Fan blade de-icing system and method based on magnetic attraction type de-icing robots

Abstract

The present invention relates to a fan blade de-icing system and method based on magnetic attraction type de-icing robots. The system comprises: a plurality of magnetic attraction type de-icing robots, magnetically attracted to the surface of a target blade and used for de-icing the surface of the target blade; and a superordinate computer control module, in communication connection with the plurality of magnetic attraction type de-icing robots, and used for controlling the collaborative de-icing motion of the plurality of magnetic attraction type de-icing robots on the surface of the target blade on the basis of a preset fuzzy control system. Compared with the prior art, the present invention does not require manual de-icing, achieves organic combination of robotic strong magnetic attraction and an automatic control technology, solves the problem of impossible collaborative working of a plurality of robots, and improves the de-icing efficiency. Most importantly, according to the present invention, the fan blade does not need to be heated, and de-icing is performed by the magnetic attraction type de-icing robots directly acting on the surface of the blade, so that de-icing can be performed under extreme conditions, and good practicability is achieved.

Description

A fan blade deicing system and method based on a magnetic deicing robot Technical Field

[0001] The present invention relates to the technical field of deicing of fan blades, and in particular to a fan blade deicing system and method based on a magnetic deicing robot. Background Art

[0002] Wind turbine blades operate in extremely harsh environments, especially in mountainous areas of southern China, where they must operate at temperatures of 0°C or below in winter. Combined with humidity, rain, ice, and snow, especially when exposed to supercooled water droplets, ice can form on the blade surfaces. Extensive ice accumulation on blades can cause power loss, mechanical failure, and safety hazards caused by falling ice. These include: altering the blades' aerodynamic performance, resulting in impeller aerodynamic and mass imbalances; reducing lift coefficient and wind energy utilization, resulting in power generation losses; increasing drag coefficient, leading to excessive axial loads on the drive train; increasing blade mass and hub torque, impacting fatigue life at the blade root; and ice easily falling off during blade rotation, resulting in injuries from falling. Wind turbine blade icing has become one of the greatest obstacles to winter wind power generation. To ensure the normal operation of wind turbines, operations and maintenance personnel must promptly remove ice from wind turbine blades and prevent ice from forming.

[0003] Currently, de-icing of wind turbine blades is usually done manually. Applying anti-icing agent requires manual operation at high altitude, which poses a major safety hazard. Existing active de-icing technology mainly removes ice from the blades by heating. The principle is that when ice forms on the blades, heating causes a water film to form between the ice layer and the surface of the wind turbine blades. The formed water film reduces the adhesion of the ice, and when the wind turbine is running, the centrifugal force ejects the ice. Heating methods include electric heating and hot air heating. Due to the material of the wind turbine blades, the temperature of the heated blades cannot be too high. In some extreme icing situations, the de-icing effect is limited. Therefore, people need a different method of active de-icing that is effective in special scenarios.

[0004] Summary of the Invention

[0005] In view of this, it is necessary to provide a fan blade deicing system and method based on a magnetic deicing robot to solve the problem that the existing active deicing technology cannot de-ice in extreme situations.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a wind turbine blade deicing system based on a magnetic deicing robot, comprising:

[0008] a plurality of magnetic deicing robots, magnetically attracted to the surface of a target blade, for deicing the surface of the target blade;

[0009] The upper computer control module is communicatively connected to the plurality of magnetic deicing robots and is used to control the coordinated deicing motion of the plurality of magnetic deicing robots on the surface of the target blade based on a preset fuzzy control system.

[0010] Furthermore, the host computer control module includes a data acquisition module, a fuzzy control module and a signal sending module, wherein:

[0011] The data acquisition module is used to acquire position data of a target magnetic deicing robot, wherein the target magnetic deicing robot is a magnetic deicing robot to be analyzed;

[0012] The fuzzy control module is used to input the position data into the preset fuzzy control system to obtain motion data output by the preset fuzzy control system;

[0013] The signal sending module is used to control the movement of the target magnetic deicing robot according to the movement data.

[0014] Furthermore, the position data includes the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot, wherein the reference magnetic deicing robot is another magnetic deicing robot currently to be analyzed; the motion data includes the running speed of the target magnetic deicing robot and the steering angle of the target magnetic deicing robot.

[0015] Furthermore, in the preset fuzzy control system, the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot corresponds to five first fuzzy subsets; the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot corresponds to five second fuzzy subsets; the running speed of the target magnetic deicing robot corresponds to three third fuzzy subsets; and the steering angle of the target magnetic deicing robot corresponds to five fourth fuzzy subsets.

[0016] Furthermore, the fuzzy rules in the preset fuzzy control system include:

[0017] When the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot remains unchanged, the running speed of the target magnetic deicing robot is proportional to the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the steering angle of the target magnetic deicing robot is inversely proportional to the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot;

[0018] When the distance between the target magnetic deicing robot and the reference magnetic deicing robot remains unchanged, the running speed of the target magnetic deicing robot is proportional to the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the steering angle of the target magnetic deicing robot is inversely proportional to the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot.

[0019] Furthermore, the magnetic deicing robot includes a magnetic field control module, and the magnetic field control module includes:

[0020] a sensing unit, configured to sense the magnetic field strength between the magnetic deicing robot and the target blade;

[0021] The magnetic force controller unit is used to adjust the magnetic attraction force between the magnetic deicing robot and the target blade according to the current based on the magnetic field strength.

[0022] Furthermore, the magnetic deicing robot includes:

[0023] An image acquisition module, used for acquiring image data of the target blade surface;

[0024] The artificial intelligence analysis module is used to analyze and process the image data to obtain analysis results, match the analysis results with preset abnormality types in the database, and obtain abnormality judgment results based on the matching results.

[0025] Furthermore, the magnetic deicing robot includes an ice-cutting blade, which is used to crush and cut ice cubes.

[0026] Furthermore, the magnetic deicing robot also includes a deicing blade length control module, which is connected to the deicing blade and is used to adjust the length of the deicing blade.

[0027] In a second aspect, the present invention further provides a method for deicing fan blades based on a magnetic deicing robot, comprising:

[0028] Based on multiple magnetic deicing robots, the robots are magnetically attracted to the surface of the target blade to de-ice the surface of the target blade;

[0029] Based on the host computer control module and the preset fuzzy control system, the coordinated deicing movement of the plurality of magnetic deicing robots on the surface of the target blade is controlled.

[0030] The present invention provides a wind turbine blade deicing system and method based on magnetic deicing robots. Multiple magnetic deicing robots are magnetically attracted to the surface of a target blade and de-ice the target blade surface using the magnetic deicing robots. A host computer control module is communicatively connected to the multiple magnetic deicing robots, and a preset fuzzy control system is used to control the coordinated de-icing movement of the multiple magnetic deicing robots on the target blade surface. Compared to existing technologies, the present invention eliminates the need for manual de-icing operations, offers excellent safety, and organically integrates strong magnetic attraction of robots with automatic control technology. The preset fuzzy control system based on the host computer control module solves the problem of multiple robots being unable to work collaboratively, thereby improving de-icing efficiency. Most importantly, the present invention eliminates the need to heat the wind turbine blades. Instead, the magnetic deicing robots directly act on the blade surface to perform de-icing. Therefore, de-icing can be performed under extreme conditions, demonstrating excellent practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG1 is a system architecture diagram of an embodiment of a fan blade deicing system based on a magnetic deicing robot provided by the present invention;

[0032] FIG2 is a schematic structural diagram of a magnetic deicing robot in an embodiment of a fan blade deicing system based on a magnetic deicing robot provided by the present invention;

[0033] FIG3 is a schematic structural diagram of a host computer control module in an embodiment of a fan blade deicing system based on a magnetic deicing robot provided by the present invention;

[0034] FIG4 is a schematic diagram of a membership function of a distance in a preset fuzzy control system in an embodiment of a fan blade deicing system based on a magnetic deicing robot provided by the present invention;

[0035] FIG5 is a schematic diagram of a membership function of a deflection angle in a preset fuzzy control system in an embodiment of a fan blade deicing system based on a magnetic deicing robot provided by the present invention;

[0036] FIG6 is a schematic diagram of a membership function of an operating speed in a preset fuzzy control system in an embodiment of a fan blade deicing system based on a magnetic deicing robot provided by the present invention;

[0037] FIG7 is a schematic diagram of a membership function of a steering angle in a preset fuzzy control system in an embodiment of a fan blade deicing system based on a magnetic deicing robot provided by the present invention;

[0038] FIG8 is an output curve result of the running speed in the preset fuzzy control system in one embodiment of the fan blade deicing system based on the magnetic deicing robot provided by the present invention;

[0039] FIG9 is an output curve result of the steering angle in the preset fuzzy control system in an embodiment of the fan blade deicing system based on the magnetic deicing robot provided by the present invention. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0041] It is understandable that the technical terms, English abbreviations, etc. appearing in the following text are all prior art, and those skilled in the art can understand their meanings based on the context. Due to space constraints, no detailed explanation is given in this article.

[0042] In the description of the present application, “plurality” means two or more, unless otherwise clearly defined.

[0043] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] The present invention provides a fan blade deicing system and method based on a magnetic deicing robot, which are described below.

[0045] As shown in FIG1 , a specific embodiment of the present invention discloses a wind turbine blade deicing system based on a magnetic deicing robot, comprising:

[0046] A plurality of magnetic deicing robots 100 are magnetically attracted to the surface of a target blade and are used to de-ice the surface of the target blade;

[0047] The upper computer control module 200 is communicatively connected to the plurality of magnetic deicing robots and is used to control the coordinated deicing movement of the plurality of magnetic deicing robots on the surface of the target blade based on a preset fuzzy control system.

[0048] Compared to existing technologies, this invention eliminates the need for manual de-icing, offers superior safety, and seamlessly integrates strong magnetic attraction with automated control technology. A pre-configured fuzzy control system based on the host computer control module solves the problem of multiple robots unable to work together, improving de-icing efficiency. Most importantly, this invention eliminates the need to heat the wind turbine blades. Instead, the magnetic de-icing robot directly de-ices the blade surface, enabling de-icing in extreme conditions and demonstrating excellent practicality.

[0049] In conjunction with FIG2 , further, in a preferred embodiment, the magnetic deicing robot includes a magnetic field control module 110 , which includes:

[0050] A sensing unit 111 is configured to sense the magnetic field strength between the magnetic deicing robot and the target blade;

[0051] The magnetic force controller unit 112 is configured to adjust the magnetic attraction force between the magnetic deicing robot and the target blade according to the current based on the magnetic field strength.

[0052] The magnetic controller unit determines whether the current adsorption strength needs to be automatically strengthened based on the preload force of the opposing adsorption inside and outside the blade. Specifically, it is adjusted according to the following formula:

[0053] F is the electromagnetic attraction force on the armature; is the magnetic flux density (Gauss); is the cross-sectional area of ​​the magnetic attraction (square centimeters). By strengthening the magnetic field, the electromagnetic attraction acting on the magnetized armature is proportional to the total area through which the magnetic lines of force pass through the magnetic poles and the square of the magnetic flux density.

[0054] Preferably, when the sensing unit senses that the robot's magnetic field inside and outside the blade is small, the magnetic controller unit can automatically increase the current and thus enhance the magnetic flux density to increase the adsorption force; when the sensing unit senses that the robot's magnetic field inside and outside the blade is strong, the robot's walking resistance is large, and the magnetic controller unit can automatically reduce the current and thus reduce the magnetic flux density to reduce the adsorption force.

[0055] It is understandable that the magnetic de-icing robot also includes other structural modules such as the fuselage, armature, and controller. These are all existing technologies, so this article will not explain them in detail.

[0056] Furthermore, in a preferred embodiment, the magnetic deicing robot further includes:

[0057] An image acquisition module 120 is used to acquire image data of the target blade surface;

[0058] The artificial intelligence analysis module 130 is used to analyze and process the image data to obtain an analysis result, match the analysis result with a preset abnormality type in the database, and obtain an abnormality judgment result based on the matching result.

[0059] The image recognition module receives image data captured by the robot's cameras and other devices and transmits it to the artificial intelligence analysis module to identify the de-icing status. The AI ​​analysis module analyzes and processes the image data to obtain analysis results, such as the de-icing status, and retrieves corresponding preset abnormality types from a database for matching. Based on the matching results, the module calls the device manual for the fault type, provides guidance, and uploads an alarm. The image acquisition module and AI analysis module in this embodiment enable automatic image recognition and automated determination of abnormal de-icing effectiveness, improving the robot's de-icing efficiency. The module can also upload captured videos or images to a monitoring terminal, enhancing inspection efficiency.

[0060] Furthermore, in a preferred embodiment, the magnetic deicing robot further includes an ice-removing blade 140 , which is used to crush and cut ice cubes.

[0061] Furthermore, in a preferred embodiment, the magnetic de-icing robot further includes a de-icing blade length control module 150, connected to the de-icing blade, for adjusting the length of the de-icing blade. This module can adjust the de-icing blade length according to the thickness of ice covering the blades, thereby removing ice without damaging the blades.

[0062] Furthermore, in conjunction with FIG3 , in a preferred embodiment, the host computer control module includes a data acquisition module 210 , a fuzzy control module 220 and a signal sending module 230 , wherein:

[0063] The data acquisition module is used to acquire position data of a target magnetic deicing robot, wherein the target magnetic deicing robot is a magnetic deicing robot to be analyzed;

[0064] The fuzzy control module is used to input the position data into the preset fuzzy control system to obtain motion data output by the preset fuzzy control system;

[0065] The signal sending module is used to control the movement of the target magnetic deicing robot according to the movement data.

[0066] Fuzzy control is a control method based on fuzzy logic, used to handle complex, uncertain, or ambiguous systems. It generates control signals by fuzzifying input and output variables and using a set of fuzzy rules for reasoning. Compared to traditional precise control methods, fuzzy control can handle uncertainty and ambiguity in systems, providing stable control even in the presence of noise, unreliable sensor data, or fuzzy inputs. Traditional control methods require high accuracy in modeling the system, while fuzzy control can describe the system's behavior through a set of fuzzy rules, simplifying model building. This makes fuzzy control advantageous in applications where the system is complex or where model building is difficult. Fuzzy control offers flexible reasoning and rule definition, allowing for adjustment and optimization based on specific problems and expert knowledge. Furthermore, the output of fuzzy control can be mapped to specific control signals through defuzzification, making the control results easy to interpret and understand. Fuzzy control is effective for nonlinear systems because it eliminates the need for precise linearization within the system. Instead, it uses fuzzy reasoning to handle nonlinear relationships, adapting to more complex and variable system characteristics. In this embodiment, fuzzy control enables more accurate scheduling of multiple magnetic de-icing robots.

[0067] Furthermore, in a preferred embodiment, the position data includes the distance of the target magnetic deicing robot relative to a reference magnetic deicing robot and the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot, where the reference magnetic deicing robot is another magnetic deicing robot currently being analyzed. The motion data includes the operating speed of the target magnetic deicing robot and the steering angle of the target magnetic deicing robot. In this embodiment, the use of distance and deflection angle to control the operating speed and steering angle is convenient and accurate.

[0068] Furthermore, in a preferred embodiment, the preset fuzzy control system includes five first fuzzy subsets corresponding to the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot; five second fuzzy subsets corresponding to the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot; three third fuzzy subsets corresponding to the operating speed of the target magnetic deicing robot; and five fourth fuzzy subsets corresponding to the steering angle of the target magnetic deicing robot. Because speed is not a requirement during deicing, but accuracy is required, in this embodiment, all variables except operating speed are set to five fuzzy subsets to improve accuracy, and operating speed is set to three fuzzy subsets to ensure operating speed.

[0069] Furthermore, in a preferred embodiment, the fuzzy rules in the preset fuzzy control system include:

[0070] When the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot remains unchanged, the running speed of the target magnetic deicing robot is proportional to the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the steering angle of the target magnetic deicing robot is inversely proportional to the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot;

[0071] When the distance between the target magnetic deicing robot and the reference magnetic deicing robot remains unchanged, the running speed of the target magnetic deicing robot is proportional to the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the steering angle of the target magnetic deicing robot is inversely proportional to the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot.

[0072] The present invention also provides a more detailed embodiment to more clearly illustrate the above fuzzy control process:

[0073] Specifically, the input variables and basic domain of the preset fuzzy control system in this embodiment are:

[0074] D: Distance between magnetic deicing robot A (i.e., target magnetic deicing robot) and magnetic deicing robot B (i.e., reference magnetic deicing robot): 0-1m;

[0075] I: Deicing robot A and deicing robot B’s deflection angle: -70° to 70°;

[0076] The output variables and basic domain of the preset fuzzy control system in this embodiment are:

[0077] V: operating speed of de-icing robot A: 0-0.5 m / s;

[0078] O: Steering angle of the de-icing robot: -45° to 45°.

[0079] The fuzzy subsets corresponding to the above variables are as follows:

[0080] D: {VL, L, M, H, VH};

[0081] I: {VL, L, M, H, VH};

[0082] V: {L, M, H};

[0083] O: {VL, L, M, H, VH}.

[0084] The language values ​​represented by the letters are: VL for very small, L for small, M for medium, H for large, and VH for very large.

[0085] The membership function of distance is shown in Figure 4;

[0086] The membership function of the deflection angle is shown in Figure 5;

[0087] The membership function of the running speed is shown in Figure 6;

[0088] The membership function of the steering angle is shown in Figure 7.

[0089] The fuzzy rules are as follows:

[0090] This embodiment uses the centroid method to implement the defuzzification process, and the output variable surface results of the preset fuzzy control system are shown in Figures 8 and 9.

[0091] Specifically, it can be seen that when robot B's deflection angle I remains unchanged, the greater the distance D between robots A and B, the greater the speed V of robot A. When the distance D between robots A and B remains unchanged, the greater the deflection angle I of robot B, the greater the speed V of robot A. When the deflection angle I of robot B remains unchanged, the greater the distance D between robots A and B, the smaller the steering angle O of robot A. When the distance D between robots A and B remains unchanged, the greater the deflection angle I of robot B, the smaller the steering angle O of robot A.

[0092] In order to better implement the fan blade deicing system based on the magnetic deicing robot in the embodiment of the present invention, based on the fan blade deicing system based on the magnetic deicing robot, the present invention also provides a fan blade deicing method based on the magnetic deicing robot, comprising:

[0093] Based on multiple magnetic deicing robots, the robots are magnetically attracted to the surface of the target blade to de-ice the surface of the target blade;

[0094] Based on the host computer control module and the preset fuzzy control system, the coordinated deicing movement of the plurality of magnetic deicing robots on the surface of the target blade is controlled.

[0095] It should be noted here that the corresponding methods provided in the above embodiments can implement the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can be found in the corresponding contents in the above method embodiments, which will not be repeated here.

[0096] The present invention provides a wind turbine blade deicing system and method based on magnetic deicing robots. Multiple magnetic deicing robots are magnetically attracted to the surface of a target blade and de-ice the target blade surface using the magnetic deicing robots. A host computer control module is communicatively connected to the multiple magnetic deicing robots, and a preset fuzzy control system is used to control the coordinated de-icing movement of the multiple magnetic deicing robots on the target blade surface. Compared to existing technologies, the present invention eliminates the need for manual de-icing operations, offers excellent safety, and organically integrates strong magnetic attraction of robots with automatic control technology. The preset fuzzy control system based on the host computer control module solves the problem of multiple robots being unable to work collaboratively, thereby improving de-icing efficiency. Most importantly, the present invention eliminates the need to heat the wind turbine blades. Instead, the magnetic deicing robots directly act on the blade surface to perform de-icing. Therefore, de-icing can be performed under extreme conditions, demonstrating excellent practicality.

[0097] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A fan blade deicing system based on a magnetic deicing robot, characterized in that: include: A plurality of magnetic deicing robots are magnetically attracted to the surface of a target blade and are used to de-ice the surface of the target blade; A host computer control module, communicatively connected to the plurality of magnetic deicing robots, and used for controlling the coordinated deicing movement of the plurality of magnetic deicing robots on the surface of the target blade based on a preset fuzzy control system; The host computer control module includes a data acquisition module, a fuzzy control module and a signal sending module, wherein: The data acquisition module is used to acquire the position data of the target magnetic deicing robot, and the target magnetic deicing robot is a magnetic deicing robot to be analyzed currently; The fuzzy control module is used to input the position data into the preset fuzzy control system to obtain the motion data output by the preset fuzzy control system; The signal sending module is used to control the movement of the target magnetic deicing robot according to the movement data; The position data includes the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot, wherein the reference magnetic deicing robot is another magnetic deicing robot currently to be analyzed; the motion data includes the running speed of the target magnetic deicing robot, and the steering angle of the target magnetic deicing robot.

2. The fan blade deicing system based on the magnetic deicing robot according to claim 1 is characterized in that: In the preset fuzzy control system, the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot corresponds to five first fuzzy subsets; the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot corresponds to five second fuzzy subsets; the running speed of the target magnetic deicing robot corresponds to three third fuzzy subsets; and the steering angle of the target magnetic deicing robot corresponds to five fourth fuzzy subsets.

3. The fan blade deicing system based on the magnetic deicing robot according to claim 2 is characterized in that: The fuzzy rules in the preset fuzzy control system include: When the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot remains unchanged, the running speed of the target magnetic deicing robot is proportional to the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the steering angle of the target magnetic deicing robot is inversely proportional to the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot; When the distance between the target magnetic deicing robot and the reference magnetic deicing robot remains unchanged, the running speed of the target magnetic deicing robot is proportional to the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the steering angle of the target magnetic deicing robot is inversely proportional to the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot.

4. The fan blade deicing system based on the magnetic deicing robot according to claim 1 is characterized in that: The magnetic deicing robot comprises a magnetic field control module, and the magnetic field control module comprises: A sensing unit, used for sensing the magnetic field strength between the magnetic deicing robot and the target blade; The magnetic force controller unit is used to adjust the magnetic attraction force between the magnetic deicing robot and the target blade according to the current based on the magnetic field strength.

5. The fan blade deicing system based on the magnetic deicing robot according to claim 1 is characterized in that: The magnetic deicing robot comprises: An image acquisition module, used for acquiring image data of the surface of a target blade; The artificial intelligence analysis module is used to analyze and process the image data to obtain analysis results, and match the analysis results with preset abnormality types in the database to obtain abnormality judgment results based on the matching results.

6. The fan blade deicing system based on the magnetic deicing robot according to claim 1 is characterized in that: The magnetic deicing robot comprises an deicing blade, which is used for crushing and cutting ice cubes.

7. The fan blade deicing system based on the magnetic deicing robot according to claim 6 is characterized in that: The magnetic deicing robot also includes a deicing blade length control module, which is connected to the deicing blade and is used to adjust the length of the deicing blade.

8. A method for deicing fan blades based on a magnetic deicing robot, characterized in that: include: Based on multiple magnetic deicing robots, magnetically attracted to the surface of the target blade, the surface of the target blade is de-iced; Based on the host computer control module, the coordinated deicing movement of the plurality of magnetic deicing robots on the surface of the target blade is controlled based on a preset fuzzy control system; The host computer control module includes a data acquisition module, a fuzzy control module and a signal sending module, wherein: The data acquisition module is used to acquire the position data of the target magnetic deicing robot, and the target magnetic deicing robot is a magnetic deicing robot to be analyzed currently; The fuzzy control module is used to input the position data into the preset fuzzy control system to obtain the motion data output by the preset fuzzy control system; The signal sending module is used to control the movement of the target magnetic deicing robot according to the movement data; The position data includes the distance of the target magnetic deicing robot relative to the reference magnetic deicing robot, and the deflection angle of the target magnetic deicing robot relative to the reference magnetic deicing robot, wherein the reference magnetic deicing robot is another magnetic deicing robot currently to be analyzed; the motion data includes the running speed of the target magnetic deicing robot, and the steering angle of the target magnetic deicing robot.

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