Intelligent deicing device for medium and high voltage transmission line

Abstract

The application discloses a kind of medium-voltage transmission line intelligent deicing device, comprising: main frame, bottom is provided with slide rail, slide rail is perpendicular to wire;Self-adapting clamping assembly, including two groups of positioning wheel groups respectively arranged in the two sides of wire, the top of positioning wheel group is provided with the sliding block for sliding on slide rail, positioning wheel group is connected with main frame by elastic member;Walking assembly, setting in main frame, walking assembly includes walking motor and power wheel, power wheel is linked with walking motor by power transmission belt, and power wheel is set above wire;Deicing assembly, setting in the side of main frame facing advancing direction, deicing assembly includes deicing motor and ice-breaking rope fixedly arranged on the output shaft of deicing motor, and ice-breaking rope is set above wire;Sensing and control assembly, including probe, main control module and drive circuit, main control module is electrically connected with walking motor, deicing motor and probe respectively by drive circuit.

Description

Technical Field

[0001] This application relates to the field of power operation and maintenance equipment technology, specifically to an intelligent de-icing device for medium and high voltage transmission lines. Background Technology

[0002] Icing on transmission lines has always been a major hidden danger to the safe operation of power systems, especially in high-altitude and cold regions and during winter rain and snow. According to the "White Paper on Icing Monitoring and De-icing Technology for Transmission Lines" (2023 Edition) released by the State Grid Corporation of China, icing on transmission lines can lead to line galloping, line breakage, tower collapse, and even large-scale power outages. In recent years, with the development of intelligent robot technology, transmission line de-icing technology has shifted from traditional manual de-icing, thermal de-icing, and mechanical de-icing to automation and intelligence. In existing technical solutions, domestic and foreign transmission line de-icing robots mainly use robotic arms to hold the conductors and remove ice by rotating impact heads or cutting tools. However, the overall technology still has many shortcomings, especially in the protection of conductors, the intelligence of de-icing strategies, and the prevention of secondary icing, where breakthroughs have not yet been achieved. Mechanical de-icing technology uses physical external forces (such as vibration, impact, and cutting) to break and remove the ice. However, in practical applications, existing de-icing robots still have certain shortcomings: firstly, they can damage the lines to some extent: existing technologies mostly use rigid rollers, scrapers, or impact heads to directly contact the conductors. During de-icing, rigid components can easily scratch, indent, or wear the surface of the wires. Especially when the ice layer is thin or the wire surface is uneven, the impact of the rigid de-icing head is difficult to buffer, and long-term use will reduce the wires' corrosion resistance and lifespan. Secondly, there is a lack of adaptive adjustment capabilities: although existing mechanical de-icing robots have vision recognition modules, many systems only "see" or "alarm," failing to fully achieve real-time dynamic closed-loop adjustment of "vision-motor speed-walking speed," often operating at constant power and constant speed. They cannot sense the thickness and hardness of the ice. In thin ice areas, excessive power leads to energy waste and ineffective vibration, while in thick ice areas, insufficient power results in incomplete de-icing. Thirdly, there is a lack of measures to prevent secondary icing: current robots almost exclusively focus on physical de-icing, but after the operation, due to the persistently low ambient temperature, the lines quickly re-ice, often requiring de-icing again in a short period. Such repeated operations affect the lifespan of the cables and the de-icing robot. Therefore, further research is needed. Summary of the Invention

[0003] The purpose of this application is to provide an intelligent de-icing device for medium and high voltage transmission lines, and the specific technical solution is as follows:

[0004] A smart de-icing device for medium- and high-voltage transmission lines includes: a main frame with a slide rail at its bottom, the slide rail being perpendicular to the power line; an adaptive clamping assembly comprising two sets of positioning wheels respectively disposed on both sides of the power line, each positioning wheel set having a slider at its top for sliding on the slide rail, the positioning wheels being connected to the main frame via an elastic element, enabling the positioning wheels to move along the slide rail direction while overcoming the pressure of the elastic element; and a traveling assembly disposed within the main frame, comprising a traveling motor and a drive wheel, the drive wheel being linked to the traveling motor via a power transmission belt. Above the power line, it is used to drive the entire device to move along the power line when rotating; the de-icing assembly is set on the side of the main frame facing the direction of travel. The de-icing assembly includes a de-icing motor and an ice-breaking rope fixedly set on the output shaft of the de-icing motor. The ice-breaking rope is set above the power line and is used to whip the ice on the power line when rotating; the sensing and control assembly includes a probe, a main control module and a drive circuit. The main control module is electrically connected to the walking motor, the de-icing motor and the probe through the drive circuit, and is used to control the operating power of the de-icing motor and the walking motor according to the data of the thickness of the ice on the power line transmitted back by the probe.

[0005] It also includes: a vibration device, which is set on the main frame and is used to create cracks between the ice layer and the surface of the wire under high-frequency micro-vibration to reduce adhesion. The vibration device is electrically connected to the main control module through a drive circuit and is used to control the vibration frequency of the vibration device according to the data of the ice thickness of the wire transmitted by the probe.

[0006] It also includes: a spraying assembly, which is set on the side of the main frame facing away from the forward direction. The spraying assembly includes a water tank, a water pump and a drip pipe. There are two sets of water tanks, which are respectively suspended below two sets of positioning wheels. The water pump is set on the water tank. The drip pipe is set through the water pump. One end of the drip pipe is located inside the water tank and the other end is located above the power line. It is used to spray the liquid (anti-icing and snow coating) in the water tank onto the power line.

[0007] A nozzle is installed at one end of the drip pipe above the wire to spray the liquid in the tank more evenly onto the wire. The spraying assembly also includes a brush, which has a fixed end and a brush end. The fixed end is fixedly set on the side of the positioning wheel assembly facing away from the forward direction, and the brush end contacts the wire to spread the sprayed liquid evenly and clean up any remaining ice fragments after de-icing.

[0008] Two sets of water tanks are symmetrically arranged and form a V-shaped or conical space on the side facing the power line. This is used to balance the entire device on both sides of the power line, so as to automatically correct the position of the power line during the forward movement and ensure that the power line can smoothly enter the subsequent de-icing device and prevent deviation.

[0009] The walking assembly also includes a limit wheel, which is located next to the drive wheel and is used to guide the power line into the de-icing area to ensure the relative position of the ice-breaking rope and the power line is stable.

[0010] Two probes are configured, one facing the direction of travel and the other facing away from the direction of travel, to monitor data before and after de-icing, respectively.

[0011] The main control module is equipped with the YOLOV7 target detection algorithm, which is used to identify the thickness, distribution and cleanliness after de-icing based on the wire images collected in real time by the probe.

[0012] The ice-breaking rope is made of high-toughness polymer rope to prevent damage from hard contact with power lines.

[0013] The beneficial effects of this application lie in its integration of a composite de-icing mechanism combining "high-frequency micro-vibration pre-loosening + flexible material rotational impact." This mechanism first reduces the adhesion between the ice layer and the conductor using a vibration motor, then employs high-strength fiber ropes and other flexible materials to break the ice at high speed, achieving efficient ice removal. Simultaneously, it incorporates an adaptive clamping adjustment structure and a rolling friction-type walking mechanism, balancing flexible line protection, adaptability to operating conditions, and energy consumption control. Based on a control system, a real-time closed-loop "perception-decision-execution" link is constructed, equipped with a YOLOv7 target detection vision system. This optimizes the coupling logic between visual recognition and motion execution, overcoming bottlenecks in low-latency communication and real-time image processing technologies. Furthermore, it introduces fault self-diagnosis and emergency adjustment functions to achieve adaptive intelligent de-icing. The YOLOv7 target detection vision system can acquire real-time images of the power transmission cable surface, accurately identifying ice thickness, distribution range, and ice type, providing precise and timely data support for subsequent operational adjustments. An integrated anti-icing and snow-recycling coating spraying and recycling system optimizes the structural design of the anti-icing and snow-recycling coating storage system, innovatively realizing an integrated "de-icing-detection-spraying" operation process, constructing a closed-loop operation that effectively suppresses secondary icing of power lines from the source. During operation, after the vision system confirms that the power line de-icing meets the standards, the anti-icing and snow-recycling coating spraying and recycling system automatically and synchronously starts the spraying operation, forming a long-lasting hydrophobic protective film on the surface of the power line, ensuring a hydrophobic angle of ≥110°. Simultaneously, this design significantly reduces the frequency of drone deployment and equipment wear, saving an additional 200,000 yuan in equipment maintenance costs annually per 100 kilometers of line, demonstrating significant economic benefits. The structural optimization of the anti-icing and snow-recycling coating storage system achieves a synergistic balance between system lightweighting and sealing, with the spraying volume precisely controlled between 0.5-1L / km, effectively avoiding coating waste and preventing coating contamination of the de-icing mechanism. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the main view structure of this application;

[0015] Figure 2 This is a schematic diagram of the three-dimensional structure of this application;

[0016] The components are: 1-electric wire, 2-main frame, 3-slide rail, 4-walking motor, 5-power transmission belt, 6-power wheel, 7-limit wheel, 8-vibration device, 9-elastic component, 10-ice-breaking rope, 11-de-icing motor, 12-probe head, 13-brush, 14-drip pipe, 15-slider, 16-positioning wheel set, 17-water pump, 18-water tank. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this application. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0018] A smart de-icing device for medium and high voltage transmission lines includes:

[0019] The main frame 2 has a slide rail 3 at its bottom, which is perpendicular to the wire 1. In application, it mainly serves as a support for integrating various components.

[0020] The adaptive clamping assembly includes two sets of positioning wheel groups 16 respectively disposed on both sides of the wire 1. Each positioning wheel group 16 has a slider 15 on its top for sliding on a slide rail 3. The positioning wheel groups 16 are connected to the main frame 2 via an elastic element 9, allowing them to move along the slide rail 3 while overcoming the pressure of the elastic element 9. In application, when encountering changes in wire diameter or obstacles, the wheel groups automatically open or close under the action of the elastic element 9, maintaining a constant clamping force on the wire and preventing slippage or damage to the wire.

[0021] The walking assembly, housed within the main frame 2, includes a walking motor 4 and a drive wheel 6. The drive wheel 6 is linked to the walking motor 4 via a power transmission belt 5 and is positioned above the power cable 1. Its rotation propels the entire device along the power cable 1. A limiting wheel 7 is also included, positioned adjacent to the drive wheel 6, to guide the power cable 1 into the de-icing area, ensuring the relative position of the ice-breaking rope 10 and the power cable 1 remains stable.

[0022] The de-icing assembly is located on the side of the main frame 2 facing the forward direction. It includes a de-icing motor 11 and an ice-breaking rope 10 fixedly mounted on the output shaft of the motor 11. The ice-breaking rope 10 is positioned above the wire 1 and is used to strike the ice on the wire 1 during rotation. The ice-breaking rope 10 is made of high-toughness polymer rope to prevent damage from hard contact with the wire 1. A vibration device 8 is also located on the main frame 2. It is used to create cracks between the ice layer and the surface of the wire 1 under high-frequency micro-vibration to reduce adhesion. The vibration device 8 is electrically connected to the main control module via a drive circuit, which controls the vibration frequency of the vibration device 8 based on the ice thickness data of the wire 1 transmitted back by the probe 12. In application, the vibration device 8 is activated first, generating high-frequency micro-vibration to create micro-cracks between the ice layer and the wire surface, reducing adhesion. Subsequently, the high-speed rotating ice-breaking rope 10 strikes the loosened ice with flexible contact, achieving non-destructive de-icing. The limit wheel 7 is used to guide the wire into the de-icing area to ensure the relative position of the ice-breaking rope 10 and the wire is stable.

[0023] The spraying assembly is located on the side of the main frame 2 facing away from the forward direction. The assembly includes a water tank 18, a water pump 17, and a drip pipe 14. Two sets of water tanks 18 are suspended below two sets of positioning wheels 16. The water pump 17 is mounted on the water tanks 18. The drip pipe 14 passes through the water pump 17, with one end inside the water tank 18 and the other end above the power line 1. It sprays the liquid (anti-icing coating) from the water tank 18 onto the power line 1. A nozzle is located at the end of the drip pipe 14 above the power line 1 to ensure more even spraying of the liquid. The spraying assembly also includes a brush 13, which has a fixed end and a brush end. The fixed end is fixed to the side of the positioning wheels 16 facing away from the forward direction, while the brush end contacts the power line 1. This brush is used to evenly spread the sprayed liquid and remove any remaining ice fragments after de-icing. Two sets of water tanks 18 are symmetrically arranged, forming a V-shaped or conical space on the side facing the wire 1. This ensures the entire device is balanced on both sides of the wire 1, automatically correcting the wire's position during forward movement and ensuring the wire can smoothly enter the subsequent de-icing device, preventing deviation. In application, the water tanks 18 store antifreeze or de-icing fluid, which is connected to a water pump 17 via pipeline. The water pump 17 sprays the liquid evenly onto the wire surface through a drip pipe 14. The brush 13 is located behind the drip pipe 14, used to spread the sprayed liquid evenly and clean up any remaining ice debris after de-icing.

[0024] The sensing and control component includes a probe head 12, a main control module, and a drive circuit. The main control module is electrically connected to the walking motor 4, the de-icing motor 11, and the probe head 12 via the drive circuit. It controls the operating power of the de-icing motor 11 and the walking motor 4 based on the ice thickness data of the wire 1 transmitted by the probe head 12. Two probe heads 12 are configured, one facing the forward direction and the other facing away from the forward direction, to monitor data before and after de-icing, respectively. The main control module incorporates the YOLOv7 target detection algorithm to identify the ice thickness, distribution, and post-de-icing cleanliness based on the real-time images of the wire 1 collected by the probe head 12. In application, the main control chip dynamically adjusts the motor speed, the frequency of the vibration device 8, and the rotation speed of the ice-breaking rope 10 based on the ice thickness data transmitted by the probe head 12, achieving intelligent control of "low speed and low power consumption for thin ice, and high speed and high power for thick ice."

[0025] The following explanation, using real-world examples, further illustrates why this application is easier to understand.

[0026] The intelligent de-icing device for a medium- and high-voltage transmission line disclosed in this application is installed on the transmission line by manual labor or drones. The clamping mechanism self-locks, and the vision system begins scanning the cable. A YOLOv7 sensor identifies the ice thickness and distribution in real time, and the data is transmitted to the main control module (which can use an STM32 microcontroller). The controller adjusts the walking speed and the de-icing motor speed according to the ice thickness, achieving "fast walking and light striking for thin ice, slow walking and heavy striking for thick ice." During the de-icing process, the vision system continuously monitors the de-icing effect. If the target is met, the process proceeds to the next stage; if the target is not met, the de-icing intensity is increased or the process is repeated. After de-icing is completed, the spraying module automatically starts and sprays anti-icing coating.

[0027] To completely solve the core pain points of existing de-icing robots, such as single de-icing method, insufficient wire protection, poor adaptability to complex working conditions, and excessive energy consumption, this invention innovatively integrates a composite de-icing mechanism of "high-frequency micro-vibration pre-loosening + flexible material rotational impact". The vibration motor first reduces the adhesion between the ice layer and the wire, and then high-strength fiber rope and other flexible materials are used to break the ice at high speed, achieving efficient peeling of the ice. At the same time, it is combined with an adaptive clamping adjustment structure and a rolling friction walking mechanism to take into account flexible wire protection, working condition adaptability, and energy consumption control.

[0028] Experimental data shows that for 1-3cm icing conditions, the de-icing efficiency of this invention can reach 60m / h, which is more than 50% higher than existing single rigid de-icing equipment. For thin ice and mixed ice with strong adhesion, it can be efficiently removed without applying high-intensity force, effectively solving the industry pain point of "thin ice is difficult to remove and thick ice is not clean" of traditional equipment. The flexible de-icing material has good elastic buffering characteristics when in contact with the conductor, and can be flexibly compatible with different specifications of transmission lines. After adopting this invention, the surface scratch rate of the conductor is reduced from more than 15% in the existing technology to less than 5%, completely eliminating scratches, indentations and metal fatigue damage to the conductor caused by rigid contact, effectively extending the service life of the conductor by 3-5 years and reducing the cost of cable replacement and maintenance. The integrated design of the rolling friction walking mechanism and the flexible de-icing module can flexibly adapt to the uneven surface of the conductor (such as the anti-vibration hammer) and complex working conditions such as undulations and bends in mountainous lines. The pass rate of this invention in complex lines reaches 95%, effectively solving the problem of jamming and derailment of traditional rigid equipment. Meanwhile, the composite de-icing mechanism adopts a phased operation mode of "pre-loosening + low-intensity impact", which avoids the high-intensity energy waste of traditional rigid de-icing technology from the source.

[0029] Addressing the core pain points of existing technologies, such as the disconnect between vision and execution, energy waste, slow response, and low operational fault tolerance, this invention constructs a real-time closed-loop "perception-decision-execution" link based on an STM32 control system. It incorporates a YOLOv7 target detection vision system, optimizes the coupling logic between visual recognition and motion execution, overcomes bottlenecks in low-latency communication and real-time image processing technologies, and introduces fault self-diagnosis and emergency adjustment functions to achieve adaptive intelligent de-icing. Specifically, the YOLOv7 target detection vision system can acquire real-time images of the power transmission cable surface, accurately identify ice thickness, distribution range, and ice type, providing precise and timely data support for subsequent operational adjustments.

[0030] Experimental data shows that the ice thickness recognition error of this invention is ≤0.5mm, which is 40% higher than that of existing visual inspection modules, and the recognition response time is ≤200ms, effectively solving the problems of low recognition accuracy and slow response of traditional visual modules. The ice data collected by the vision system is fed back to the main control chip in real time, and the main control chip dynamically adjusts the PWM signal to achieve intelligent adaptation between walking speed (0.5-2m / s) and de-icing intensity. In thin ice areas, the equipment automatically reduces the operating power, reducing energy consumption by more than 50% compared with the traditional constant power operation mode. In thick ice areas, the device automatically... The device enhances operational efficiency, achieving a de-icing cleanliness of over 98%, effectively avoiding ineffective vibration and repetitive work. It solves the drawbacks of traditional equipment, such as energy waste and uneven de-icing effects. The fault self-diagnosis and emergency adjustment functions can automatically adjust operating parameters or suspend operation when there are temporary deviations in visual recognition, abnormal load on the de-icing mechanism, or jamming of the walking mechanism, preventing the expansion of equipment failure and damage to wires. The fault tolerance rate of this invention reaches 99%, which is more than 35% higher than that of existing de-icing equipment without closed-loop control. This significantly reduces the frequency of manual intervention and improves the reliability and intelligence level of equipment operation.

[0031] Addressing the core pain points of existing power transmission line de-icing technologies, such as the separation of de-icing and anti-icing functions, frequent secondary icing, high maintenance costs, and insufficient equipment practicality, this invention integrates the ZS-611 anti-icing and snow-repellent coating spraying and recycling system. It optimizes the structural design of the anti-icing and snow-repellent coating storage system and innovatively realizes an integrated "de-icing-detection-spraying" operation process, constructing a closed-loop operation that effectively suppresses secondary icing of conductors from the source. During operation, after the vision system confirms that the conductor de-icing meets the standards, the ZS-611 anti-icing and snow-repellent coating spraying and recycling system automatically and synchronously starts the spraying operation, forming a long-lasting hydrophobic protective film on the conductor surface, ensuring a hydrophobic angle ≥110°. Simultaneously, this design significantly reduces the frequency of drone deployment and equipment wear, saving an additional 200,000 yuan in equipment maintenance costs annually per 100 kilometers of line, demonstrating significant economic benefits. The structural optimization of the anti-icing and snow-degrading coating storage system achieves a synergistic balance between system lightweighting and airtightness. The spraying volume can be precisely controlled between 0.5 and 1 L / km, effectively preventing coating waste and protecting the de-icing mechanism from coating contamination. The ZS-611 anti-icing and snow-degrading coating selected in this invention has been verified through extreme environment simulation tests, demonstrating excellent weather resistance and adhesion. It can stably adapt to complex and variable weather conditions in the field, ensuring operational effectiveness and equipment stability.

[0032] Experimental data shows that in a typical low-temperature and high-humidity environment of -15℃ and 85% relative humidity, the secondary icing cycle of the conductor is extended from 4.25 hours in the existing technology to more than 12.6 hours, an extension of more than 2 times. This effectively blocks the formation of secondary icing at the source and completely solves the problem of traditional de-icing methods that only treat the symptoms, not the root cause. The integrated "de-icing-inspection-spraying" operation process effectively avoids the vicious cycle of "de-icing-icing-re-de-icing," significantly reducing the frequency of equipment deployment and operations. Moreover, the annual maintenance cost of one 100-kilometer transmission line is reduced from 2 million yuan for traditional manual de-icing to 1.2 million yuan, a reduction of more than 40% compared to the maintenance cost of existing de-icing robots. The overall weight of the equipment is 25% lighter than similar integrated de-icing equipment, with the weight controlled within 5 kg, making it easy to deploy and maintain on-site using drones. It can be flexibly adapted to complex operating scenarios such as high altitudes and remote mountainous areas.

[0033] This application, through targeted technological innovation and comprehensive verification using multiple sets of experimental data, has fully solved the core technological limitations of existing power transmission line de-icing robots. It has successfully achieved technological leaps from "single rigid cutting" to "flexible composite ice breaking," from "separation of vision and action" to "perception-decision-execution closed loop," and from "simple de-icing" to "de-icing and prevention combined." The technical effects of each stage are superior to existing technical solutions, and it can effectively meet the needs of complex meteorological conditions, diverse icing patterns, and high-reliability operation and maintenance. It has broad engineering application value.

Claims

1. An intelligent de-icing device for medium and high voltage transmission lines, characterized in that, include: The main frame (2) is provided with a slide rail (3) at the bottom of the main frame (2), and the slide rail (3) is perpendicular to the wire (1); An adaptive clamping assembly includes two sets of positioning wheel sets (16) respectively disposed on both sides of the wire (1). The top of the positioning wheel set (16) is provided with a slider (15) for sliding on the slide rail (3). The positioning wheel set (16) is connected to the main frame (2) through an elastic element (9) to enable the positioning wheel set (16) to move along the slide rail (3) in the direction of overcoming the pressure of the elastic element (9). The walking component is set inside the main frame (2). The walking component includes a walking motor (4) and a power wheel (6). The power wheel (6) is linked to the walking motor (4) through a power transmission belt (5). The power wheel (6) is set above the wire (1) and is used to drive the entire device to walk on the wire (1) when rotating. The de-icing assembly is located on the side of the main frame (2) facing the forward direction. The de-icing assembly includes a de-icing motor (11) and an ice-breaking rope (10) fixedly installed on the output shaft of the de-icing motor (11). The ice-breaking rope (10) is located above the wire (1) and is used to strike the ice on the wire (1) when rotating. The sensing and control component includes a probe (12), a main control module and a drive circuit. The main control module is electrically connected to the walking motor (4), the de-icing motor (11) and the probe (12) through the drive circuit, and is used to control the operating power of the de-icing motor (11) and the walking motor (4) according to the ice thickness data of the wire (1) transmitted back by the probe (12).

2. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 1, characterized in that, Also includes: Vibration device (8), which is set on the main frame (2), is used to cause cracks in the ice layer and the surface of the wire (1) under high frequency micro-vibration to reduce adhesion. The vibration device (8) is electrically connected to the main control module through a drive circuit and is used to control the vibration frequency of the vibration device (8) according to the ice thickness data of the wire (1) transmitted back by the probe (12).

3. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 1, characterized in that, Also includes: The spraying assembly is located on the side of the main frame (2) facing away from the forward direction. The spraying assembly includes a water tank (18), a water pump (17), and a drip pipe (14). The water tank (18) is set in two sets and is suspended below the two sets of positioning wheel sets (16). The water pump (17) is set on the water tank (18). The drip pipe (14) is set through the water pump (17). One end of the drip pipe (14) is located inside the water tank (18), and the other end of the drip pipe (14) is located above the wire (1). It is used to spray the liquid in the water tank (18) onto the wire (1).

4. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 3, characterized in that, The drip pipe (14) is equipped with a nozzle at one end above the wire (1) to spray the liquid in the water tank (18) onto the wire (1) more evenly.

5. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 3, characterized in that, The spraying assembly also includes a brush (13), which includes a fixed end and a brush end. The fixed end is fixedly disposed on the side of the positioning wheel assembly (16) facing away from the forward direction. The brush end is in contact with the wire (1) and is used to spread the sprayed liquid evenly and clean up the ice fragments remaining after de-icing.

6. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 3, characterized in that, The two sets of water tanks (18) are symmetrically arranged and form a V-shaped or conical space on the side facing the wire (1) to make the whole device balanced on both sides of the wire (1) so as to automatically correct the position of the wire during the forward movement, ensure that the wire can smoothly enter the subsequent de-icing device and prevent deviation.

7. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 1, characterized in that, The walking assembly also includes a limiting wheel (7), which is located adjacent to the power wheel (6) and is used to guide the wire (1) into the de-icing area to ensure that the relative position of the ice-breaking rope (10) and the wire (1) is stable.

8. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 1, characterized in that, The probe (12) is configured in two parts, one facing the direction of travel and the other facing away from the direction of travel, for monitoring data before and after de-icing respectively.

9. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 8, characterized in that, The main control module is equipped with the YOLOV7 target detection algorithm, which is used to identify the ice thickness, distribution and cleanliness after de-icing based on the image of the wire (1) collected in real time by the probe (12).

10. The intelligent de-icing device for medium and high voltage transmission lines as described in claim 1, characterized in that, The ice-breaking rope (10) is made of high-toughness polymer rope to prevent damage caused by hard contact with the wire (1).

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