Aircraft icing due to severe cold and local factors increases the risk of flight delays and safety issues. Therefore, this study focuses on optimizing de-icing allocation and adapting to dynamic flight schedules at medium to large airports. Moreover, it aims to establish a centralized de-icing methodology employing unmanned de-icing vehicles to achieve the dual objectives of minimizing flight delay times and enhancing airport de-icing efficiency. To achieve these goals, a mixed-integer bi-level programming model is formulated, where the upper-level planning guides the allocation of de-icing positions and the lower-level planning addresses the collaborative scheduling of the multiple unmanned de-icing vehicles. In addition, a two-stage algorithm is introduced, encompassing a Mixed Variable Neighborhood Search Genetic Algorithm (MVNS-GA) as well as a Multi-Strategy Enhanced Heuristic Greedy Algorithm (MSEH-GA). Both algorithms are rigorously assessed through horizontal comparisons. This demonstrates the effectiveness and competitiveness of these algorithms. Finally, a model simulation is conducted at a major northwestern hub airport in China, providing empirical evidence of the proposed approach’s efficiency. The results show that research offers a practical solution for optimizing the use of multiple unmanned de-icing vehicles in aircraft de-icing tasks at medium to large airports. Therefore, delays are mitigated, and de-icing operations are improved.