Electromagnetic pulse collaborative deicing system based on multi-mode sensing and self-adaptive control method

Abstract

The invention relates to an electromagnetic pulse collaborative deicing system based on multi-mode perception. The system comprises a power supply system; the FPGA controller is used for logic control and signal processing, calculating electromagnetic pulse parameters and realizing high-speed and accurate deicing instruction scheduling; a sensing module; a real-time detection system; a pulse generation unit; and the deicing module executes an electromagnetic pulse deicing action and efficiently removes ice covered on the surface of the power grid. The invention further discloses an electromagnetic pulse collaborative deicing method based on multi-mode sensing. Through the electromagnetic pulse technology, the power transmission and distribution line ice can be efficiently removed, compared with a traditional thermal ice melting method, the energy consumption is greatly reduced, the response speed is remarkably increased, and the deicing strategy and parameters are dynamically adjusted according to real-time monitoring data based on the real-time signal processor of the FPGA; the power supply priority can be dynamically adjusted according to the energy supply condition, the energy is improved to the maximum extent, and an accurate deicing basis is provided for the system.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission and distribution line maintenance, and in particular to an electromagnetic pulse collaborative de-icing system and an adaptive control method based on multi-modal perception. Background Art

[0002] In cold regions, the icing phenomenon of power transmission and distribution lines is a long-standing problem in the operation of power systems. Icing can cause an increase in the mechanical load of transmission lines, and may even lead to serious accidents such as line breaks and tower collapses, thus posing a major threat to the safety and stability of power transmission. In addition, icing also increases the corona loss of the line, reduces the transmission efficiency, and further affects the economic operation of the power system.

[0003] Currently, the thermal de-icing method is a widely used de-icing technology. However, this method has many deficiencies: First, thermal de-icing consumes a large amount of electric energy, and its energy consumption usually exceeds 500 kW / km, which is a heavy burden on the power system, especially in areas with tight energy supply; Second, the response speed of thermal de-icing is slow, and it usually takes more than 30 minutes to achieve an ideal de-icing effect, which cannot restore the normal operation of the line in time in case of emergency and is difficult to meet the actual requirements of the power system for rapid response. In addition, the installation and maintenance costs of thermal de-icing equipment are high, which also limits its large-scale application.

[0004] Nevertheless, the industry is constantly exploring new solutions and trying to solve the de-icing problem through pulse de-icing devices. However, there are still some key problems that have not been effectively solved in this device: First, it lacks the function of real-time monitoring of the ice thickness and cannot dynamically adjust the output of de-icing energy according to the actual ice thickness, which may lead to unsatisfactory de-icing effect or energy waste; Second, the energy supply stability of this device is insufficient, and it may not be able to continuously and stably provide enough energy to complete the de-icing task under complex environmental conditions. In short, these defects seriously limit its application effect and reliability in actual engineering.

[0005] Therefore, there is an urgent need for a brand-new de-icing system and its control method that can fundamentally solve the deficiencies of the existing technology. Summary of the Invention

[0006] To solve the threats to the safety and stability of the operation of the power system caused by the icing phenomenon of power transmission and distribution lines in cold regions, as well as the problems of high energy consumption, slow response, and high cost existing in the existing thermal de-icing technology, the primary object of the present invention is to provide an electromagnetic pulse collaborative de-icing system based on multi-modal perception that can significantly reduce energy consumption, significantly improve the response speed, reduce the operation cost of the system, and enhance the economy of the power system.

[0007] To achieve the above object, the present invention adopts the following technical solutions: An electromagnetic pulse collaborative de-icing system based on multi-modal perception, comprising:

[0008] A power supply system for providing stable and reliable power supply to ensure the normal operation of each module;

[0009] An FPGA controller for logic control and signal processing, calculating electromagnetic pulse parameters, and realizing high-speed and accurate de-icing instruction scheduling;

[0010] A sensing module for real-time acquisition of image information and electric field changes of power transmission and distribution lines to judge the icing situation;

[0011] A real-time detection system for real-time collection of environmental parameters, equipment status, and de-icing working parameters;

[0012] A pulse generating unit for generating high-voltage high-frequency electrical pulses according to electromagnetic pulse parameters and outputting the pulses to the de-icing module;

[0013] A de-icing module for performing electromagnetic pulse de-icing actions to efficiently remove ice on the surface of the power grid;

[0014] The sensing module, the real-time monitoring system, and the FPGA controller communicate bidirectionally. The FPGA controller outputs commands to the pulse generating unit. The pulse generating unit generates the required high-frequency pulses and inputs them into the de-icing module. The de-icing module works to remove the ice.

[0015] The sensing module is composed of a multi-spectral imaging unit and a distributed capacitance sensor array; the multi-spectral imaging unit is used for real-time acquisition of image information of power transmission and distribution lines and monitoring the icing situation from multiple spectral bands; the distributed capacitance sensor array is distributed along the power transmission and distribution lines, and realizes real-time and accurate measurement of the ice thickness by detecting the electric field changes around the lines, providing key parameter basis for electromagnetic pulse de-icing.

[0016] The power supply system includes a piezoelectric vibration energy harvester and a flexible photovoltaic thin film; the piezoelectric vibration energy harvester is used for converting the vibration energy around the power transmission and distribution lines into electrical energy to provide stable power supply for the system; the flexible photovoltaic thin film uses solar energy for power generation to provide sufficient electrical energy for the system during the day, adapting to the installation environment and operating state of the power transmission and distribution lines.

[0017] The pulse generating unit includes an energy storage capacitor, a thyristor switch, and an adjustable pulse power supply.

[0018] The real-time detection system adopts multiple distributed sensor networks.

[0019] The ice removal module includes an ice removal pulse coil, a limiter, and a multiplier; during operation, a high-amplitude and short-duration reverse electric pulse force is generated between the ice removal pulse coil and the multiplier, causing the ice coating to break; the limiter is used to prevent the ice removal pulse coil from detaching from the ice removal module.

[0020] Another object of the present invention is to provide an adaptive control method for an electromagnetic pulse collaborative ice removal system based on multi-modal perception, and this method includes the following steps in sequence:

[0021] (1) The perception module is used to collect the image information and capacitance sensor data of the power transmission and distribution line in real time;

[0022] (2) The FPGA controller processes the collected image information and capacitance sensor data, and calculates the electromagnetic pulse parameters;

[0023] (3) According to the electromagnetic pulse parameters, control the pulse generating unit to generate corresponding electromagnetic pulse signals;

[0024] (4) The generated electromagnetic pulse signals reach the ice removal module, discharge the ice removal pulse coil, and thus form a high-amplitude and short-duration pulse force on the ice-coated line, causing the ice coating to break and fall off.

[0025] The electromagnetic pulse parameters include pulse amplitude V p final , pulse frequency f p final , pulse width τ final and the pulse energy E req (h, Z) required for ice removal, and the calculation formulas are respectively:

[0026]

[0027] In the formula, γ Z , γ E are the impedance correction coefficient and the energy correction coefficient respectively; V p is the pulse amplitude in dynamic adjustment, f p is the pulse frequency in dynamic adjustment, τ is the pulse width in dynamic adjustment; Δh / Δt is the ice growth rate; dZ / dh is the impedance change trend; h is the ice coating thickness, Z line is the actual impedance of the wire; Z base is the reference impedance of the line in the ice-free state, k 1 , α, and β are all material coefficients.

[0028] The specific steps of step (4) include the following steps in sequence:

[0029] (3a) Charging stage: When the charging high-voltage relay receives the control signal, it automatically conducts, and the pulse power supply system then starts the charging procedure for the energy storage capacitor bank; during the charging process, the power supply system monitors the voltage change of the capacitor bank in real time. When the detected voltage value reaches the predetermined voltage threshold, the system automatically cuts off the conducting state of the charging high-voltage relay, physically isolating the power supply system from the subsequent discharge circuit to ensure the safety and controllability of the charging process; the duration of this stage is automatically adjusted according to the system configuration and is controlled within the order of several seconds to several minutes;

[0030] (3b) Pulse energy release stage: After the charging circuit is completely disconnected, the FPGA controller sends a trigger instruction to the discharge switch; at the moment when the discharge switch conducts, the electrical energy stored in the energy storage capacitor bank forms a closed loop through the de-icing pulse coil, generating a pulsed large current with an extremely short duration but a very high peak value; the pulsed large current excites a high-intensity transient magnetic field around the de-icing pulse coil, and the magnetic field intensity distribution is related to the geometric structure of the de-icing pulse coil and the electromagnetic pulse parameters;

[0031] (3c) De-icing stage: When the transient magnetic field penetrates the ice-covered target, a closed eddy current is induced on the surface of the target metal component. The eddy current interacts with the original magnetic field to generate a pulsed electromagnetic force with a specific direction; under the action of the pulsed electromagnetic force, high-frequency elastic vibrations are generated on the surface of the target. The high-frequency elastic vibrations act on the ice layer bonding interface through solid conduction; when the accumulated vibration stress exceeds the ice layer bonding strength, the bonding interface between the ice layer and the substrate material breaks, and finally, the rapid peeling of the ice cover is realized.

[0032] As can be seen from the above technical solutions, the beneficial effects of the present invention are as follows: First, through the electromagnetic pulse technology, the efficient removal of icing on power transmission and distribution lines can be achieved. Compared with the traditional thermal de-icing method, the energy consumption of the present invention is greatly reduced, and the response speed is significantly improved, effectively solving the problems of high energy consumption and slow response in the prior art. Second, the sensing module integrates a multi-spectral imaging unit and a distributed capacitance sensor array, which can monitor the icing thickness in real time and accurately. The FPGA controller dynamically adjusts the de-icing strategy and parameters according to the real-time monitoring data. The power supply system adopts a composite power supply method of piezoelectric vibration energy harvesters and flexible photovoltaic thin films, which can dynamically adjust the power supply priority according to the energy supply situation, maximize the energy utilization, provide accurate de-icing basis for the system, avoid the energy waste and potential risks caused by blind de-icing, ensure the stable operation of the system, adapt to complex and changeable environmental conditions and line states, and enhance the self-sufficiency and environmental adaptability of the system. Third, through intelligent sensing, precise de-icing and efficient energy management, the present invention significantly improves the operation safety and stability of power transmission and distribution lines in cold regions, and reduces the impact of icing on power transmission. The low-energy consumption and adaptive control design of the present invention reduces the operation cost of the system and improves the economy of the power system. The application in the field of power transmission and distribution line maintenance not only solves the bottleneck problems of the prior art, but also provides new technical ideas and solutions for the intelligent and efficient operation of the power system, with broad application prospects and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flowchart of the method of the present invention;

[0034] Figure 2 is a block diagram of the system structure of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] As Figure 2 shown, a multi-modal sensing-based electromagnetic pulse collaborative de-icing system includes:

[0036] A power supply system for providing stable and reliable power supply to ensure the normal operation of each module;

[0037] An FPGA controller for logical control and signal processing, calculating electromagnetic pulse parameters, and realizing high-speed and accurate de-icing instruction scheduling;

[0038] A sensing module for obtaining image information and electric field changes of power transmission and distribution lines in real time to judge the icing situation;

[0039] A real-time detection system for real-time collecting environmental parameters, equipment status and de-icing working parameters;

[0040] A pulse generating unit for generating high-voltage and high-frequency electric pulses according to the electromagnetic pulse parameters and outputting the pulses to the de-icing module;

[0041] The de-icing module performs electromagnetic pulse de-icing actions to efficiently remove the ice covering the power grid surface;

[0042] The sensing module communicates bidirectionally with the real-time monitoring system and the FPGA controller. The FPGA controller outputs commands to the pulse generating unit. The pulse generating unit generates the required high-frequency pulses and inputs them into the de-icing module. The de-icing module operates to remove the ice covering.

[0043] The sensing module consists of a multi-spectral imaging unit and a distributed capacitance sensor array; the multi-spectral imaging unit is used to obtain the image information of the power transmission and distribution lines in real time and monitor the ice covering situation from multiple spectral bands; the distributed capacitance sensor array is distributed along the power transmission and distribution lines. By detecting the electric field changes around the lines, it realizes the real-time and accurate measurement of the ice covering thickness, providing key parameter basis for electromagnetic pulse de-icing.

[0044] The power supply system includes a piezoelectric vibration energy harvester and a flexible photovoltaic thin film; the piezoelectric vibration energy harvester is used to convert the vibration energy around the power transmission and distribution lines into electrical energy to provide stable power supply for the system; the flexible photovoltaic thin film uses solar energy to generate electricity and provides sufficient electrical energy for the system during the day, adapting to the installation environment and operating status of the power transmission and distribution lines.

[0045] To ensure the stable operation of the system and the efficient utilization of energy, the present invention designs a de-icing energy management strategy. By establishing a power supply priority decision tree, it reasonably distributes and manages the electrical energy provided by the piezoelectric vibration energy harvester and the flexible photovoltaic thin film. When the energy is sufficient, the electrical energy provided by the piezoelectric vibration energy harvester is preferentially used to make full use of the vibration energy around the lines; when the electrical energy provided by the piezoelectric vibration energy harvester is insufficient, it automatically switches to the flexible photovoltaic thin film for power supply and makes dynamic adjustments and optimizations according to the actual demand and energy supply situation to ensure that the system can operate continuously and stably while maximizing the energy utilization efficiency.

[0046] The de-icing energy management strategy is realized through a power supply priority decision tree, which reasonably distributes and manages the electrical energy provided by the piezoelectric vibration energy harvester and the flexible photovoltaic thin film to ensure the stable operation of the system and the efficient utilization of energy.

[0047] The pulse generating unit includes an energy storage capacitor, a thyristor switch, and an adjustable pulse power supply.

[0048] The real-time detection system uses multiple distributed sensor networks.

[0049] The de-icing module includes a de-icing pulse coil, a limiter, and a multiplier; during operation, a high-amplitude and short-time reverse electric pulse force is generated between the de-icing pulse coil and the multiplier, causing the ice covering to break; the limiter is used to prevent the de-icing pulse coil from detaching from the de-icing module.

[0050] As Figure 1 shown, the method includes the following steps in sequence:

[0051] (1) Collect the image information of the power transmission and distribution line and the capacitance sensor data in real time through the sensing module;

[0052] (2) The FPGA controller processes the collected image information and capacitance sensor data to calculate the electromagnetic pulse parameters;

[0053] (3) According to the electromagnetic pulse parameters, control the pulse generating unit to generate corresponding electromagnetic pulse signals;

[0054] (4) The generated electromagnetic pulse signals reach the de-icing module, discharge the de-icing pulse coil, so as to form a high-amplitude and short-time pulse force on the ice-covered line, causing the ice covering to break and fall off.

[0055] The electromagnetic pulse parameters include pulse amplitude V p final , pulse frequency f p final , pulse width τ final and the pulse energy E req (h, Z) required for de-icing. The calculation formulas are respectively:

[0056]

[0057] In the formula, γ Z , γ E are the impedance correction coefficient and the energy correction coefficient respectively; V p is the pulse amplitude in dynamic adjustment, f p is the pulse frequency in dynamic adjustment, τ is the pulse width in dynamic adjustment; Δh / Δt is the ice growth rate; dZ / dh is the impedance change trend; h is the ice thickness, Z line is the actual impedance of the wire; Z base is the reference impedance of the line in the ice-free state, k 1 , α, β are all material coefficients.

[0058] The step (4) specifically includes the following steps in sequence:

[0059] (3a) Charging stage: When the charging high-voltage relay receives the control signal, it automatically conducts, and the pulse power supply system immediately starts the charging procedure for the energy storage capacitor bank; during the charging process, the power supply system monitors the voltage change of the capacitor bank in real time. When the detected voltage value reaches the predetermined voltage threshold, the system automatically cuts off the conduction state of the charging high-voltage relay, physically isolating the power supply system from the subsequent discharge circuit to ensure the safety and controllability of the charging process; the duration of this stage is automatically adjusted according to the system configuration and controlled in the order of several seconds to several minutes;

[0060] (3b) Pulse energy release stage: After the charging circuit is completely disconnected, the FPGA controller sends a trigger command to the discharge switch; at the moment when the discharge switch conducts, the electrical energy stored in the energy storage capacitor bank forms a closed loop through the de-icing pulse coil, generating a pulsed large current with an extremely short duration but an extremely high peak value; the pulsed large current excites a high-intensity transient magnetic field around the de-icing pulse coil, and the magnetic field intensity distribution is related to the geometric structure of the de-icing pulse coil and the electromagnetic pulse parameters;

[0061] (3c) De-icing stage: When the transient magnetic field penetrates the ice-covered target, a closed eddy current is induced on the surface of the target metal component. The eddy current interacts with the original magnetic field to generate a pulsed electromagnetic force with a specific direction; under the action of the pulsed electromagnetic force, high-frequency elastic vibrations are generated on the surface of the target. The high-frequency elastic vibrations act on the ice layer bonding interface through solid conduction; when the accumulated vibration stress exceeds the ice layer adhesion strength, the bonding interface between the ice layer and the substrate material breaks, and finally the rapid peeling of the ice cover is achieved.

[0062] In summary, through the electromagnetic pulse technology, the present invention can efficiently remove icing on power transmission and distribution lines. Compared with traditional thermal de-icing methods, the energy consumption of the present invention is significantly reduced, and the response speed is remarkably improved, effectively solving the problems of high energy consumption and slow response in the prior art. The sensing module integrates a multi-spectral imaging unit and a distributed capacitance sensor array, which can monitor the icing thickness in real time and accurately. The real-time signal processor based on FPGA dynamically adjusts the de-icing strategy and parameters according to the real-time monitoring data. The power supply system adopts a composite power supply method of piezoelectric vibration energy harvesters and flexible photovoltaic thin films, which can dynamically adjust the power supply priority according to the energy supply situation, maximize the energy utilization, provide accurate de-icing basis for the system, avoid energy waste and potential risks caused by blind de-icing, ensure the stable operation of the system, adapt to complex and changeable environmental conditions and line states, and enhance the self-sufficiency ability and environmental adaptability of the system. Through intelligent sensing, precise de-icing and efficient energy management, the present invention significantly improves the operation safety and stability of power transmission and distribution lines in cold regions and reduces the impact of icing on power transmission. The low-energy consumption and adaptive control design of the present invention reduces the operation cost of the system and improves the economic efficiency of the power system. The application in the field of power transmission and distribution line maintenance not only solves the bottleneck problems of the prior art, but also provides new technical ideas and solutions for the intelligent and efficient operation of the power system, having broad application prospects and promotion value.

[0063] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, various changes and improvements will occur to the present invention, and all these changes and improvements fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An electromagnetic pulse collaborative deicing system based on multimodal sensing, characterized in that: include: The power supply system is used to provide a stable and reliable power supply to ensure the normal operation of each module; FPGA controller, used for logic control and signal processing, calculates electromagnetic pulse parameters, and realizes high-speed and accurate de-icing command scheduling; The perception module acquires the image information and electric field changes of the power transmission and distribution lines in real time to determine the ice coverage; Real-time detection system, real-time collection of environmental parameters, equipment status and de-icing working parameters; A pulse generating unit generates high-voltage and high-frequency electrical pulses according to electromagnetic pulse parameters and outputs the pulses to the de-icing module; De-icing module, which performs electromagnetic pulse de-icing to efficiently remove ice from the surface of the power grid; The sensing module, the real-time monitoring system and the FPGA controller communicate bidirectionally. The FPGA controller outputs commands to the pulse generating unit. The pulse generating unit generates the required high-frequency pulses and inputs them into the de-icing module. The de-icing module works to remove the ice.

2. The electromagnetic pulse collaborative deicing system based on multimodal sensing according to claim 1 is characterized in that: The sensing module consists of a multi-spectral imaging unit and a distributed capacitive sensor array; the multi-spectral imaging unit is used to obtain image information of the power transmission and distribution lines in real time and monitor the icing situation from multiple spectral bands; the distributed capacitive sensor array is distributed along the power transmission and distribution lines, and by detecting the changes in the electric field around the lines, it can achieve real-time and accurate measurement of the ice thickness, providing key parameter basis for electromagnetic pulse deicing.

3. The electromagnetic pulse collaborative deicing system based on multimodal sensing according to claim 1 is characterized in that: The power supply system includes a piezoelectric vibration energy harvester and a flexible photovoltaic film; the piezoelectric vibration energy harvester is used to convert the vibration energy around the power transmission and distribution lines into electrical energy, providing a stable power supply for the system; the flexible photovoltaic film uses solar energy to generate electricity, providing sufficient electrical energy for the system during the day, and adapting to the installation environment and operating status of the power transmission and distribution lines.

4. The electromagnetic pulse collaborative deicing system based on multimodal sensing according to claim 1 is characterized in that: The pulse generating unit comprises an energy storage capacitor, a thyristor switch and an adjustable pulse power supply.

5. The electromagnetic pulse collaborative deicing system based on multimodal sensing according to claim 1 is characterized in that: The real-time detection system adopts multiple distributed sensor networks.

6. The electromagnetic pulse collaborative deicing system based on multimodal sensing according to claim 1 is characterized in that: The deicing module includes a deicing pulse coil, a stopper and a multiplier. When working, a high-amplitude, short-time reverse electric pulse force is generated between the deicing pulse coil and the multiplier, so that the ice is broken. The limiter is used to prevent the de-icing pulse coil from detaching from the de-icing module.

7. The adaptive control method of the electromagnetic pulse coordinated deicing system based on multimodal sensing according to any one of claims 1 to 6, characterized in that: The method comprises the following steps in order: (1) Real-time collection of image information and capacitive sensor data of power transmission and distribution lines through the perception module; (2) The FPGA controller processes the collected image information and capacitive sensor data and calculates the electromagnetic pulse parameters; (3) controlling the pulse generating unit to generate a corresponding electromagnetic pulse signal according to the electromagnetic pulse parameters; (4) The generated electromagnetic pulse signal reaches the de-icing module and discharges the de-icing pulse coil, thereby forming a high-amplitude, short-duration pulse force on the ice-covered circuit, causing the ice to break and fall off.

8. The adaptive control method according to claim 7, characterized in that: The step (2) specifically refers to: the electromagnetic pulse parameters include the pulse amplitude V p final , pulse frequency f p final , pulse width τ final And the pulse energy E required for deicing req (h, Z), the calculation formulas are: In the formula, γ Z ,γ E are impedance correction factor and energy correction factor respectively; V p is the pulse amplitude in dynamic adjustment, f p is the pulse frequency in dynamic adjustment, τ is the pulse width in dynamic adjustment; Δh / Δt is the ice growth rate; dZ / dh is the impedance change trend; h is the ice thickness, Z line is the actual impedance of the conductor; Z base is the baseline impedance of the line in the ice-free state, and k1, α, and β are all material coefficients.

9. The adaptive control method according to claim 7, characterized in that: The step (4) specifically comprises the following steps in order: (3a) Charging stage: When the charging high-voltage relay receives the control signal, it automatically turns on, and the pulse power supply system immediately starts the charging procedure for the energy storage capacitor bank. During the charging process, the power supply system monitors the voltage change of the capacitor bank in real time. When it detects that the voltage value reaches the predetermined voltage threshold, the system automatically cuts off the conduction state of the charging high-voltage relay, so that the power supply system is physically isolated from the subsequent discharge circuit, ensuring the safety and controllability of the charging process. The duration of this stage is automatically adjusted according to the system configuration and is controlled within the range of seconds to minutes. (3b) Pulse energy release phase: After the charging circuit is completely disconnected, the FPGA controller sends a trigger instruction to the discharge switch; At the moment the discharge switch is turned on, the electric energy stored in the energy storage capacitor bank forms a closed loop through the de-icing pulse coil, generating a large pulse current with a very short duration but a very high peak value; The pulsed large current excites a high-intensity transient magnetic field around the deicing pulse coil. The magnetic field intensity distribution is related to the geometric structure of the deicing pulse coil and the electromagnetic pulse parameters. (3c) De-icing stage: When the transient magnetic field penetrates the ice-covered target, a closed eddy current is induced on the surface of the target metal part. The eddy current interacts with the original magnetic field to generate a pulse electromagnetic force with a specific directionality. Under the action of the pulse electromagnetic force, high-frequency elastic vibrations are generated on the surface of the target object. The high-frequency elastic vibrations act on the ice layer interface through solid conduction. When the accumulated vibration stress exceeds the bonding strength of the ice layer, the interface between the ice layer and the base material breaks, and the ice is finally quickly peeled off.

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