Cable deicing device based on floating airship

Abstract

The invention provides a cable deicing device based on a floating airship, and relates to the technical field of cable deicing equipment, and the cable deicing device comprises an airship which comprises an airship main body and a helium tank fixed below the airship main body, and a pipeline of the helium tank is communicated with an air bag of the airship main body; the mechanical claws are arranged on the front portion and the rear portion of the lower portion of the airship body correspondingly; the deicing device is mounted below the airship main body; the deicing device comprises a mounting base and two deicing subunits, the mounting base is fixedly hung below the airship body, and the two deicing subunits are fixed to the mounting base in the advancing direction of the airship; the deicing subunit comprises a motor and two rotating shafts, each rotating shaft is connected with a plurality of ice beating heads, and the petal-shaped part of each ice beating head is provided with an ice beating rod, so that the ice beating heads are driven to rotate through the rotating shafts, and ice on the cable is removed through the ice beating rods. According to the deicing device, the deicing effect under the complex icing condition is guaranteed, and meanwhile the cruising ability of the deicing device and the adaptive capacity of the deicing device in the severe environment are improved.

Description

Technical Field

[0001] This invention relates to the field of cable de-icing equipment technology, and specifically to a cable de-icing device based on an airship. Background Technology

[0002] Ice, rime, and mixed ice formations on cable surfaces can cause multiple hazards. They can increase cable weight beyond its tensile strength, leading to breakage. They can also cause tower collapse, insulator flashover failure, and hardware damage due to the excessive tensile and compressive forces generated by ice accumulation. In addition, ice layers may damage the cable insulation layer, causing short-circuit faults. Furthermore, the long-term bearing of ice weight and the cable's movement under wind force can cause fatigue damage to the conductors, significantly shortening their service life.

[0003] Currently, cable de-icing methods in China can be broadly categorized into manual de-icing, natural de-icing, mechanical de-icing, thermal melting, applying anti-icing coatings, and drone de-icing.

[0004] Manual de-icing refers to line workers climbing up poles and towers, attaching themselves to cables using safety ropes and pulleys, and manually breaking the ice on the cables using tools such as ice-breaking poles. This method of de-icing is inefficient, requires a large amount of manpower, and is highly dangerous.

[0005] Natural de-icing refers to installing snow rings, counterweights, and other devices on cables to allow ice to accumulate to a certain level and then fall off naturally using wind, gravity, or other natural forces. Its advantage lies in its simplicity and ease of implementation, but it has significant limitations: it cannot fundamentally prevent icing, only limiting ice-related disasters. Furthermore, uneven icing or asynchronous ice removal can lead to conductor tripping accidents, resulting in low reliability and unpredictable de-icing effectiveness.

[0006] Mechanical de-icing uses mobile mechanical devices located underground or on lines to remove ice. This method is highly efficient and less dangerous, but it has high requirements for the height of the cable and the terrain where the line is located, making it unsuitable for de-icing in remote areas.

[0007] Thermal de-icing refers to melting ice on power lines by using a transmission current with a higher than normal current density to generate Joule heat. This includes methods such as overcurrent de-icing, load-based de-icing using phase shifters, high-frequency excitation de-icing, AC short-circuit current de-icing, and DC current de-icing. This method requires no additional equipment and has high de-icing efficiency, but it can affect power supply, increase line losses, and has higher energy costs and initial investment, making it unsuitable for widespread use.

[0008] Applying an anti-icing coating achieves its anti-icing purpose by reducing the adhesion between water, ice, and wires. This method is relatively simple to implement and has a relatively low cost, but it also has drawbacks: the coating requires sufficient sunlight to take effect, and its anti-icing effect is greatly reduced in low-temperature supercooled water mist environments. In recent years, with the rapid iteration of drone technology, it has become a core piece of equipment in the field of cable de-icing. Currently, mainstream drone de-icing solutions are showing diversified development. In addition to carrying ice-breaking frames, ice-breaking shovels, local heaters, and spraying de-icing agents, they have also evolved into subdivided technical paths such as mechanical impact (carrying de-icing rods and ice drills), thermal action (eddy current effect, light wave irradiation), and vibration (ultrasonic waves, detonation devices). Some solutions even achieve collaborative operation between drones and de-icing robots, where the drone lifts the robot to the cable, and the robot autonomously removes the ice. Compared to traditional methods, drone de-icing has particularly significant advantages: it can overcome the limitations of complex terrain such as mountains and lakes, can operate on energized lines, and can achieve precise de-icing.

[0009] However, there are still three major bottlenecks in the current drone de-icing technology: (1) The endurance restricts large-scale operations: the endurance of ordinary multi-rotor drones is mostly 30-60 minutes. Even if the industrial-grade model has a load of 20kg, the endurance can reach 5 hours, which is difficult to meet the continuous operation needs of cross-province long-distance routes; (2) Insufficient adaptability to harsh environments: low temperature will cause the battery capacity to drop sharply and the internal resistance to increase. Strong winds above level 6 and blizzard weather will directly affect the flight stability. Moreover, the blades of the fuselage are also prone to icing in freezing rain and humid cold environments; (3) Limited ability to deal with complex icing: facing dense and strongly adhered rime and mixed rime, conventional mechanical impact is prone to cause the ice layer to break incompletely. Spraying de-icing agent poses a risk of refreezing. Although new devices such as shock-type devices can solve the problem of hard ice, they have not yet been widely promoted. Summary of the Invention

[0010] In view of this, this application provides a cable de-icing device based on an airship, which can improve the de-icing effect of the device under complex icing conditions, while also enhancing the device's endurance and adaptability to harsh environments.

[0011] This application provides the following technical solution: a cable de-icing device based on an airship, comprising: An airship, comprising a streamlined airship body and a helium cylinder fixedly disposed below the airship body, wherein the gas pipe of the helium cylinder is connected to the gas bag of the airship body, and the valve on the gas pipe of the helium cylinder and the gas bag exhaust valve of the airship body cooperate with each other through opposite opening and closing states to realize the take-off and landing of the airship. Mechanical claws are provided on the lower front and lower rear sections of the airship body for gripping the cable; A de-icing device is installed below the airship body and between the two mechanical claws. The de-icing device includes a mounting base and two de-icing sub-units. The mounting base is fixedly suspended below the airship body, and the two de-icing sub-units are fixed on the mounting base along the airship's direction of travel. Each de-icing sub-unit includes a motor and two rotating shafts. The motor's power shaft is connected to the two rotating shafts via belt drive. Each rotating shaft is axially connected to multiple ice-breaking heads. Each ice-breaking head includes a turntable and a multi-lobed structure circumferentially fixed on the turntable. Each lobe is equipped with an arc-shaped ice-breaking rod, which drives the ice-breaking head to rotate via the rotating shaft, and the ice-breaking rod on the ice-breaking head removes the ice from the cables.

[0012] According to one embodiment of this application, the ice-breaking head includes a petal structure connecting seat, the petal structure connecting seat is fixed on the rotating shaft, and a plurality of ice-breaking rods are respectively hinged to the petal structure connecting seat, and the diameter of the hinge hole at the bottom of the ice-breaking rod is larger than the diameter of the hinge bolt, so that the ice-breaking rod can rotate freely around the hinge bolt, and the positions of the ice-breaking rods between adjacent ice-breaking heads are staggered.

[0013] According to one embodiment of this application, the two rotating shafts on each of the de-icing sub-units rotate in the same direction, and the rotating shafts on the two de-icing sub-units rotate in opposite directions.

[0014] According to one embodiment of this application, the popsicle is made of polytetrafluoroethylene or nylon.

[0015] According to one embodiment of this application, the airship further includes solar panels, a plurality of which are disposed on the top surface of the airship body to provide additional electrical energy to the airship.

[0016] According to one embodiment of this application, the airship further includes a steering propeller, which is disposed at the tail of the airship body, and the steering propeller is a set of three-bladed fixed-pitch propellers.

[0017] According to one embodiment of this application, the airship further includes a power propeller, which is disposed at the tail of the airship body, and the power propeller is a set of three-bladed fixed-pitch propellers.

[0018] According to one embodiment of this application, the airship further includes cameras, which are respectively disposed below the head and tail of the airship body. The cameras are connected to the ground remote control system via wireless signals and are used to transmit de-icing image information back to the ground remote control system.

[0019] According to one embodiment of this application, the airship further includes a basket, which is fixedly disposed below the main body of the airship and is used to carry batteries and signal receiving and control devices.

[0020] According to one embodiment of this application, the mechanical gripper is normally open when not powered on and closed when powered on.

[0021] Compared with the prior art, the beneficial effects that at least one technical solution adopted in the embodiments of this specification can achieve include at least: This device improves the endurance of the de-icing system by utilizing the levitation characteristics of an airship. Unlike drones, this airship does not require additional power to maintain flight. Furthermore, the device's endurance can be further enhanced by installing solar panels on top of the airship.

[0022] This device secures the airship to the cable by suspending two openable mechanical claws beneath it. This prevents the cable from swaying violently during de-icing, thus reducing cable damage, and also prevents the airship from drifting in strong winds, improving the de-icing system's adaptability to harsh environments.

[0023] This device ensures effective de-icing even in complex icing conditions by fixing a replaceable multi-mechanical rotating ice-dispensing device under the airship. The de-icing device can flexibly replace ice-dispensing rods of different lengths and shapes, motors of different power, and batteries of different capacities depending on the cable type. Furthermore, adjusting the rotation speed further enhances the device's adaptability.

[0024] In addition, this device has other functions: the power propeller and steering propeller at the tail of the airship can precisely control the flight trajectory. A compressed helium cylinder fixed below can be replenished in time if the airship leaks, providing a stable platform for de-icing operations. Two cameras are equipped at the front and rear of the airship. The front camera is used to monitor the specific condition of the icing on the cables in real time. Based on the image information transmitted from the front camera, the system can automatically adjust the rotation speed and working mode of the ice-breaking device to ensure optimal de-icing results. The rear camera is used to monitor the de-icing effect. The rear camera provides real-time feedback on the condition of the cables after de-icing. If necessary, the system can control the airship to reverse and re-de-ic any remaining areas. The entire de-icing process is remotely controlled by a ground computer via wireless signals. Ground operators can adjust the airship's flight speed, the activation and deactivation of the de-icing device, and the rotation speed of the ice-breaking device in real time, ensuring flexible and efficient operation. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a front view of the airship cable de-icing device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the de-icing subunit in an embodiment of the present invention; Figure 3 This is a schematic diagram of the de-icing device (after flipping) in an embodiment of the present invention; Figure 4 This is a schematic diagram of the solar panels laid above the airship in an embodiment of the present invention; Figure 5 This is a schematic diagram of the powered propeller in an embodiment of the present invention; Figure 6 This is a schematic diagram of a helium cylinder in an embodiment of the present invention; Figure 7 This is a schematic diagram of the camera in an embodiment of the present invention; Figure 8 This is a schematic diagram of the mechanical gripper in an embodiment of the present invention; The components are as follows: 1-Airship body; 2-Solar panel; 3-Steering propeller; 4-Power propeller; 5-Helium cylinder; 6-Camera; 7-Mechanical claw; 8-De-icing device; 9-Cable; 10-Basket; 11-Shaft; 12-Bearing seat; 13-Bearing; 14-Ice popper; 15-Turntable; 16-Pulley; 17-Motor; 18-Coupling; 19-Power shaft; 20-Belt. Detailed Implementation

[0027] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0028] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] like Figures 1-3 As shown, this embodiment of the invention provides a cable de-icing device based on an airship, comprising: An airship, comprising a streamlined airship body 1 and a helium cylinder 5 fixedly disposed below the airship body 1, wherein the gas pipe of the helium cylinder 5 is connected to the gas bag of the airship body 1, and the valve on the gas pipe of the helium cylinder and the gas bag exhaust valve of the airship body 1 cooperate with each other through opposite opening and closing states to realize the take-off and landing of the airship. Mechanical claws 7 are provided on the lower front and lower rear sections of the airship body 1 for gripping the cable 9. A de-icing device 8 is installed below the airship body 1 and between the two mechanical claws 7. The de-icing device 8 includes a mounting base and two de-icing sub-units. The mounting base is fixedly suspended below the airship body 1, and the two de-icing sub-units are fixed on the mounting base along the airship's direction of travel. Each de-icing sub-unit includes a motor 17 and two rotating shafts 11. The power shaft 19 of the motor 17 is connected to the two rotating shafts 11 via belt drive. Each rotating shaft 11 is axially connected to multiple ice-breaking heads. Each ice-breaking head includes a turntable 15 and a multi-lobed structure circumferentially fixed on the turntable 15. Each lobe is equipped with an arc-shaped ice-breaking rod 14, which drives the ice-breaking head to rotate via the rotating shaft 11, and the ice on the cable 9 is removed by the ice-breaking rod 14 on the ice-breaking head.

[0030] To improve the de-icing effect of the ice-breaking head, in some embodiments of the present invention, the ice-breaking head includes a petal structure connecting seat, which is fixed on the rotating shaft 11. A plurality of ice-breaking rods 14 are respectively hinged to the petal structure connecting seat, and the diameter of the hinge hole at the bottom of the ice-breaking rod 14 is larger than the diameter of the hinge bolt, so that the ice-breaking rod 14 can rotate freely around the hinge bolt, and the positions of the ice-breaking rods 14 between adjacent ice-breaking heads are staggered.

[0031] In order to cancel out the resultant force exerted on the cable 9 by the two de-icing subunits, in some embodiments of the present invention, the two rotating shafts 11 on each de-icing subunit rotate in the same direction, and the rotating shafts 11 on the two de-icing subunits rotate in opposite directions.

[0032] In order to break up the ice without damaging the contact wire, in some embodiments of the present invention, the ice-breaking stick 14 is made of polytetrafluoroethylene or nylon.

[0033] In specific implementation, such as Figure 1As shown, the airship in this embodiment is a rigid airship, about 15 meters long, about 4 meters in maximum diameter, with a design speed of 30 km / h and an effective payload of 200 kg. It has a rigid frame inside to support it and can maintain a streamlined and regular shape. It uses a helium-filled gasbag as a floating carrier.

[0034] In specific implementation, such as Figure 3 As shown, the de-icing device 8 in this embodiment consists of two de-icing sub-units, the structure of which is as follows: Figure 2 As shown. The de-icing device 8 consists of two de-icing sub-units. Each sub-unit mainly consists of a motor 17, a power shaft 19, a coupling 18, two rotating shafts 11, and multiple ice-breaking heads. The motor 17 is connected to the power shaft 19 via the coupling 18, and the power shaft 19 is connected to the pulley 16 via a belt 20. The power shaft 19 and the rotating shafts 11 are driven by a belt and rotate in the same direction. The rotating shafts 11 and related components such as the ice-breaking heads are fixed to a base, which is fixed to the mounting base. Both ends of each rotating shaft 11 are fixed to the upright plate of the base, and bearings 13 are installed at both ends of the rotating shaft 11, mounted on bearing seats 12. The number of ice-breaking heads installed on each rotating shaft 11 can be flexibly adjusted. The ice-breaking heads have a multi-lobed structure, and the number of "lobes" can be adjusted as needed. Each "lobe" is equipped with an ice-breaking rod 14. The lobes of the different ice-breaking heads are staggered to maintain a certain phase angle, ensuring that the ice-breaking rod 14 fully strikes the cable 9 during the airship's movement. The "lobes" are designed as hinge structures, with a round hole at the bottom of the ice-breaking rod 14 connected to the lobes by bolts. The diameter of the round hole at the bottom of the ice-breaking rod 14 is slightly larger than the bolt diameter, allowing it to rotate freely around the bolt. The ice-breaking rod 14 has a curved structure, and its length, curvature, and cross-sectional shape (circular, elliptical, triangular, etc.) can be adjusted according to requirements. The ice-breaking rod 14 is made of polytetrafluoroethylene or nylon, which is harder than ice but softer than the contact wire, thus preventing damage to the contact wire while breaking up accumulated ice. The relative height between the de-icing unit and the cable 9, as well as the distance between the de-icing sub-units, can be adjusted as needed, with the relative height controlled by the airship's ascent and descent. The two de-icing sub-units rotate in different directions. Motor A rotates clockwise, and shaft A1 also rotates clockwise. Its force on the cable is perpendicularly downwards, while simultaneously exerting a counter-clockwise rotational force on the cable. Shaft A2 also rotates clockwise, its force on the cable is perpendicularly upwards, while simultaneously exerting a counter-clockwise rotational force on the cable. Motor B rotates counter-clockwise, and shaft B1 also rotates counter-clockwise. Its force on the cable is perpendicularly upwards, while simultaneously exerting a clockwise rotational force on the cable. Shaft B2 also rotates counter-clockwise, its force on the cable is perpendicularly downwards, while simultaneously exerting a clockwise rotational force on the cable. In this way, the resultant force and torque exerted on the cable by the four units can cancel each other out, resulting in only localized force and torque at the contact points. Figure 3 As shown. The device has been flipped for easier observation.

[0035] In some embodiments of the present invention, the airship further includes solar panels 2, a plurality of which are disposed on the top surface of the airship body 1 to provide additional electrical energy to the airship.

[0036] In specific implementation, the solar panel 2 is a flexible thin-film solar panel, which can better fit the surface of the airship, providing additional power and improving its range. For example... Figure 4 As shown.

[0037] In some embodiments of the present invention, the airship further includes a steering propeller 3, which is disposed at the tail of the airship body 1, and the steering propeller 3 is a set of three-bladed fixed-pitch propellers.

[0038] In specific implementation, the steering propeller 3 is a set of three-bladed fixed-pitch propellers with a diameter of 1 meter, located at the stern of the airship, side-mounted, and made of glass fiber reinforced composite material. For example... Figure 5 As shown.

[0039] In some embodiments of the present invention, the airship further includes a power propeller 4, which is disposed at the tail of the airship body 1, and the power propeller 4 is a set of three-bladed fixed-pitch propellers.

[0040] In specific implementation, the power propeller 4 is a set of three-bladed fixed-pitch propellers with a diameter of 2 meters, located at the tail of the airship, and made of carbon fiber. For example... Figure 5 As shown.

[0041] like Figure 6 As shown, in this specific implementation, the working pressure of helium cylinder 5 is 20 MPa, used to control the airship's ascent and descent and to replenish helium when the airship leaks. A carbon fiber composite material mounting bracket is installed on the outside of helium cylinder 5 to secure it. The helium cylinder valve cooperates with the airship's exhaust valve to achieve ascent and descent. When the exhaust valve is closed and the helium cylinder valve is open, the airship will ascend; conversely, when the exhaust valve is open and the helium cylinder valve is closed, the airship will descend.

[0042] In some embodiments of the present invention, the airship further includes a camera 6, which is respectively disposed below the head and the tail of the airship body 1. The camera 6 is connected to the ground remote control system via a wireless signal and is used to transmit the de-icing image information back to the ground remote control system.

[0043] In practical implementation, in this embodiment, one camera 6 is installed at the front and one at the rear of the airship. The cameras 6 support wide-angle shooting, have adjustable rotation angles, and possess image stabilization and waterproof / dustproof capabilities. The front camera monitors cable icing and transmits images in real time; the rear camera monitors the de-icing effect to ensure work quality. Figure 7 As shown.

[0044] like Figure 8 As shown, in this embodiment, a mechanical claw 7 is installed at both the front and rear of the airship below its base. The mechanical claw 7 is pincer-shaped and can grip the cable 9 during de-icing, preventing the cable 9 from shaking violently. The mechanical claw 7 is normally open when not powered and closes only when powered on, ensuring that the mechanical claw will not fail to open and thus prevent the airship from becoming trapped when the power is insufficient. The gripping part of the mechanical claw 7 is made of tetrafluoroethylene or nylon.

[0045] In some embodiments of the present invention, the airship further includes a basket 10, which is fixedly disposed below the airship body 1 and is used to carry a battery and a signal receiving and control device. The battery powers the camera 6, the mechanical claw 7, and the de-icing device 8.

[0046] The de-icing process in this embodiment of the invention includes the following six steps: 1. Takeoff: The valve of the helium cylinder under the airship opens, the air pressure inside the airship's gasbag increases, the buoyancy increases accordingly, and the airship begins to rise. This process can be observed through a camera to monitor the airship's ascent altitude. After reaching a suitable position, the helium cylinder valve closes, and the airship is in a hovering state.

[0047] 2. Positioning: With the airship in a suspended state, the power propellers on the airship provide power, and the steering propellers adjust the direction. Ground operators control the movement of the airship based on the images transmitted back by the camera, so that the de-icing device is directly above the ice-covered cable. Then, by coordinating the helium cylinder valve and the airship exhaust valve, the airship is finely adjusted up and down so that the de-icing device's ice-breaking rod just makes contact with the ice-covered cable.

[0048] 3. Fixing: Once the ice-removing stick makes contact with the ice-covered cable, the relative height between the mechanical claw and the cable is adjusted using the lifting device, allowing the claw to grip the cable firmly. When energized, the mechanical claw closes, securing the cable and thus fixing the position of the de-icing device.

[0049] 4. De-icing: Afterward, the airship's propellers begin providing thrust, moving the airship along the cable. The de-icing system starts operating, with cameras monitoring the process in real time. Ground operators can control the de-icing system's operation based on the monitoring footage. Additionally, the solar panels on top of the airship can supplement power to the motors, reducing the strain on the onboard batteries and extending flight time.

[0050] 5. Descent: After the de-icing process is completed, the de-icing device stops operating, the mechanical gripper is de-energized, opens, and retracts. After the airship moves to a suitable position via its propellers, the airship's exhaust valve opens, and the airship descends, finally landing smoothly on the inflatable cushion on the ground.

[0051] 6. Storage: During winter operations, the airship is typically stored temporarily in a warehouse after being placed under an inflatable mat. After the icing period ends in early spring, all the helium in the airship can be drained, and the de-icing equipment and other mechanical devices can be dried and maintained before being stored in a warehouse for a long period until reassembled before the following winter.

[0052] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cable de-icing device based on an airship, characterized in that, include: An airship, comprising a streamlined airship body and a helium cylinder fixedly disposed below the airship body, wherein the gas pipe of the helium cylinder is connected to the gas bag of the airship body, and the valve on the gas pipe of the helium cylinder and the gas bag exhaust valve of the airship body cooperate with each other through opposite opening and closing states to realize the take-off and landing of the airship. Mechanical claws are provided on the lower front and lower rear sections of the airship body for gripping the cable; A de-icing device is installed below the airship body and between the two mechanical claws. The de-icing device includes a mounting base and two de-icing sub-units. The mounting base is fixedly suspended below the airship body, and the two de-icing sub-units are fixed on the mounting base along the airship's direction of travel. Each de-icing sub-unit includes a motor and two rotating shafts. The motor's power shaft is connected to the two rotating shafts via belt drive. Each rotating shaft is axially connected to multiple ice-breaking heads. Each ice-breaking head includes a turntable and a multi-lobed structure circumferentially fixed on the turntable. Each lobe is equipped with an arc-shaped ice-breaking rod, which drives the ice-breaking head to rotate via the rotating shaft, and the ice-breaking rod on the ice-breaking head removes the ice from the cables.

2. The cable de-icing device based on an airship according to claim 1, characterized in that, The ice-breaking head includes a petal structure connecting seat, which is fixed on the rotating shaft. Multiple ice-breaking rods are respectively hinged to the petal structure connecting seat, and the diameter of the hinge hole at the bottom of the ice-breaking rod is larger than the diameter of the hinge bolt, so that the ice-breaking rod can rotate freely around the hinge bolt, and the positions of the ice-breaking rods between adjacent ice-breaking heads are staggered.

3. The cable de-icing device based on an airship according to claim 1, characterized in that, The two rotating shafts on each of the de-icing sub-units rotate in the same direction, and the rotating shafts on the two de-icing sub-units rotate in opposite directions.

4. The cable de-icing device based on an airship according to claim 1, characterized in that, The popsicles are made of polytetrafluoroethylene or nylon.

5. The cable de-icing device based on an airship according to claim 1, characterized in that, The airship also includes solar panels, a plurality of which are disposed on the top surface of the airship body to provide additional power to the airship.

6. The cable de-icing device based on an airship according to claim 1, characterized in that, The airship also includes a steering propeller, which is located at the tail of the airship body and is a set of three-bladed fixed-pitch propellers.

7. The cable de-icing device based on an airship according to claim 1, characterized in that, The airship also includes a power propeller, which is located at the tail of the airship body and is a set of three-bladed fixed-pitch propellers.

8. The cable de-icing device based on an airship according to claim 1, characterized in that, The airship also includes cameras, which are respectively installed below the head and tail of the airship body. The cameras are connected to the ground remote control system via wireless signals and are used to transmit de-icing image information back to the ground remote control system.

9. The cable de-icing device based on an airship according to claim 1, characterized in that, The airship also includes a basket, which is fixedly installed below the main body of the airship and is used to carry batteries and signal receiving and control devices.

10. The cable de-icing device based on an airship according to claim 1, characterized in that, The mechanical gripper is normally open when not powered on and closed when powered on.

Images