High-speed rail overhead line system multi-module linear self-guiding deicing robot and method

Abstract

According to the multi-module linear self-guiding deicing robot and method for the high-speed rail overhead line system, in the robot, a robot shell and an unmanned aerial vehicle are detachably connected through an unmanned aerial vehicle connecting module; the motion module is arranged on the robot shell and is used for enabling the robot to move on the high-speed rail contact network and clamping the contact network; the ice shoveling module comprises at least three deicing shovels which can be synchronously opened and closed to surround the high-speed rail overhead line system, the cutting and brushing integrated module comprises at least three cutting and brushing integrated deicing rollers which are installed in an annular array and can independently rotate, and the outer circumferential surfaces of roller bodies of the cutting and brushing integrated deicing rollers are sequentially provided with front-end ice cutting parts and rear-end ice brushing parts from front to back; the heating module comprises a plurality of arc-shaped heating rings capable of being opened and closed independently, the arc-shaped heating rings are connected through a support and can rotate around a pivot, and a heating channel wrapping the high-speed rail overhead line system is formed after the arc-shaped heating rings are closed.

Description

Technical Field

[0001] This invention relates to the field of rail transit maintenance technology, and in particular to a multi-module linear self-guided de-icing robot and method for high-speed rail overhead contact lines. Background Technology

[0002] As a vital national transportation infrastructure, the safe and stable operation of high-speed railways is of paramount importance. In extreme weather conditions such as winter snow and ice, ice can easily form on the surface of the overhead contact line, leading to poor contact between the pantograph and the contact line, causing power outages, short circuits, or even sparks. This seriously threatens train safety and may also cause overload, breakage, or even collapse of the contact line conductors.

[0003] Currently, methods for de-icing overhead contact lines mainly include manual (mechanical) de-icing, chemical coating anti-icing, and thermodynamic de-icing. Manual de-icing is inefficient and poses risks of height and electric shock to workers; chemical coating anti-icing is costly, has potential environmental impacts, and lacks durability; thermodynamic de-icing is energy-intensive and requires complex equipment. Especially when dealing with complex ice structures such as frost, hoarfrost, mixed frost, and rain frost, existing technologies are often ineffective, and mechanical de-icing devices are prone to wear. Therefore, there is an urgent need to develop an automated device that can efficiently and safely remove ice from high-speed railway overhead contact lines to ensure the safe and stable operation of high-speed railways in icy and snowy weather.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of the present invention, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To address the shortcomings or defects of the existing technology, a multi-module linear self-guided de-icing robot and method for high-speed rail overhead contact lines is provided. The robot is equipped with a drone for precise positioning and surrounds the overhead contact line. It utilizes multiple de-icing modules to work in concert to efficiently remove ice layers and can spray antifreeze to prevent secondary icing.

[0006] The objective of this invention is achieved through the following technical solutions.

[0007] A multi-module linear self-guided de-icing robot for high-speed rail overhead contact lines includes,

[0008] A drone connection module that detachably connects the robot's shell to the drone;

[0009] A motion module, configured on the robot's shell, is used to move the robot on the high-speed rail contact network and to clamp the contact network.

[0010] A de-icing module system, installed on the robot's outer shell, is used to remove ice from the high-speed rail contact network. The de-icing module system includes...

[0011] The ice-removing module includes at least three ice-removing shovels that can be opened and closed synchronously to encircle the high-speed rail contact network. The base of the ice-removing shovels is connected by a synchronous linkage mechanism integrated inside a fixed ring and driven by a drive source, so that all ice-removing shovels synchronously retract towards the center to encircle the high-speed rail contact network or open outward to detach from the high-speed rail contact network.

[0012] The integrated cutting and brushing module includes at least three independently rotatable integrated cutting and brushing de-icing rollers arranged in a circular array. The outer circumferential surface of each roller is provided with a front-end ice-cutting section and a rear-end ice-brushing section from front to back.

[0013] The heating module includes multiple independently openable and closable arc-shaped heating rings. The arc-shaped heating rings are connected by a bracket and can rotate around a pivot. When closed, they form a heating channel that covers the high-speed rail contact network.

[0014] In the aforementioned high-speed rail overhead contact line multi-module linear self-guiding de-icing robot, the UAV connection module includes:

[0015] The three-axis stabilizer integrates an inertial measurement unit to compensate for changes in the attitude of the UAV.

[0016] And an iris-type docking mechanism, which connects to the triaxial stabilizer, the iris-type docking mechanism including multiple elastic metal petals arranged in a ring array and a drive device that drives the metal petals to open and close radially and synchronously to form a central through hole of variable diameter.

[0017] In the aforementioned high-speed rail catenary multi-module linear self-guided de-icing robot, each metal petal is connected to the driving device through a linkage mechanism. The driving device includes a drive motor and a drive gear ring or iris telescopic mechanism connected to the drive motor. The drive motor causes all the metal petals to synchronously and smoothly contract radially toward the center or expand outward through the linkage mechanism, and the diameter of the central through hole formed is continuously adjustable.

[0018] In the aforementioned high-speed rail overhead contact line multi-module linear self-guided de-icing robot, the motion module includes:

[0019] A track drive system comprising a track driven by an electric motor, the track surface having anti-slip teeth;

[0020] And an adaptive track gripper, which includes at least three symmetrically distributed gripping arms, the gripping arms being connected to a hydraulic cylinder with an integrated elastic preload element via a connecting rod, for driving the gripping arms to open or close to encircle the high-speed rail contact network.

[0021] In the aforementioned high-speed rail contact network multi-module linear self-guided de-icing robot, the track is formed by a composite of a nitrile rubber outer layer and an embedded aluminum alloy metal skeleton. The nitrile rubber outer layer is molded with staggered anti-slip teeth to enhance grip on the icy or wet contact network surface. The track is driven by an independent drive motor through a gear reducer to achieve differential steering and speed control.

[0022] In the aforementioned high-speed rail catenary multi-module linear self-guided de-icing robot, the end of the gripping arm is equipped with a laser ranging sensor, which is used to detect the diameter of the high-speed rail catenary or the distance to the high-speed rail catenary.

[0023] In the aforementioned high-speed rail contact network multi-module linear self-guided de-icing robot, multiple integrated de-icing rollers are mounted on a base connected to the robot's outer shell via an iris telescopic mechanism. Each integrated de-icing roller is a roller-shaped component driven by a built-in motor. The outer circumference of the roller-shaped component integrates a front-end ice-cutting section and a rear-end ice-brushing section from front to back relative to the robot's forward direction. The surface of the front-end ice-cutting section is densely distributed with multiple layers of stepped blunt-tipped carbide cones for impacting, cracking, and longitudinally tearing the ice layer. Following the blunt-tipped carbide cones are multiple layers of staggered annular carbide cutting edges for rotary cutting, milling, and scraping the ice layer. The rear-end ice-brushing section includes a brush made of ultra-high molecular weight polyethylene fiber, used to clean the high-speed rail contact network after cutting.

[0024] The aforementioned high-speed rail overhead contact line multi-module linear self-guided de-icing robot also includes:

[0025] The antifreeze module is equipped with an antifreeze nozzle and a storage tank, and is used to spray antifreeze onto the surface of the high-speed rail contact network after de-icing. The antifreeze nozzle is located between or below the arc-shaped heating rings.

[0026] The system also includes an inspection module, comprising a binocular camera mounted on the top of the robot's shell, which uses the triangulation principle to detect the icing thickness and component condition of the high-speed rail contact network.

[0027] The high-speed rail overhead contact system multi-module linear self-guided de-icing robot also includes a control system electrically connected to the drone connection module, the motion module, and the de-icing module system to coordinate the work of each module.

[0028] The de-icing methods of the multi-module linear self-guiding de-icing robot for high-speed rail overhead contact lines include:

[0029] The robot is carried and deployed to the icy area of ​​the high-speed rail contact network by a drone, and the motion module clamps the high-speed rail contact network.

[0030] The motion module drives the robot to move along the high-speed rail contact network, while the binocular camera of the inspection module detects the icing situation.

[0031] Based on the icing situation detected by the inspection module, the control system controls one or more of the ice-shoveling module, the integrated cutting and brushing module, and the heating module in the de-icing module system to work together to remove the icing.

[0032] After the ice is removed, the antifreeze module sprays antifreeze onto the surface of the high-speed rail contact network.

[0033] Compared with the prior art, the beneficial effects of this invention are as follows:

[0034] This invention features a multi-module collaborative high-efficiency de-icing system: by combining various methods such as ice scraping, cutting, brushing, and heating, it can effectively handle ice layers of different types and thicknesses, achieving high de-icing efficiency and excellent results. Precise positioning and stable operation: The drone, equipped with a three-axis stabilizer and an iris-type docking mechanism, enables precise positioning and stable docking of the robot; the adaptive tracked gripping system ensures stable movement and operation of the robot on the overhead contact line. High degree of intelligence and automation: The inspection module's binocular cameras monitor in real time, and the control system intelligently schedules the work of each module, enabling automated de-icing operations, reducing manual intervention, and improving operational safety. Special designs such as the iris-type docking mechanism, adaptive tracked gripper, modular integrated cutting and brushing de-icing roller, and openable heating ring enhance connection reliability, operational adaptability, and de-icing versatility, preventing secondary icing. Spraying antifreeze after de-icing effectively prevents secondary icing of the overhead contact line, ensuring long-term operational safety.

[0035] The description provided is merely an overview of the technical solution of this invention. In order to make the technical means of this invention clearer and more understandable, so that those skilled in the art can implement it according to the contents of the specification, and to make the described and other objects, features and advantages of this invention more obvious and understandable, specific embodiments of this invention are described below. Attached Figure Description

[0036] Various other advantages and benefits of the present invention will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0037] In the attached diagram:

[0038] Figure 1This is a schematic diagram of the connection between the high-speed rail catenary multi-module linear self-guided de-icing robot and the drone of the present invention. In the figure, 1 is the drone, 2 is the drone connection module, and 3 is the robot.

[0039] Figure 2 This is a schematic diagram of the overall structure of the multi-module linear self-guided de-icing robot for high-speed rail catenary according to the present invention. In the figure, 4 is the robot shell, 5 is the ice-scraping module, 6 is the integrated cutting and brushing module, 7 is the motion module, and 8 is the heating module.

[0040] Figure 3 This is a schematic diagram of the structure of the drone connection module of the present invention. In the figure, 9 is a three-axis stabilizer and 10 is an iris docking mechanism.

[0041] Figure 4 This is a schematic diagram of the inspection module of the present invention. In the figure, 11 is the outer shell of the inspection module, 12 is the binocular camera, and 13 is the arc-shaped heating ring.

[0042] Figure 5 This is a schematic diagram of the heating module of the present invention. In the figure, 13 is an arc-shaped heating ring, 14 is a bracket, 15 is an antifreeze nozzle, and 16 is a buckle.

[0043] Figure 6 This is a schematic diagram of the ice-removing module of the present invention. In the figure, 17 is an ice-removing shovel, 18 is an LED lighting lamp, and 19 is a fixing ring.

[0044] Figure 7 This is a schematic diagram of the integrated cutting and brushing module of the present invention. In the figure, 20 is the iris telescopic mechanism and 21 is the integrated cutting and brushing de-icing roller.

[0045] Figure 8 This is a schematic diagram of the track clamping part in the motion module of the present invention. In the figure, 22 is the track, 23 is the connecting rod, and 24 is the hydraulic cylinder.

[0046] The present invention will be further explained below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0047] Specific embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0048] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that different terms may be used to refer to the same component. This specification and claims do not distinguish components based on differences in terminology, but rather on differences in function. The terms "comprising" or "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising but not limited to." The following descriptions are preferred embodiments for carrying out the invention; however, these descriptions are for the purpose of understanding the general principles of the specification and are not intended to limit the scope of the invention. The scope of protection of this invention is determined by the appended claims.

[0049] To facilitate understanding of the embodiments of the present invention, the following will provide further explanation and description with reference to the accompanying drawings and several specific embodiments, and the accompanying drawings do not constitute a limitation on the embodiments of the present invention.

[0050] To better understand, such as Figures 1 to 8 As shown, a multi-module linear self-guiding de-icing robot for high-speed rail overhead contact lines includes,

[0051] The drone connection module 2 detachably connects the robot shell 4 to the drone 1;

[0052] Motion module 7, which is disposed on the robot shell 4, is used to move the robot 3 on the high-speed rail contact network and clamp the contact network;

[0053] A de-icing module system, installed on the robot's outer shell 4, is used to remove ice from the high-speed rail contact network. The de-icing module system includes...

[0054] The ice-removing module 5 includes at least three ice-removing shovels 17 that can open and close synchronously to encircle the high-speed rail contact network. The bases of the multiple ice-removing shovels 17 of the ice-removing module 5 are synchronously opened and closed through a synchronous linkage mechanism. This synchronous linkage mechanism may include a central drive gear (not shown) driven by a drive source (e.g., a micro servo motor or hydraulic motor, not shown), which simultaneously meshes with a driven sector rack (not shown) mounted on the base of each ice-removing shovel 17. When the drive source drives the central drive gear to rotate, through gear and rack transmission, all driven sector racks will synchronously drive the ice-removing shovels 17 connected to them to retract around their respective pivots (not shown, located on the fixed ring 19) toward the center of the high-speed rail contact network to achieve encirclement of the high-speed rail contact network; or when rotating in the opposite direction, all ice-removing shovels 17 will synchronously open outward to detach from the high-speed rail contact network. This design ensures the consistency of all de-icing shovels 17 movements and the smoothness of clamping / releasing, and is driven by a drive source, enabling all de-icing shovels 17 to synchronously retract towards the center to embrace the high-speed rail contact network or open outward to detach from the high-speed rail contact network.

[0055] The integrated cutting and brushing module 6 includes at least three integrated cutting and brushing de-icing rollers 21 arranged in a circular array and capable of independent rotation. The outer peripheral surface of each integrated cutting and brushing de-icing roller 21 is provided with a front cutting section and a rear brushing section from front to back.

[0056] The heating module 8 includes multiple independently openable and closable arc-shaped heating rings 13. The arc-shaped heating rings 13 are connected by a bracket 14 and can rotate around a pivot. When closed, they form a heating channel covering the high-speed rail contact network.

[0057] In a preferred embodiment of the high-speed rail overhead contact line multi-module linear self-guiding de-icing robot, the UAV connection module 2 includes:

[0058] The three-axis stabilizer 9 integrates an inertial measurement unit to compensate for attitude changes of the UAV 1;

[0059] And an iris-type docking mechanism 10, which connects to the triaxial stabilizer 9, the iris-type docking mechanism 10 comprising multiple elastic metal petals arranged in a precise annular array (not individually labeled, but the core component of the iris-type docking mechanism 10). Its drive mechanism may include a drive pinion (not shown) driven by a micro servo motor (not shown), which meshes with a coaxially arranged drive gear ring (not shown, part of the iris-type docking mechanism 10, such as the outer annular gear ring of the iris telescopic mechanism 20). The base of each elastic metal petal (or via a short connecting rod) is connected to a corresponding connection point (e.g., a groove or hinge point) on the drive gear ring, and its motion trajectory is constrained by a guide mechanism (e.g., a radial slide rail or guide pin mounted on a fixed base). When the drive motor drives the drive pinion to rotate, it drives the drive gear ring to rotate synchronously (or in some designs, the drive gear ring does not rotate, but the rotational motion of the motor is converted into radial motion of the metal petals through other transmission methods such as cams, connecting rods, etc.). Due to the connection between the metal flaps and the drive gear ring, as well as the constraint of the guide mechanism, the rotation of the drive gear ring (or the equivalent driving action) will cause all the elastic metal flaps to synchronously and smoothly contract radially towards the center or expand outward, thereby precisely controlling the diameter of the formed central through-hole to accommodate docking ports of different sizes or to achieve rapid locking and releasing. This results in a central through-hole with a variable diameter.

[0060] In a preferred embodiment of the high-speed rail catenary multi-module linear self-guided de-icing robot, each metal petal is connected to the driving device via a linkage mechanism. The driving device includes a drive motor and a drive gear ring or iris telescopic mechanism connected to the drive motor. The drive motor causes all the metal petals to synchronously and smoothly contract radially toward the center or expand outward through the linkage mechanism, and the diameter of the central through hole formed is continuously adjustable.

[0061] In a preferred embodiment of the high-speed rail overhead contact line multi-module linear self-guiding de-icing robot, the motion module 7 includes:

[0062] A track drive system includes a track 22 driven by a motor, the surface of which is provided with anti-slip teeth;

[0063] And an adaptive track gripper, which includes at least three symmetrically distributed gripping arms, the gripping arms being connected to a hydraulic cylinder 24 with an integrated elastic pretensioning element via a connecting rod 23, for driving the gripping arms to open or close to encircle the high-speed rail contact network.

[0064] In a preferred embodiment of the high-speed rail contact network multi-module linear self-guided de-icing robot, the track 22 is formed by a composite of a nitrile rubber outer layer and an embedded aluminum alloy metal skeleton. The nitrile rubber outer layer is molded with staggered anti-slip teeth to enhance grip on the icy or wet contact network surface. The track 22 is driven by an independent drive motor through a gear reducer to achieve differential steering and speed control.

[0065] In a preferred embodiment of the high-speed rail catenary multi-module linear self-guided de-icing robot, the end of the gripping arm is provided with a laser ranging sensor for detecting the diameter of the high-speed rail catenary or the distance to the high-speed rail catenary.

[0066] In a preferred embodiment of the high-speed rail contact network multi-module linear self-guided de-icing robot, multiple integrated de-icing rollers 21 are mounted on a base connected to the robot shell 4 via an iris telescopic mechanism 20. Each integrated de-icing roller 21 is a roller-shaped component driven by a built-in motor. The outer circumference of the roller-shaped component is integrated with a front-end ice-cutting part and a rear-end ice-brushing part from front to back relative to the robot's forward direction. The surface of the front-end ice-cutting part is densely distributed with multiple layers of stepped blunt-tipped carbide cones for impacting, cracking, and longitudinally tearing the ice layer. Following the blunt-tipped carbide cones are multiple layers of staggered annular carbide cutting edges for rotary cutting, milling, and scraping the ice layer. The rear-end ice-brushing part includes a brush made of ultra-high molecular weight polyethylene fiber, used to clean the high-speed rail contact network after cutting.

[0067] In a preferred embodiment of the high-speed rail overhead contact line multi-module linear self-guiding de-icing robot, it further includes:

[0068] The antifreeze module is equipped with an antifreeze nozzle 15 and a liquid storage tank, which is used to spray antifreeze onto the surface of the high-speed rail contact network after de-icing. The antifreeze nozzle 15 is located between or below the arc-shaped heating rings 13.

[0069] The system also includes an inspection module, which consists of a binocular camera 12 mounted on the top of the robot's outer shell 4, and uses the triangulation principle to detect the icing thickness and component condition of the high-speed rail contact network.

[0070] In a preferred embodiment of the high-speed rail overhead contact line multi-module linear self-guided de-icing robot, a control system electrically connected to the UAV connection module 2, the motion module 7, and the de-icing module system is further included to coordinate the operation of each module.

[0071] The control system of robot 3 (not shown separately, but integrated within the robot body) is the core that coordinates the operation of all modules. Its specific structure typically includes:

[0072] a. Central Processing Unit (CPU) or Microcontroller (MCU): As the brain of the control system, it is responsible for executing control algorithms, processing sensor data, and generating control commands.

[0073] b. Memory: including ROM (stores firmware and preset programs) and RAM (stores runtime data).

[0074] c. Input / Output (I / O) Interface: Used to connect various sensors (such as laser rangefinder, binocular camera 12, IMU, etc.) and actuators (such as the motor driving the iris docking mechanism 10 in the drone connection module 2, the motor and hydraulic cylinder 24 driving the track 22 in the motion module 7, the ice scraping module 5 driving the de-icing module system, the integrated cutting and brushing module 6, the motor or solenoid valve driving the heating module 8, the liquid pump driving the antifreeze module nozzle 15, etc.).

[0075] d. Communication module: used for wireless data transmission with ground control station or UAV (1) (e.g., receiving instructions, sending status information and inspection data).

[0076] e. Power Management Unit: Responsible for battery charging and discharging management and power supply to each module.

[0077] The control system specifically controls the operation of each module as follows:

[0078] i. Receiving and processing sensor information: The control system receives attitude data from the three-axis stabilizer 9 in the UAV connection module 2, contact wire diameter data from the laser rangefinder in the motion module 7, icing images and ranging data from the camera 12 in the inspection module, and status feedback signals from each de-icing module in real time.

[0079] ii. Decision-making and planning: Based on received sensor information and preset task parameters (such as target route and de-icing strategy), the system's built-in intelligent algorithms (such as rule-based expert systems or machine learning models) make decisions. For example, based on the ice type and thickness identified by camera 12, the system automatically selects a suitable combination of de-icing modules (ice-shoveling module 5, cutting brush integrated module 6, and heating module 8) and their operating parameters (such as ice-shoveling pressure, cutting brush speed, heating temperature, and time). Simultaneously, the system plans the robot's movement path and speed on the overhead contact line.

[0080] iii. Execution and Control: The control system sends precise control commands to the actuators of each module through the I / O interface. For example:

[0081] The drive device of the iris docking mechanism 10 in the drone connection module 2 is controlled to achieve precise docking and separation with the drone 1.

[0082] The drive motor of the track 22 in the motion control module 7 enables the robot to move forward, backward, turn and adjust speed on the contact network; the hydraulic cylinder 24 or equivalent drive device is controlled to adjust the clamping force of the gripper arm.

[0083] The drive source controlling the ice-removing module 5 enables the synchronous opening and closing of the ice-removing shovel 17 and the pressure on the contact wire.

[0084] The built-in motor of the integrated de-icing roller 21 in the integrated cutting and brush module 6 enables high-speed rotation.

[0085] Controls the power supply and temperature regulation of the heating ring 13 in the heating module 8.

[0086] The liquid pump of the antifreeze module is controlled to start the spraying operation.

[0087] iv. Status monitoring and feedback: The control system continuously monitors the working status of each module and the overall status of robot 3 (such as battery level and fault diagnosis), and feeds back the relevant information to the ground control station or UAV 1 through the communication module.

[0088] The de-icing method of the high-speed rail overhead contact line multi-module linear self-guiding de-icing robot includes,

[0089] During the deployment phase, UAV 1 is responsible for precisely transporting Robot 3 to the area below the icy contact wire. At this time, Robot 3's motion module 7 is in a non-operating state. Low-bandwidth communication, such as transmitting target position confirmation signals, is possible between the flight control system of UAV 1 and the control system of Robot 3. Once UAV 1 hovers in position, Robot 3's control system will take the lead in the docking process with the contact wire, controlling the gripping arm movements of UAV connection module 2 and motion module 7.

[0090] During the independent operation phase, UAV 1 has separated from Robot 3 (or is waiting in the nearby airspace). At this time, the motion module 7 of Robot 3 is driven entirely by its own control system based on feedback from the inspection module and a preset path, achieving precise movement along the contact network. Simultaneously, the control system intelligently controls the ice removal module system's ice-shoveling module 5, cutting and brushing integrated module 6, and heating module 8 to perform ice removal operations, as well as the antifreeze module's spraying operations. During this phase, UAV 1 does not directly participate in controlling the movement and ice removal actions of Robot 3 along the line, but it can receive status information from Robot 3 through the communication module or, if necessary, receive advanced commands such as emergency stop via relay from the ground station through UAV 1. The motion module 7 drives Robot 3 to move along the high-speed rail contact network, while the binocular camera 12 of the inspection module detects the icing situation.

[0091] During the recovery phase, after robot 3 autonomously moves to the designated recovery point, its control system sends a recovery preparation signal. Based on this signal or ground instructions, drone 1's flight control system flies above robot 3 and aligns with it using vision or other sensors. Then, robot 3's control system works in conjunction with drone 1 to complete the docking and detachment from the overhead contact line.

[0092] In one embodiment, the head of the ice-removing shovel 17 is provided with ice-breaking teeth that are longer on the outside and shorter on the inside. The outer circumference of the front ice-cutting part is provided with a composite cutting structure consisting of a multi-layer stepped blunt-tipped cone array, a multi-layer staggered annular spiral cutting edge, and triangular protrusions.

[0093] In one embodiment, a multi-module linear self-guided de-icing robot for high-speed rail overhead contact lines includes: a drone connection module 2 for stably mounting the robot 3 under a drone 1 and achieving a quick and detachable connection with the drone 1; a motion module 7 for enabling the robot 3 to move stably on the overhead contact line and adaptively clamp; a de-icing module system including an ice-scraping module 5, a cutting and brushing integrated module 6, and a heating module 8, wherein the modules can work collaboratively or selectively according to the icing situation; an antifreeze module for spraying antifreeze onto the surface of the overhead contact line after de-icing; an inspection module for detecting the icing status and de-icing effect of the overhead contact line and assisting in daily monitoring of the overhead contact line status; and a control system for receiving sensor information and coordinating the automated operation of each module. Furthermore, the UAV connection module 2 includes: a three-axis stabilizer 9, integrating an inertial measurement unit (IMU) for real-time monitoring and compensation of UAV 1 flight attitude changes to maintain the attitude stability of robot 3 during docking; and an iris-type docking mechanism 10, including multiple elastic metal petals arranged in a ring array. The metal petals are connected to a driving device, such as a motor-driven gear ring mechanism or an iris telescopic mechanism 20, through a linkage mechanism. The driving device drives the metal petals to open and close radially synchronously to form a central through hole of variable diameter, thereby achieving a fast, adaptive, and stable connection with the docking port of UAV 1 or the connection port of robot 3.

[0094] Furthermore, the motion module 7 includes: a track drive system, wherein the track 22 is made of high-strength nitrile rubber and a 6061 aluminum alloy metal frame composite design, and the surface of the track 22 has staggered anti-slip teeth, driven by a motor through a precision gear set; an adaptive track gripper, which employs at least three symmetrically distributed gripping arms, each gripping arm being connected to an elastic preload element, such as a spring, and a drive device, such as a hydraulic cylinder 24, via a linkage mechanism 23. The drive device drives the gripping arms to open or close, and the elastic preload element provides a continuous gripping force. A laser rangefinder sensor is provided at the end of the arm to detect the diameter of the contact wire and feed it back to the control system to adjust the gripping state. A flexible silicone pad is provided on the inner side of the arm to increase friction and protect the contact wire.

[0095] Furthermore, the ice-removing module 5 employs at least three symmetrically distributed ice-removing shovels 17, or ice-removing claws. The head of each ice-removing shovel 17 is forged from high-speed steel high-strength alloy and equipped with triangular ice-breaking teeth that are longer on the outside and shorter on the inside. The base of the ice-removing shovel 17 is connected by a linkage mechanism, such as a fixed ring 19 and a linkage mechanism, which can achieve synchronous opening and closing to encircle the contact wire. The ice-removing module 5 can also integrate an LED light 18 for operation at night or in poor visibility conditions. The integrated cutting and brushing module 6 includes at least three integrated cutting and brushing de-icing rollers 21 arranged in a circular array. Each integrated cutting and brushing de-icing roller 21 is an independently rotatable roller structure and can be quickly assembled and disassembled as a whole module. Each integrated cutting and brushing de-icing roller 21 includes: a front ice-cutting part, whose outer circumference is provided with a composite cutting structure consisting of a multi-layer stepped blunt cone array, a multi-layer staggered annular spiral cutting edge, and triangular protrusions; and a rear ice-brushing part, whose outer circumference is provided with a brush made of ultra-high molecular weight polyethylene fiber. The integrated cutting and brushing de-icing roller 21 is driven to rotate at high speed by a built-in motor. The heating module 8 includes at least three openable arc-shaped heating rings 13. Each arc-shaped heating ring 13 can rotate around a pivot at one end via a bracket 14 to encircle the contact wire. When closed, it forms a heating channel covering the contact wire and is locked by a buckle 16. Each arc-shaped heating ring 13 has a specially made ceramic skeleton wound with nickel-chromium alloy wire as the heating element, covered with a nano-level insulating and thermally conductive coating, and has intelligent temperature control and anti-dry-burning functions. The antifreeze spray nozzle 15 of the antifreeze module is embedded in the gap between the arc-shaped heating rings 13 of the heating module 8 or below it. The storage tank is made of acrylonitrile-butadiene-styrene copolymer ABS high-strength lightweight engineering plastic and is equipped with a temperature control system to ensure the fluidity of the antifreeze at low temperatures.

[0096] Furthermore, the inspection module includes an industrial-grade high-resolution binocular camera 12 installed on the robot shell 4 or the special inspection module shell 11, which uses the triangulation principle to perform non-contact and precise detection of ice thickness and contact wire component status.

[0097] The present invention also provides a method for de-icing using the above-mentioned high-speed rail catenary multi-module linear self-guided de-icing robot, comprising the following steps:

[0098] Drone 1, carrying Robot 3, flew to the target area where the overhead contact line was covered with ice.

[0099] The robot 3 precisely docks with the contact wire via the drone connection module 2. The adaptive track gripper of the motion module 7 opens and wraps around the contact wire. Subsequently, the iris docking mechanism 10 can be separated from the drone 1, and the robot 3 can operate independently.

[0100] The motion module 7 drives the robot 3 to move on the contact wire, and the camera 12 of the inspection module monitors the icing situation in real time and transmits the data to the control system.

[0101] The control system makes intelligent decisions based on the type and thickness of the ice and activates the ice-scraping module 5, the integrated cutting and brushing module 6, and the heating module 8 in sequence or in combination to perform multi-stage, coordinated de-icing operations; after the de-icing is completed, the control system activates the antifreeze module to evenly spray antifreeze onto the cleaned contact wire surface;

[0102] After the operation is completed, the robot 3 moves to the predetermined recovery point, and the drone 1 docks with the drone connection module 2 on the top of the robot 3 through its docking device. The adaptive track gripper of the motion module 7 is released, and the robot 3 is lifted and recovered by the drone 1.

[0103] In one embodiment, a multi-module linear self-guided de-icing robot for high-speed rail overhead contact lines includes a drone connection module 2, a motion module 7, an ice-scraping module 5, a cutting and brushing integrated module 6, a heating module 8, and an anti-freeze module, with its nozzle 15 as shown in the figure. Figure 5 As shown, the inspection module's binocular camera 12 can be integrated into the robot's housing 4 or onto a separate inspection module housing 11, such as... Figure 2 , Figure 4 As shown, and the control system integrated inside the robot body 3.

[0104] The drone connection module 2, such as Figure 3 As shown, the upper part is equipped with a three-axis stabilizer 9, which has a built-in high-precision inertial measurement unit (IMU) to compensate for attitude disturbances caused by airflow and other factors when the UAV 1 approaches the contact network for docking operations, ensuring that the robot 3 aligns with the target in a stable attitude. The lower part is an iris-type docking mechanism 10, also known as an iris connection mechanism. This mechanism includes multiple elastic metal petals arranged in a precise ring array. Each metal petal is connected to a drive gear ring or a similar drive device via a linkage mechanism 20. When the drive motor drives the mechanism to rotate, the linkage mechanism causes all metal petals to synchronously and smoothly contract radially towards the center or expand outwards. The diameter of the central through-hole formed can be continuously adjusted within the design range. This mechanism is used for the rapid connection and separation of the robot 3 and the UAV 1's mounting interface, or for the rapid assembly and disassembly interface of certain replaceable modules, such as the individual integrated de-icing roller 21 of the integrated cutting and brush module 6, and the robot 3 body. Its docking time is short, for example, ≤3 seconds, the connection is reliable, and it has a certain self-centering capability.

[0105] The motion module 7, such as Figure 2 , Figure 8As shown, the system includes a track drive system and an adaptive track gripper. The track 22 of the track drive system is made of a composite material consisting of a nitrile rubber (NBR) outer layer and an embedded 6061 aluminum alloy metal skeleton. The NBR outer layer provides excellent wear resistance, oil resistance, and low-temperature performance, and is molded with staggered anti-slip treads to enhance grip on icy or slippery contact wire surfaces. The aluminum alloy skeleton ensures the structural rigidity and load-bearing capacity of the track 22. Each track 22 is driven by an independent drive motor through a precision gear reducer, enabling differential steering and precise speed control.

[0106] Adaptive track gripper, such as Figure 8 As shown, it consists of at least three groups, for example Figure 8 The structure shown can be viewed as consisting of two sets of clamping arms, one above the other. Each clamping arm is connected to a powerful elastic preload element, such as a high-strength spring, via a connecting rod 23. This element is integrated into or works in conjunction with the hydraulic cylinder 24, and is also connected to an active drive device, such as the hydraulic cylinder 24. When initially encircling the contact wire or crossing obstacles, the hydraulic cylinder 24 actuates, opening the clamping arm to its maximum angle. Once the contact wire enters the clamping range, the hydraulic cylinder 24 releases or reverses its direction. The elastic preload element then provides the primary, continuous, and somewhat flexible clamping force, ensuring the track 22 is tightly pressed against the contact wire. A laser rangefinder (not shown) is integrated at the end of the clamping arm or at an appropriate location to measure the distance to the contact wire surface in real time or directly measure the diameter of the contact wire (12-15 mm), feeding the data back to the control system. Based on this feedback, the control system can fine-tune the action of the hydraulic cylinder 24 to optimize the clamping force, preventing excessive tightness that could damage the wire or excessive looseness that could cause slippage. The side of the clamping arm that contacts the guide wire of the track 22 is covered with a flexible silicone pad to further increase the coefficient of friction and protect the surface of the guide wire.

[0107] The ice-removing module 5, such as Figure 6As shown, the overall structure is C-shaped or multi-clawed, for example, composed of three or two opposing ice-removing shovels 17. These ice-removing shovels 17 are symmetrically arranged around the contact wire and connected by a fixing ring 19 and an internal linkage mechanism. The head of each ice-removing shovel 17 is made of high-speed steel through precision forging and heat treatment, possessing extremely high hardness and impact resistance. The head is designed with at least two rows of ice-breaking teeth with different functions: the outer row consists of longer and sharper cutting teeth, used to first contact and forcefully cut into the hard ice layer to break it; the inner row consists of shorter and relatively thicker scraping teeth, used to peel and remove the broken ice chunks and the less adhered ice layer from the surface of the wire. Reasonable gaps are designed between the teeth and between the rows to facilitate the discharge of broken ice and prevent blockage. The base of the ice-removing scraper 17 is integrated into the fixed ring 19 via a synchronous linkage mechanism and driven by a drive source such as a motor or hydraulic cylinder (not shown). This allows all the ice-removing scrapers 17 to synchronously retract towards the center to encircle the contact wire, or to open outward to detach from the contact wire. An LED light 18 can also be integrated into the ice-removing module 5 for auxiliary lighting.

[0108] The integrated cutting and brush module 6, such as Figure 7 As shown, typically three independent integrated de-icing rollers 21 are mounted around the contact wire in a triangular or other optimized layout. Each integrated de-icing roller 21 is itself a roller-shaped component that can be driven to rotate at high speed by a built-in micro motor. More preferably, these three integrated de-icing rollers 21 are mounted on a base that can be connected to the robot body 3 via an iris telescopic mechanism 20, or a similar modular quick-change connector, such as an iris docking mechanism 10, facilitating quick replacement of different specifications of the cutting brush unit or maintenance according to the ice conditions.

[0109] Each integrated de-icing roller 21 has a processing structure with different functions integrated from front to back on its outer peripheral surface relative to the robot's forward direction: the front ice-cutting section has a surface densely distributed with multiple layers of blunt-tipped carbide cones arranged in a stepped manner, used for initial impact, crushing, and longitudinal tearing of the ice layer; following this are multiple layers of staggered annular carbide cutting edges, which may also have spiral guide grooves and triangular ice-breaking protrusions, which, when the roller rotates, perform more detailed and in-depth rotary cutting, milling, and scraping on the initially broken ice layer, and push the ice fragments to the sides or rear. The rear end of the integrated de-icing roller 21 is the ice-brushing section, which is composed of dense brushes made of high-strength, high-toughness ultra-high molecular weight polyethylene fibers or similar wear-resistant elastic materials, used to thoroughly clean the residual fine ice chips, ice slag, and dust generated during the operation from the contact wire surface after cutting.

[0110] The heating module 8, such as Figure 5As shown, it consists of three independently opening and closing arc-shaped heating rings 13, or a number determined according to the requirements of the contact wire coverage. Each arc-shaped heating ring 13 has one end hinged to a bracket 14 via a pivot, and the other end equipped with a locking mechanism such as a buckle 16. Driven by a drive device, all arc-shaped heating rings 13 can synchronously open outwards or close inwards around their respective pivots. When closed, the inner surfaces of the three arc-shaped heating rings 13 together form a ring-shaped heating channel that tightly covers the contact wire. Inside each arc-shaped heating ring 13, a high-resistivity nickel-chromium alloy wire serves as the core heating element, which is uniformly and tightly wound on a specially designed irregularly shaped ceramic skeleton. The outer surface of the ceramic skeleton, facing the contact wire, is covered with a nano-scale insulating and thermally conductive composite coating.

[0111] The core component of the antifreeze module is a plurality of precision atomizing antifreeze nozzles 15, such as... Figure 5 As shown, these nozzles 15 are cleverly installed in the gaps between the arc-shaped heating rings 13 of the heating module 8, or directly integrated into the underside of the heating rings 13. Antifreeze is stored in a reservoir not shown.

[0112] The inspection module, such as Figure 2 , Figure 4 As shown, it mainly consists of one or more pairs of industrial-grade high-resolution binocular cameras 12. These binocular cameras 12 are mounted side-by-side on the top or front of the robot housing 4 or on a separate inspection module housing 11, such as... Figure 4 As shown.

[0113] The de-icing method of the present invention includes,

[0114] Step 1: Mission Deployment and Flight.

[0115] Operators plan the de-icing task and designate the target section of the railway line through the ground control station. Drone 1, carrying robot 3, takes off from the base. Drone 1 uses GPS, BeiDou, and other satellite navigation systems combined with inertial navigation to follow its flight path. Upon approaching the target area, Drone 1 switches to a vision-based precise navigation mode, such as using the binocular camera 12 of the inspection module for assisted positioning or lidar, ultimately flying above the icy section of the high-speed railway overhead contact line to be de-iced.

[0116] Step Two: Precise Alignment and Independent Operation Preparation.

[0117] Drone 1 hovers stably above the target contact wire. The drone connection module 2 on top of Robot 3 begins to operate: its upper three-axis stabilizer 9 actively compensates for minor swaying of Drone 1, maintaining absolute stability of Robot 3's attitude. Subsequently, the iris-type docking mechanism 10, or iris connection mechanism, at the bottom of the drone connection module 2, activates. Its internal elastic metal petals, though not individually marked, are the core component of the iris-type docking mechanism 10, opening and aligning with the contact wire. Robot 3 descends smoothly under the control of Drone 1, while simultaneously the metal petals of the iris-type docking mechanism 10 retract, initially encircling the contact wire.

[0118] Almost simultaneously, the adaptive track gripper of motion module 7, such as Figure 8 The start-up process is as follows: The clamping arm, composed of connecting rod 23 and hydraulic cylinder 24, fully opens under the action of the active drive device, such as hydraulic cylinder 24. After the contact wire enters its V-shaped or U-shaped guide opening, the active drive device hydraulic cylinder 24 releases or reverses its action. The elastic pre-tensioning element integrated within the hydraulic cylinder 24 or working in conjunction with the drive to retract the clamping arm, so that the track 22 is tightly and firmly pressed onto the contact wire. The laser rangefinder sensor installed at the end of the clamping arm is not separately marked, but it is a component of the adaptive track clamper and confirms that the clamping is in place.

[0119] Once robot 3 is stably fixed on the contact network, the iris docking mechanism 10 can unlock and separate from the hoisting interface of drone 1 or remain connected as a backup power supply / communication channel, and robot 3 will switch to autonomous or remote control operation mode.

[0120] Step 3: Inspection and relocation.

[0121] Robot 3 starts up, and the track drive system of motion module 7, with its core consisting of track 22 and internal drive motor, drives robot 3 to move smoothly on the contact wire. Simultaneously, the binocular camera 12 of the inspection module, mounted on robot shell 4 or independent inspection module shell 11, continuously scans the contact wire ahead, acquiring real-time images of icing. Image processing and triangulation algorithms are used to analyze information such as the thickness, type, and distribution length of the icing, and this icing data is transmitted to the main control system inside robot 3.

[0122] Step 4: Intelligent and collaborative de-icing.

[0123] The main control system, based on real-time ice condition data fed back by the inspection module camera 12 and preset de-icing strategies (e.g., matching the optimal combination of de-icing modules and operating parameters for different ice condition databases), intelligently decides and starts one or more de-icing modules sequentially or in parallel.

[0124] When facing thick, hard ice or mixed ice: The control system first commands the ice-removing module 5 to operate. Its multiple ice-removing blades 17, or ice-removing claws, are integrated into the fixing ring 19 via a linkage mechanism and retract, pressing against the contact wire with appropriate pressure. The robot 3 advances at a set speed, and the long outer teeth of the ice-removing blades 17 forcefully cut into the ice layer, breaking it, while the short inner teeth follow closely behind, scraping away the broken ice and residual ice from the surface of the conductor. If necessary, the LED lighting 18 can be activated to assist in the operation.

[0125] When faced with thin layers of frost or rime, or when a significant amount of ice remains after ice removal: the control system activates the integrated cutting and brushing module 6. At least three of its integrated cutting and brushing de-icing rollers 21 begin high-speed rotation, pressing the contact wire with a set pressure. As the robot 3 moves forward, the cutting section at the front end of each integrated cutting and brushing de-icing roller 21, with its stepped blunt-tipped cone and annular cutting edge, efficiently impacts, spins, and mills the ice layer, while the brushing section at the rear end, composed of brushes, thoroughly cleans away the cut ice chips and powder. An iris telescopic mechanism 20 allows for quick assembly and disassembly of this module.

[0126] When encountering extremely firmly attached thin ice, or to improve mechanical de-icing efficiency and reduce mechanical damage to the conductors, or during operation in extremely low temperature environments: the control system activates the heating module 8. At least three arc-shaped heating rings 13, assisted by the bracket 14, close and are locked by the buckle 16, completely encasing the contact wire within the heating channel. The internal nickel-chromium alloy wires heat up when energized, melting the ice layer at the interface with the conductor, or raising the overall temperature and reducing the strength of the ice layer, making it easier for subsequent mechanical de-icing modules to remove, or directly melting the thin ice. The temperature control system intelligently adjusts the heating power and temperature according to the ice conditions and the stage of operation (preheating, main melting, and heat preservation).

[0127] Collaborative Operation: In many cases, the control system employs a multi-module collaborative approach. For example, heating module 8 is used to preheat and soften the solid ice, followed by coarse breaking up of the ice using ice-shoveling module 5, and then fine cleaning and sweeping using integrated cutting and brushing module 6. Alternatively, heating module 8 can be activated simultaneously with integrated cutting and brushing module 6 to provide auxiliary heating and improve de-icing efficiency. The activation sequence and operating parameters of each module, such as the forward speed of robot 3, ice-shoveling pressure, cutting brush rotation speed, heating temperature, and time, are dynamically optimized by the control system based on real-time ice conditions.

[0128] Step 5: Antifreeze protection.

[0129] After the basic de-icing operation in a section is completed, the binocular camera 12 of the inspection module confirms the completion, and the control system instructs the antifreeze module to start. The micro liquid pump pumps the antifreeze in the storage tank to the antifreeze nozzle 15, which atomizes it under high pressure and sprays it evenly on the cleaned contact wire surface, forming a transparent and durable antifreeze protective film. This effectively prevents moisture in the air from condensing and freezing again, or significantly reduces the adhesion between the ice layer and the wire, making it easier for the next minor de-icing or natural detachment.

[0130] Step Six: Task Completion and Recovery.

[0131] Once all operations in the designated section are completed, or when the antifreeze in the reservoir is depleted or the battery level falls below the warning threshold, robot 3 automatically stops operating and moves to a pre-set safe recovery point. The ground station operator or the UAV 1's autonomous navigation system controls UAV 1 to fly above robot 3 again. After visual alignment, UAV 1 descends, and its docking device re-docks and locks with the iris-type docking mechanism 10 of the UAV connection module 2 on top of robot 3. After confirming a secure connection, the control system commands the gripping arm of the adaptive track gripper of motion module 7, composed of connecting rod 23 and hydraulic cylinder 24, to fully extend, separating robot 3 from the overhead contact line. Subsequently, UAV 1 hoists robot 3 back to the base. The binocular camera 12 of the inspection module can upload complete data from this operation, including ice condition images, de-icing effect, operation mileage, and consumables, to the ground database for subsequent analysis and maintenance decisions.

[0132] The above embodiments are merely preferred implementations of the present invention. Those skilled in the art, within the scope of the invention's concept, can make various modifications or additions, or use similar methods to replace them, and all such modifications, additions, or substitutions should fall within the protection scope of the present invention. For example, the specific structural details, driving methods, sensor types, and layouts of each de-icing module can be optimized and adjusted according to actual engineering needs. The intelligence level of the control system can also be further improved by introducing more advanced machine learning algorithms.

[0133] This invention integrates an inertial measurement unit (IMU) to compensate for attitude changes of the UAV 1 during flight, ensuring that the robot 3 can dock and detach from the high-speed rail contact network with a stable attitude, thereby improving the accuracy and reliability of robot deployment. The iris-type docking mechanism 10 consists of multiple elastic metal petals that synchronously open and close radially through a drive device, forming a central through-hole of variable diameter. This design allows for quick and stable docking with the UAV 1 or other modules, while adapting to contact network conductors of different diameters, enhancing the system's flexibility and adaptability. The track drive system uses tracks 22 made of a composite of nitrile rubber outer layer and aluminum alloy skeleton, with anti-slip serrations on the surface, providing excellent grip and wear resistance. Independent drive motors, combined with gear reducers, achieve differential steering and speed control, enabling the robot to move stably on icy or slippery contact networks. The adaptive track gripper has at least three symmetrically distributed gripping arms, each equipped with a laser rangefinder sensor to detect the contact network diameter, and connected to a hydraulic cylinder 24 via a connecting rod 23 to provide continuous gripping force. The flexible silicone pads on the inner side of the gripping arm increase friction and protect the contact wire from damage, thus ensuring the robot's secure gripping and safe operation in various environments. The ice-scraping module 5 includes multiple synchronously opening and closing ice-removing scrapers 17, connected at their bases via a synchronous linkage mechanism inside the fixing ring 19 and driven by a drive source. The ice-breaking tooth design helps to efficiently remove hard ice layers, reducing potential damage to the contact wire. The integrated cutting and brushing module 6 contains multiple independently rotating integrated cutting and brushing de-icing rollers 21, each roller having a front-end ice-cutting section and a rear-end ice-brushing section from front to back. Blunt-tipped carbide cones and annular carbide cutting edges effectively cut the ice layer, while ultra-high molecular weight polyethylene fiber brushes sweep away residual ice debris. This design combines mechanical crushing and sweeping functions, improving de-icing efficiency. The heating module 8 consists of multiple arc-shaped heating rings 13, which, when closed, form a heating channel covering the contact wire. Internal nickel-chromium alloy wire serves as the heating element, and the exterior is covered with a nano-level insulating and thermally conductive coating, featuring intelligent temperature control and anti-dry-burning functions. The heating module can soften or melt ice in extremely low temperatures, assisting other de-icing modules or achieving better energy efficiency in specific situations. Antifreeze nozzles 15 are positioned between or below the arc-shaped heating rings 13 to spray antifreeze and prevent refreezing. The storage tank is equipped with a temperature control system to ensure the antifreeze's fluidity at low temperatures, extending the safe service life of the contact network. A binocular camera 12 is mounted on top of the robot's shell 4, using triangulation to detect the ice thickness and component status of the contact network. The high-resolution camera provides non-contact, precise detection, helping the control system make more accurate operational decisions. The control system receives information from various sensors and coordinates the work of the UAV connection module 2, motion module 7, de-icing module system, antifreeze module, and inspection module. Intelligent algorithms dynamically adjust the operating parameters of each module based on real-time monitoring data, optimizing the de-icing process and improving operational efficiency and safety.

[0134] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations.

Claims

1. A multi-module linear self-guided de-icing robot for high-speed rail overhead contact lines, characterized in that, It includes, The drone connection module (2) detachably connects the robot shell (4) to the drone (1); Motion module (7), which is disposed on the robot shell (4), is used to move the robot (3) on the high-speed rail contact network and clamp the contact network; A de-icing module system, installed on the robot shell (4), is used to remove ice from the high-speed rail contact network. The de-icing module system includes: The ice-removing module (5) includes at least three ice-removing shovels (17) that can be opened and closed synchronously to encircle the high-speed rail contact network. The base of the ice-removing shovels (17) is connected by a synchronous linkage mechanism integrated inside the fixed ring (19) and driven by a drive source, so that all ice-removing shovels (17) can synchronously retract towards the center to encircle the high-speed rail contact network or open outward to detach from the high-speed rail contact network. The integrated cutting and brushing module (6) includes at least three integrated cutting and brushing de-icing rollers (21) arranged in a circular array and capable of independent rotation. The outer peripheral surface of the integrated cutting and brushing de-icing rollers (21) is provided with a front cutting part and a rear brushing part from front to back. The heating module (8) includes multiple independently openable and closable arc-shaped heating rings (13). The arc-shaped heating rings (13) are connected by a bracket (14) and can rotate around a pivot. When closed, they form a heating channel covering the high-speed rail contact network.

2. The high-speed rail overhead contact line multi-module linear self-guiding de-icing robot as described in claim 1, characterized in that, Preferably, the UAV connection module (2) includes: A three-axis stabilizer (9) is integrated with an inertial measurement unit to compensate for attitude changes of the UAV (1); And an iris docking mechanism (10) connected to the triaxial stabilizer (9), the iris docking mechanism (10) including multiple elastic metal petals arranged in a ring array and a drive device for driving the metal petals to open and close radially synchronously to form a central through hole of variable diameter.

3. The high-speed rail overhead contact line multi-module linear self-guiding de-icing robot as described in claim 2, characterized in that, Each metal petal is connected to the driving device via a linkage mechanism. The driving device includes a drive motor and a drive gear ring or iris telescopic mechanism connected to the drive motor. The drive motor causes all the metal petals to synchronously and smoothly contract radially toward the center or expand outward through the linkage mechanism, and the diameter of the central through hole formed is continuously adjustable.

4. The high-speed rail overhead contact line multi-module linear self-guiding de-icing robot as described in claim 1, characterized in that, The motion module (7) includes: A track drive system comprising a track (22) driven by an electric motor, the surface of which is provided with anti-slip teeth; And an adaptive track gripper, which includes at least three symmetrically distributed gripping arms, the gripping arms being connected to a hydraulic cylinder (24) with an integrated elastic preload element via a connecting rod (23) for driving the gripping arms to open or close to encircle the high-speed rail contact network.

5. The high-speed rail overhead contact line multi-module linear self-guiding de-icing robot as described in claim 4, characterized in that, The track (22) is formed by a composite of a nitrile rubber outer layer and an embedded aluminum alloy metal skeleton. The nitrile rubber outer layer is molded with staggered anti-slip teeth to enhance grip on icy or wet contact wire surfaces. The track (22) is driven by an independent drive motor through a gear reducer to achieve differential steering and speed control.

6. The high-speed rail overhead contact line multi-module linear self-guiding de-icing robot as described in claim 4, characterized in that, The end of the clamping arm is equipped with a laser rangefinder sensor, which is used to detect the diameter of the high-speed rail contact network or the distance to the high-speed rail contact network.

7. The high-speed rail overhead contact line multi-module linear self-guiding de-icing robot as described in claim 1, characterized in that, Multiple integrated de-icing rollers (21) are mounted on a base connected to the robot housing (4) via an iris telescopic mechanism (20). The integrated de-icing rollers (21) are roller-shaped components driven by a built-in motor. The outer circumference of the roller-shaped component is integrated with a front-end ice-cutting part and a rear-end ice-brushing part from front to back relative to the robot's forward direction. The surface of the front-end ice-cutting part is densely distributed with multiple layers of stepped blunt-tipped carbide cones for impacting, cracking, and longitudinally tearing the ice layer. Following the blunt-tipped carbide cones are multiple layers of staggered annular carbide cutting edges for rotary cutting, milling, and scraping the ice layer. The rear-end ice-brushing part includes a brush made of ultra-high molecular weight polyethylene fiber for cleaning the high-speed rail contact network after cutting.

8. The high-speed rail overhead contact line multi-module linear self-guiding de-icing robot as described in claim 1, characterized in that, Also includes: The antifreeze module is equipped with an antifreeze nozzle (15) and a liquid storage tank, which is used to spray antifreeze onto the surface of the high-speed rail contact network after de-icing. The antifreeze nozzle (15) is located between or below the arc-shaped heating rings (13). The inspection module includes a binocular camera (12) installed on the top of the robot shell (4) to detect the icing thickness and component status of the high-speed rail contact network using the triangulation principle.

9. The high-speed rail overhead contact line multi-module linear self-guiding de-icing robot as described in claim 1, characterized in that, It also includes a control system electrically connected to the UAV connection module (2), the motion module (7) and the de-icing module system to coordinate the operation of each module.

10. The de-icing method of the multi-module linear self-guiding de-icing robot for high-speed railway overhead contact lines as described in any one of claims 1-9, characterized in that, It includes, The robot (3) is carried and deployed to the icing area of ​​the high-speed rail contact network by a drone (1), and the motion module (7) clamps the high-speed rail contact network. The motion module (7) drives the robot (3) to move along the high-speed rail contact network, while the binocular camera (12) of the inspection module detects the icing situation. Based on the icing situation detected by the inspection module, the control system controls one or more of the ice-shoveling module (5), the integrated cutting and brushing module (6), and the heating module (8) in the de-icing module system to work together to remove the icing. After the ice is removed, the antifreeze module sprays antifreeze onto the surface of the high-speed rail contact network.

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