An unmanned aerial vehicle based wind turbine blade de-icing device and method

Abstract

The application provides a fan blade deicing device and method based on a UAV, the deicing device comprising a UAV flight platform, a vibration isolation platform connected to the UAV flight platform, an intelligent image recognition module connected to the UAV flight platform, a high-frequency adjustable excitation deicing device connected to the vibration isolation platform, and a self-adaptive holding mechanism connected to the high-frequency adjustable excitation deicing device. Through a deep integration technology path, the scheme innovatively combines intelligent sensing, curved surface self-adaptive holding, high-frequency adjustable excitation, special vibration isolation, and closed-loop feedback control, and systematically solves the technical bottlenecks of traditional deicing methods in special working conditions of fan blades, such as inaccurate identification, unstable operation, high energy consumption, and vibration interference, realizes the intelligentization, precision, and high efficiency of fan blade deicing, and provides a green, efficient, and reliable "all-weather" deicing solution for wind power blades.

Description

Technical Field

[0001] This invention relates to the field of de-icing device technology, and more specifically, to a wind turbine blade de-icing device and method based on a drone. Background Technology

[0002] In high-altitude, high-latitude regions of my country rich in wind energy resources, wind turbine blades are highly susceptible to icing during winter. Icing significantly reduces the aerodynamic performance of the unit, causing a 1% to 10% loss in annual power generation, and in extreme climate areas, even a 20% to 50% reduction in electrical efficiency. It can also lead to serious safety accidents such as unit vibration, shutdown, and even blade breakage. Existing de-icing technologies have gone through two development stages, but both have fundamental technical shortcomings:

[0003] Traditional de-icing technologies (including gas-heated de-icing, electric heating, and manual spraying of de-icing agents) are widely used, but they have inherent drawbacks such as huge energy consumption, low efficiency, serious environmental pollution, and high risks of high-altitude operations, making it difficult to meet the needs of the modern wind power industry for green and efficient operation and maintenance.

[0004] While drone de-icing technology has improved the safety of high-altitude operations to some extent, it still has the following key technical limitations when dealing with the special scenario of wind turbine blade de-icing: Existing drones typically operate by hovering, which is unstable under high-altitude wind loads and cannot provide a stable working platform. Drones use vibrators for de-icing, and the high-frequency vibrations generated by the vibrators are transmitted to the drone body, causing vibration interference that cannot ensure the stable operation of the flight control system and other sensing systems. The perception system is disconnected from the execution process. Although perception technologies such as image recognition have been introduced, they are mostly at the algorithm level and have not formed an effective closed loop with the mechanical actuators, resulting in low de-icing efficiency. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a wind turbine blade de-icing device based on a drone to solve the above problems.

[0006] The present invention adopts the following solution: This application provides a wind turbine blade de-icing device based on a drone, including a drone flight platform, a vibration isolation platform connected to the drone flight platform, an identification module connected to the drone flight platform, a high-frequency adjustable vibration de-icing device connected to the vibration isolation platform, and an attachment mechanism connected to the high-frequency adjustable vibration de-icing device; wherein... The vibration isolation platform includes a first fixed plate and a second fixed plate connected to the UAV flight platform, with an elastic layer disposed between the first fixed plate and the second fixed plate; a plurality of elastic elements are disposed below the second fixed plate and connected to the high-frequency adjustable vibration de-icing device. The identification module is used to identify the wind turbine blades and the ice layer on them, so that the drone can fly to the de-icing area; the attachment mechanism is used to attach and fix the wind turbine blades, providing a stable operating environment for the high-frequency adjustable vibration de-icing device.

[0007] Furthermore, the vibration isolation platform is connected to the UAV flight platform via a telescopic rod.

[0008] Furthermore, the first fixing plate and the second fixing plate are made of steel plates, the elastic layer is made of rubber or silicone, and the elastic element is made of spring.

[0009] Furthermore, the excitation plate of the high-frequency adjustable vibration de-icing device is serrated.

[0010] Furthermore, the gripping mechanism includes two opposing grippers, one end of which is hinged to the high-frequency adjustable vibration de-icing device, which can be driven by a first drive to bring the other end closer or further apart.

[0011] Furthermore, a buffer pad is provided at the other end of the gripper; a second drive is provided at the other end of the gripper to move the buffer pad.

[0012] Furthermore, the gripper includes a first steel arm connected to the outer shell of the high-frequency adjustable vibration de-icing device, which can be flipped by the first drive; a second steel arm is hinged to the other end of the first steel arm, which can be flipped by the third drive; a pin is provided at the other end of the second steel arm, which can be rotated by the fourth drive, and the second drive is connected to the pin.

[0013] Furthermore, the identification module includes a high-definition camera and an infrared thermal imager.

[0014] Furthermore, it includes the following steps: Upon receiving the command, the drone autonomously flies to the vicinity of the target wind turbine blades and maintains a safe distance; the identification module begins to scan the blades from all directions; the intelligent control unit analyzes and extracts information from the collected images in real time; it determines whether there is ice accumulation, and if ice accumulation is present, it outputs the precise location coordinates of the ice accumulation area and information about the ice layer; if no ice accumulation is detected, the system ends the mission and returns to base. When it is determined that there is ice accumulation and de-icing is required, the control unit controls the drone to fly directly above the target area and slowly approach the blade surface, and then uses the attachment mechanism to hold it tightly to fix it to the wind turbine blade. Based on the identified ice layer information, the control unit adaptively sets the initial operating frequency and amplitude of the high-frequency adjustable vibration de-icing device, and the vibrator starts to perform de-icing operations. After completing the pre-set vibration de-icing operation, the attachment mechanism releases the drone and moves it backward slightly. The recognition module scans the area that has just been worked on again and performs image recognition and comparative analysis. If the recognition result shows that the ice layer has been completely removed or the residual amount is below the safety threshold, the de-icing is determined to be successful, and the drone flies away from the blade to prepare for the next area or return to base. If the recognition result shows that there is still significant ice residue, the system automatically enters the closed-loop feedback adjustment mode and repeats the above steps until the de-icing effect meets the standard.

[0015] Furthermore, the intelligent control unit performs real-time analysis on the acquired images, delineates the blade area using image segmentation technology, and then extracts the texture, edge, and infrared temperature features of the ice layer; and estimates the ice layer thickness by comparing it with a preset ice condition database; the initial operating frequency and amplitude of the high-frequency adjustable vibration de-icing device are adaptively set according to the identified and estimated ice layer thickness.

[0016] By adopting the above technical solution, the present invention can achieve the following technical effects: This solution innovatively combines intelligent sensing, curved surface adaptive attachment, high-frequency adjustable excitation, dedicated vibration isolation, and closed-loop feedback control through a deeply integrated technical approach. It systematically solves the technical bottlenecks faced by traditional de-icing methods under special operating conditions of wind turbine blades, such as inaccurate identification, unstable operation, excessive energy consumption, and vibration interference. It realizes intelligent, precise, and efficient de-icing of wind turbine blades, providing wind farms with a green, efficient, and reliable "all-weather" de-icing solution. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a wind turbine blade de-icing device based on an unmanned aerial vehicle (UAV) according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the identification module of a wind turbine blade de-icing device based on a drone according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a high-frequency adjustable vibration de-icing device for wind turbine blades based on an unmanned aerial vehicle (UAV) according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of a vibration isolation platform for a wind turbine blade de-icing device based on an unmanned aerial vehicle (UAV) according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the attachment mechanism of a wind turbine blade de-icing device based on a drone according to an embodiment of the present invention; Icons: 1. Unmanned Aerial Vehicle Flight Platform; 2. Identification Module; 3. High-Frequency Adjustable Vibration De-icing Device; 4. Holding Mechanism; 5. Vibration Isolation Platform; 6. Intelligent Control Unit; 7. High-Definition Camera; 8. Infrared Thermal Imager; 9. Vibrator; 10. Vibration Plate; 11. First Steel Arm; 12. Second Steel Arm; 13. First Pin; 14. Second Pin; 15. Buffer Pad; 16. Second Drive; 17. Telescopic Rod; 18. First Steel Plate; 19. Rubber Plate; 20. Second Steel Plate; 21. Spring; 22. First Connecting Plate; 33. Second Connecting Plate; 44. Second Connecting Plate. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example Combination Figures 1 to 5 As shown, this embodiment provides a wind turbine blade de-icing device based on a drone, including a drone flight platform 1, a vibration isolation platform 5 connected to the drone flight platform 1, an identification module 2 connected to the drone flight platform 1, a high-frequency adjustable vibration de-icing device 3 connected to the vibration isolation platform 5, and an attachment mechanism 4 connected to the high-frequency adjustable vibration de-icing device 3; wherein, The vibration isolation platform 5 includes a first fixed plate and a second fixed plate connected to the UAV flight platform 1, with an elastic layer disposed between the first fixed plate and the second fixed plate; a plurality of elastic elements are disposed below the second fixed plate and connected to the high-frequency adjustable vibration de-icing device 3. The identification module 2 is used to identify the wind turbine blades and the ice layer information on them, so that the drone can fly to the de-icing area; the attachment mechanism 4 is used to attach and fix the wind turbine blades, providing a stable working environment for the high-frequency adjustable vibration de-icing device 3.

[0021] In this embodiment, the UAV flight platform 1 serves as the system's mobile carrier. It is a high-load, high-stability quadcopter UAV platform with a frame made of carbon fiber composite material to ensure structural strength and reduce weight. The flight platform incorporates a flight control system, a high-precision GPS module, and a large-capacity battery, ensuring its autonomous flight, precise positioning, and long-endurance operation capabilities.

[0022] like Figure 2 As shown, the identification module 2 serves as the system's "eyes." This module, suspended beneath the drone's fuselage via a gimbal stabilization mechanism, includes a 20-megapixel visible light high-definition camera 21 and an infrared thermal imager 22. The visible light camera captures high-definition images of the blade surface, identifying the shape, area, and texture features of the ice layer; the infrared thermal imager detects subtle differences in blade surface temperature to assist in determining the ice layer and its thickness. The acquired image data is transmitted in real-time to the intelligent control unit 6 for processing. Through the integrated identification module 2, the system can autonomously determine the ice accumulation status, locate the work area, and evaluate the de-icing effect, achieving a closed-loop intelligent operation from "identification-decision-execution-verification," significantly reducing reliance on human experience and improving response speed and operational accuracy.

[0023] like Figure 4 As shown, the vibration isolation platform 5 serves as the "protective layer" of the system. In this embodiment, a composite vibration isolation scheme is adopted, consisting of a composite product made by bonding and vulcanizing a middle layer of rubber sheet 53 with the first steel plate 52 and the second steel plate 54 on both sides, and connecting four rigid springs 55 below, forming a combined energy dissipation device. The first steel plate 52 is provided with a first connecting plate 56 and is connected to the UAV flight platform 1 through a telescopic rod 51; the four rigid springs 55 are connected to the high-frequency adjustable vibration de-icing device 3 through a second connecting plate 57. This design can effectively attenuate and absorb the high-frequency vibration generated by the exciter 31, ensuring that the vibration amplitude transmitted to the UAV fuselage is reduced to a safe range, thereby ensuring the stability of the flight control system, sensors, and fuselage.

[0024] like Figure 3As shown, the high-frequency adjustable vibration de-icing device 3 serves as the "execution terminal" of the system. This device includes a vibrator 31 driven by a brushless DC motor, whose frequency can be precisely adjusted within the range of 20Hz to 200Hz to accommodate ice layers of varying thicknesses. The vibrator 31 drives a sawtooth-shaped vibration plate 32 to vibrate at high frequency, directly transferring vibrational energy to the ice layer interface, thus achieving de-icing. This purely physical high-frequency mechanical vibration de-icing method completely eliminates the use of traditional chemical de-icing agents, avoiding potential pollution and corrosion to the environment and fan structure. Compared to active de-icing technologies such as hot air and electric heating, this method concentrates energy at the ice layer destruction interface, resulting in extremely low energy consumption and effectively solving the industry pain point of "low energy efficiency" in traditional thermal de-icing.

[0025] like Figure 5 As shown, the gripping mechanism 4 serves as the "anchor point" of the system. This mechanism is mounted on the outer shell of the vibration device or on a rigid support at its bottom. In this embodiment, the gripping mechanism 4 includes two opposing grippers, one end of which is hinged to the outer shell of the high-frequency adjustable vibration de-icing device 3. The grippers can be moved closer or further apart by a first drive. Specifically, the grippers include a first steel arm 41 connected to the outer shell of the high-frequency adjustable vibration de-icing device 3, which can be flipped by the first drive; the other end of the first steel arm 41 is hinged to a second steel arm 42 by a first pin 43, which can be flipped by a third drive; the other end of the second steel arm 42 is provided with a second pin 44, which can be rotated by a fourth drive. The pin is connected to a second drive 46 for moving the buffer pad 45. The above drive can be a motor. Through the setting of the first steel arm 41, the second steel arm 42 and the second pin 44, the entire gripper can achieve a wider range of movement adjustment, realize active clamping of the leading edge or web of the wind turbine blade, and achieve stable, non-destructive and reliable adaptive attachment. The end is provided with a buffer pad 45 to adapt to the slight curvature changes of the blade surface.

[0026] The innovative attachment mechanism 4 transforms the drone from "aerial hovering operation" to "blade surface fixed operation," fundamentally overcoming the problem of drone instability under high-altitude wind loads and providing a stable operating platform for efficient de-icing. Furthermore, with the dual protection of attachment fixation and vibration isolation, the excitation energy is efficiently and concentratedly transferred to the ice layer, exhibiting excellent breaking effect on thick ice layers and significantly improving the thoroughness and efficiency of de-icing.

[0027] The intelligent control unit 6 serves as the "brain" of the system. Integrated within the UAV's fuselage, its core is a high-performance embedded processor. It runs an image recognition algorithm developed based on a deep learning framework, used for real-time analysis of data transmitted back from the recognition module 2. Simultaneously, it integrates the flight controller, the attachment mechanism 4 controller, the vibrator 31 driver, and a communication module, achieving unified control and decision-making for the entire system.

[0028] This embodiment also provides a de-icing method, including the following steps: Step 1: Initial Scan and Precise Ice Accuracy Identification After the operator issues the command, the drone autonomously flies to the vicinity of the target wind turbine blades, maintaining a safe distance. Identification module 2 begins a comprehensive scan of the blades, providing a rough assessment of the de-icing status. The algorithm in the intelligent control unit 6 analyzes the acquired images in real time. First, it uses image segmentation technology to delineate the blade area, then extracts the texture, edges, and infrared temperature features of the ice layer. By comparing this data with a pre-set ice condition database, the algorithm determines whether ice accumulation exists and outputs the precise location coordinates of the ice-covered area and an estimated ice thickness level (e.g., thin ice, medium-thick ice, heavy ice). If no ice accumulation is detected, the system terminates the mission and returns to base.

[0029] Step 2: Autonomous Localization and Adaptive Surface Hug: Once de-icing is confirmed, the control unit plans the optimal flight path to the target de-icing area. After the drone flies directly above the target area, it slowly approaches the blade surface until the attachment mechanism 4 contacts the blade. Subsequently, the control unit sends an activation command to the attachment structure, causing the attachment mechanism 4 to mechanically clamp and firmly fix the drone to the blade surface. At this time, the drone's rotor speed can be reduced or enter an idling state, used only for attitude assistance, and stability is mainly achieved by the adhesion force.

[0030] Step 3: High-frequency adaptive vibration de-icing: After confirming a secure attachment, the control unit adaptively sets the initial operating frequency and amplitude of the vibrator 31 based on the identified ice thickness level. For example, for thin ice layers, a higher frequency (e.g., 150Hz) and a smaller amplitude are used for rapid breaking; for thick ice layers, a lower frequency (e.g., 50Hz) and a larger amplitude are used to transfer more energy. The vibrator 31 is activated, and the vibration energy acts directly on the ice-blade interface through the vibration transmission plate, breaking the adhesion structure of the ice layer from the inside. During this process, the vibration isolation platform 5 ensures that most of the vibration is isolated, and the UAV body remains stable.

[0031] Step 4: Effectiveness review and closed-loop feedback: After completing the pre-set vibration operation, the control unit releases the gripping mechanism 4, and the drone moves backward slightly. The identification module 2 scans the area that has just been worked on again. The control unit compares and analyzes the image after de-icing with the image before de-icing. If the identification result shows that the ice layer has been completely removed or the residual amount is below the safety threshold, the de-icing is considered successful, and the drone flies away from the blade to prepare for the next area or return to base. If the identification result shows that there is still significant ice residue, the system automatically enters the closed-loop feedback adjustment mode. The control unit will automatically adjust the vibration parameters (such as increasing the frequency, increasing the amplitude, or extending the operation time) according to the residual ice layer, and control the drone to perform the gripping and vibration steps (2-3) again until the de-icing effect meets the standard.

[0032] This application presents a drone-based wind turbine blade de-icing device that integrates functions such as identification, attachment, vibration excitation, and vibration isolation. It features a compact structure, high degree of automation, and can be operated remotely by a single person, significantly reducing the safety risks and maintenance costs of manual de-icing at high altitudes. It provides wind farms with an all-weather, green, and highly efficient de-icing solution, possessing broad engineering application prospects and significant comprehensive economic benefits.

[0033] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions that fall within the scope of the present invention are within the scope of protection of the present invention.

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

Claims

1. A wind turbine blade de-icing device based on an unmanned aerial vehicle (UAV), comprising an UAV flight platform (1), characterized in that, A vibration isolation platform (5) connected to the UAV flight platform (1), an identification module (2) connected to the UAV flight platform (1), a high-frequency adjustable vibration de-icing device (3) connected to the vibration isolation platform (5), and an attachment mechanism (4) connected to the high-frequency adjustable vibration de-icing device (3); wherein, The vibration isolation platform (5) includes a first fixed plate and a second fixed plate connected to the UAV flight platform (1), with an elastic layer between the first fixed plate and the second fixed plate; a plurality of elastic elements are provided below the second fixed plate and connected to the high-frequency adjustable vibration de-icing device (3); The identification module (2) is used to identify the wind turbine blades and the ice layer information on them so that the UAV can fly to the de-icing area; the attachment mechanism (4) is used to attach and fix the wind turbine blades to provide a stable working environment for the high-frequency adjustable vibration de-icing device (3).

2. The wind turbine blade de-icing device based on a drone according to claim 1, characterized in that, The vibration isolation platform (5) is connected to the UAV flight platform (1) via a telescopic rod (51).

3. The unmanned aerial vehicle-based wind turbine blade de-icing device according to claim 1 or 2, characterized in that, The first fixing plate and the second fixing plate are made of steel plates, the elastic layer is made of rubber or silicone, and the elastic element is a hard spring (55).

4. The unmanned aerial vehicle-based wind turbine blade de-icing device according to claim 1, characterized in that, The vibration plate (32) of the high-frequency adjustable vibration de-icing device (3) is serrated.

5. The unmanned aerial vehicle-based wind turbine blade de-icing device according to claim 1, characterized in that, The gripping mechanism (4) includes two opposing grippers with one end hinged to the high-frequency adjustable vibration de-icing device (3), which can be driven by a first drive to move the other end closer or further apart.

6. The unmanned aerial vehicle-based wind turbine blade de-icing device according to claim 5, characterized in that, The other end of the gripper is provided with a buffer pad (45); the other end of the gripper is provided with a second drive (46) for driving the buffer pad (45) to move.

7. The unmanned aerial vehicle-based wind turbine blade de-icing device according to claim 6, characterized in that, The gripper includes a first steel arm (41) connected to the outer shell of the high-frequency adjustable vibration de-icing device (3), which can be flipped by the first drive; the other end of the first steel arm (41) is hinged to a second steel arm (42), which can be flipped by the third drive; the other end of the second steel arm (42) is provided with a pin, which can be rotated by the fourth drive, and the second drive (46) is connected to the pin.

8. The unmanned aerial vehicle-based wind turbine blade de-icing device according to claim 7, characterized in that, The identification module (2) includes a high-definition camera (21) and an infrared thermal imager (22).

9. A de-icing method, wherein the de-icing is performed using a wind turbine blade de-icing device based on a drone as described in any one of claims 1-8, characterized in that, Includes the following steps: The command is given and the drone autonomously flies to the vicinity of the target wind turbine blade and maintains a safe distance; the identification module (2) begins to scan the blade in all directions; the intelligent control unit (6) analyzes the collected images in real time and extracts information; it determines whether there is ice accumulation, and if there is ice accumulation, it outputs the precise location coordinates of the ice accumulation area and the information of the ice layer; if no ice accumulation is detected, the system ends the mission and returns to base. When it is determined that there is ice accumulation and it is necessary to remove ice, the control unit controls the drone to fly directly above the target area and slowly approach the blade surface, and then uses the attachment mechanism (4) to hold it tightly to fix it to the wind turbine blade; The control unit adaptively sets the initial operating frequency and amplitude of the high-frequency adjustable vibration de-icing device (3) based on the ice layer information obtained from the identification, and the vibrator (31) starts to carry out the de-icing operation. After completing the pre-set duration of vibration de-icing operation, the attachment mechanism (4) releases the drone and moves it backward slightly; the identification module (2) scans the area that has just been operated on again and performs identification and comparative analysis on the image; if the identification result shows that the ice layer has been completely removed or the residual amount is lower than the safety threshold, the de-icing is determined to be successful, the drone flies away from the blade, and prepares to operate on the next area or return to base; if the identification result shows that there is still significant ice residue, the system automatically enters the closed-loop feedback adjustment mode and repeats the above steps until the de-icing effect meets the standard.

10. The de-icing method according to claim 9, characterized in that, The intelligent control unit (6) will perform real-time analysis on the acquired images, delineate the leaf area through image segmentation technology, and then extract the texture, edge and infrared temperature features of the ice layer; The ice thickness is estimated by comparing it with a preset ice condition database; the initial operating frequency and amplitude of the high-frequency adjustable vibration de-icing device (3) are adaptively set according to the estimated ice thickness.

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