off to the set height and hovers;

[0073] (2) The drone 1 is equipped with a laser processing head 2 and performs laser de-icing operations on the surface of the wind turbine blade while flying along a predetermined flight trajectory and at a predetermined flight speed. During the operation, the distance measuring module 7 is used to detect the distance between the drone 1 and the surface of the wind turbine blade in real time, and the collected distance information and angle information are sent to the ground console through the data transmission module. Then, the dynamic focusing component 23 is used to control the movement of the optical lens group to realize the real-time adjustment of the laser optical path, so that the output laser focal plane is always located on the surface of the de-iced blade; the adjustment of the laser action distance can also be realized by the movement of the drone 1. At the same time, the temperature measuring module 25 is used to detect the temperature distribution characteristics of the laser action area in real time, and the collected information is sent to the ground console through the data transmission module. When the laser acts, a continuous laser is used, the output wavelength is 1.06 μm, the laser output power is 1000 W - 20000 W, the laser spot size is 30 mm * 5 mm - 200 mm * 20 mm, and at this time, the scanning method is used for de-icing, and the spot moving speed is 2 m / min - 500 m / min; the multi-beam stitching spot size is 1250 mm * 1250 mm - 2500 mm * 2500 mm, and at this time, the irradiation method is used for de-icing, and the irradiation time is 10 s - 20 min.

[0074] (3) The image acquisition module 8 takes pictures and video records of the front and rear photos of the laser de-icing, and the data is transmitted to the ground console through the data transmission module, and it is judged whether the de-icing is clean. If so, the laser de-icing work of this unit is ended; if not, steps (2) and (3) are repeated until the de-icing is clean.

[0075] (4) After the de-icing is completed, the drone 1 equipped with the laser processing head 2 returns to the apron 31 of the drone 1.

[0076] The present invention also conducts de-icing tests on the laser de-icing device, specifically:

[0077] When the laser acts, the output wavelength is 1.06 μm, the laser output power is 1000 W - 20000 W, and when the output laser spot size is 30 mm * 5 mm - 200 mm * 20 mm, the laser scanning speed is 2 m / min - 500 m / min; when the output laser spot size is 1250 mm * 1250 mm - 2500 mm * 2500 mm, the laser irradiation time is 10 s - 20 min.

[0078] A continuous laser with a wavelength of 1.06 μm is used to test the ice layer with a frozen ice thickness of 35 mm.

[0079] The output spot is 80 mm long and 5 mm wide, the set power is 1000 w, the beam moving speed is 2 m / min, and after scanning five times, the ice completely melts and the de-icing is completed.

[0080] The present invention also tests the ranging module 7, specifically:

[0081] The test workpieces are objects such as fiberglass composites and / or metals.

[0082] (1) When the included angle between the object to be measured and the laser ranging is 90 degrees for ranging, a distance signal can be output, and the result is normal.

[0083] (2) When the included angle between the object to be measured and the laser ranging is 70 degrees for testing, a distance signal can be output, and the result is normal.

[0084] The present invention uses the unmanned aerial vehicle 1 to carry a lightweight laser processing head 2 to perform on-line operations on the fan blade at high altitude. The mobile carrier carries a laser emission module composed of a fiber laser 91, a generator set 93, and a laser water chiller 92 and moves following the unmanned aerial vehicle 1. The laser beam is stably transmitted between the two through the optical fiber 4. This device can greatly improve the laser de-icing power and de-icing efficiency on the premise of ensuring the high endurance and high working stability of the unmanned aerial vehicle 1, and has the advantages of high intelligence, high de-icing efficiency, and high de-icing quality.

[0085] The present invention homogenizes and shapes the laser spot through the homogenization component 21, so as to improve the consistency of the de-icing effect in the laser action area; at the same time, the ranging module 7 is used to realize the real-time adjustment of the laser action optical path, so that the output laser focal plane always falls on the surface of the processed area of the object 5 to be de-iced, avoiding problems such as inconsistent laser action optical paths caused by changes in the attitude of the unmanned aerial vehicle 1, changes in the surface curvature of the blade, or changes in the terrain and landform, and the resulting different laser de-icing effects. Secondly, the present invention can also use the image acquisition module 8 and the control module 10 to perform an on-line judgment on the de-icing effect on the surface of the object 5 to be de-iced. At the same time, the device is also equipped with an inclination detection module 6, which can avoid accidents such as the unmanned aerial vehicle 1 tilting due to sudden events such as strong winds, resulting in the laser processing position deviating from the object 5 to be de-iced and threatening the personal safety on the ground, effectively ensuring the use safety of the device. Moreover, the device is also equipped with a temperature measurement module 25, which can avoid problems such as damage to the surface of objects with relatively low heat resistance, such as the base material of the fan blade, due to excessive local temperature in the laser scanning area.

[0086] The present invention can realize the dynamic scanning of the laser beam through beam homogenization and the galvanometer assembly 22, or can output a large-sized spot through beam homogenization and multi-beam splicing. Both can realize the fast and efficient de-icing operation on the surfaces of workpieces with different shapes by carrying the motion platform of the unmanned aerial vehicle 1.

[0087] As described above, these are only several embodiments of the present application and do not impose any form of limitation on the present application. Although the present application is disclosed above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the relevant art can make some changes or modifications within the scope of the technical solution of the present application by using the disclosed technical content, which are equivalent to equivalent embodiments and all fall within the scope of the technical solution.

Claims

1. An airborne laser deicing device for large objects, characterized in that: include: A mobile carrier, used for moving on the ground or on the sea, carrying a drone and a laser emission module, wherein the laser emission module is used for emitting lasers; the drone is used for flying according to flight parameters; A laser processing head, carried on the UAV and connected to the laser emission module via an optical fiber, for providing laser light to the surface of the object to be de-iced; An inclination detection module, mounted on the UAV, for detecting the inclination angle of the UAV in real time; A control module, connected to the laser emission module, the UAV and the tilt detection module, for controlling the UAV to work, and controlling the laser emission module to turn off when the tilt angle is greater than or equal to a preset angle; The device also includes: a distance measuring module, mounted on the UAV, for detecting in real time the distance information and angle information between the UAV and the surface of the object to be deiced; the control module is connected to the UAV, the laser processing head and the distance measuring module, for adjusting the flight parameters of the UAV and the laser parameters of the laser processing head according to the distance information and the angle information, so that the focal plane of the laser is located on the surface of the object to be deiced; The temperature measuring module is mounted on the UAV and is used to detect the surface temperature of the object to be de-iced in real time; the control module is connected to the temperature measuring module and is used to control the laser emission module to be turned off when the surface temperature is greater than or equal to a preset temperature.

2. The device according to claim 1, characterized in that The laser processing head comprises: A collimation component is arranged at the output end of the optical fiber and is used for collimating the laser.

3. The device according to claim 2, characterized in that The laser processing head also includes: The homogenizing component is arranged at the output end of the collimating component and is used for adjusting the light spot of the laser into a homogenized light spot.

4. The device according to claim 3, characterized in that The laser processing head also includes: The galvanometer component is arranged at the output end of the homogenizing component and is used to adjust the spot size of the laser.

5. The device according to claim 4, characterized in that The laser processing head also includes: A focusing assembly is arranged at the exit end of the galvanometer assembly and is used to focus the laser so that the focal plane of the laser coincides with the surface of the object to be de-iced.

6. The device according to claim 1, characterized in that The device also includes: An image acquisition module, carried on the UAV, for acquiring a surface image of the object to be de-iced; The control module is connected to the image acquisition module, and is used to determine the ice coverage and deicing effect according to the surface image of the object to be deiced, and control the operation of the UAV and the laser emission module according to the ice coverage and deicing effect.

7. The device according to claim 1, characterized in that The laser emission module comprises: Fiber laser, used to emit laser light; A laser water cooler, used for water cooling the fiber laser; A generator set is used to supply power to the fiber laser.

8. The device according to claim 1, characterized in that The drone comprises: The drone body is used to fly according to the flight parameters; The airborne platform is connected to the bottom of the UAV body, and the laser processing head and the inclination detection module are fixed on the airborne platform.

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