Abstract: In order to solve the problems of insufficient anti-icing function and difficult remote control of existing deicing robots, this paper introduces an active anti-icing/deicing robot for 110 kV high-voltage power transmission line, and puts forward an icing judgment model based on Mahalanobis distance. The overall framework of the system is designed, which combines the ground monitoring terminal with the robot body control system. The ground monitoring terminal realizes the real-time monitoring of the complex environment of the transmission line and the remote control of the robot body. The robot body control system realizes the linkage control of the joint motor. The simple visual operation interface of the ground monitoring terminal and the program logic of the robot body control system not only improve the ability of online autonomous operation of the robot, but also enhance the ability of the ground personnel to control the robot remotely. The test results show that the system has high response speed, high real-time performance, high reliability and good man-machine interaction. The proposed Ma’s distance ice-cover determination model has a high accuracy in predicting ice-cover, and the robot can better achieve the anti-icing and de-icing functions.