Intelligent ventilation robot system and control method based on ship passage state recognition

Abstract

The application discloses an intelligent ventilation robot system and a control method based on ship passing state recognition, and relates to the technical field of intelligent ventilation control of a navigation tunnel.The system intelligent ventilation robot is provided with a suspension installation component, a protective shell, an airflow adjusting component, an environment monitoring component, a ship passing recognition component, a control component, a state display component and a power supply communication component, and the airflow adjusting component is integrated with air inlet, frequency conversion ventilation and air outlet guide structures.Four types of functional units are arranged in the control component, and in combination with ship passing information and tunnel environment parameters, four working conditions, i.e., before, during, after and abnormal reinforcement of navigation, are divided, and the power of the fan and the airflow injection direction are linked and adjusted.A matching control method automatically distinguishes the working condition according to the completion of the navigation information and the collection of the environment parameters, controls the ventilation equipment in stages and corrects in real time in a closed loop.The application realizes adaptive ventilation in stages, simultaneously visually displays the tunnel ventilation operation state to the crew and operation and maintenance personnel, and improves the adaptability of local air treatment of the navigation tunnel.

Description

Technical Field

[0001] This invention relates to the field of intelligent ventilation control technology for navigation tunnels, specifically to an intelligent ventilation robot system and control method based on ship passage status recognition. Background Technology

[0002] Inland waterway tunnels, as crucial water conservancy and waterway infrastructure connecting rivers and waterways, differ from highway and railway tunnels. The large tonnage of vessels passing through these tunnels results in high total emissions of exhaust pollutants. Furthermore, the wide tunnel cross-section and slow airflow mean that exhaust gases from vessels can easily accumulate at the tunnel entrance and in localized areas within the tunnel. Excessive levels of harmful gases such as carbon monoxide and nitrogen oxides can seriously threaten the safety of crew members and reduce the long-term structural durability of the tunnel. Currently, ventilation systems for inland waterway tunnels in China largely follow the design principles of land-based tunnels, typically employing civil engineering shafts combined with a cluster of large, fixed jet fans for unified ventilation throughout the entire tunnel. This ventilation system has a long construction period and requires substantial investment. Moreover, the fans can only be started and stopped uniformly throughout the entire tunnel, making it impossible to provide precise, directional ventilation for areas where vessel exhaust gases accumulate. Existing fixed ventilation equipment lacks flexible deployment capabilities and cannot effectively supplement airflow at locations with high exhaust emissions. The ventilation power cannot be adaptively matched to different operating conditions such as empty, heavy, and continuous navigation of ships. Long-term continuous full-load operation results in a large amount of wasted electricity. At the same time, crew members inside the tunnel cannot intuitively obtain the operation of ventilation equipment and the real-time status of air quality inside the tunnel, creating blind spots in navigation safety management. The industry urgently needs a lightweight and intelligent ventilation solution that can be flexibly deployed and adapted to the navigation sequence of ships to solve the above multiple pain points.

[0003] Numerous academic studies have conducted numerical simulations and field tests on airflow diffusion and ventilation optimization in navigation tunnels. The paper "Numerical Simulation of Critical Wind Speed ​​for Fire in Navigation Tunnels," published in the *Journal of Hydraulic and Waterway Engineering* in 2025 (DOI: 10.12170 / 20250310001), systematically points out that general ventilation empirical formulas and design specifications for highway tunnels cannot adapt to the fluid characteristics of large cross-section navigation tunnels and low-speed ship passage. Ship exhaust gas, constrained by the ship's wake, tends to accumulate in the downstream near-field area of ​​the tunnel entrance. The airflow utilization rate of a uniform ventilation mode is extremely low, making it difficult to quickly dilute localized high-concentration pollutants. This paper verifies through multiple CFD simulations that the fixed vertical shaft fan longitudinal ventilation scheme can only balance the overall air quality of the tunnel and cannot adjust the airflow direction according to the real-time position of the ship. During ship navigation, the pollution band at the stern dynamically shifts with speed, and the fixed airflow direction cannot accurately align with the exhaust gas accumulation area, easily creating localized pollutant stagnation dead zones. Concurrent industry research, "Ventilation and Smoke Exhaust Systems and Operation Methods for Large Navigation Tunnels," further supplements this finding, highlighting the current lack of phased ventilation control logic in navigation tunnels. It fails to differentiate between three distinct operational conditions: before a ship enters the tunnel, during its journey, and after it departs, relying entirely on constant fan speeds. This results in a lack of pre-ventilation before navigation, leading to rapid pollutant accumulation upon ship entry; the absence of a delayed exhaust mechanism after ship departure, resulting in prolonged residual exhaust gas retention within the tunnel; and the simple increase in fan power after pollution levels exceed standards, without any gradient reduction or energy-saving strategies. These academic findings consistently confirm that traditional fixed-area ventilation suffers from three core defects: poor targeting, lack of time-series control, and excessive energy consumption. However, current theoretical research remains limited to fluid simulation, failing to propose a modular, hoistable, and integrated ventilation terminal solution with built-in ship identification hardware, thus hindering the formation of a complete engineering technology system combining hardware sensing and phased adaptive control.

[0004] Existing domestic patents for tunnel ventilation are mainly focused on land-based rail transit scenarios. A representative authorized patent, CN119616566B, "Method and System for Segmented Ventilation in Tunnels Based on Train Operating Conditions," discloses a segmented ventilation control scheme that relies on rail train scheduling data and a cluster of vertical ventilation fans in tunnel shafts. This patent divides the tunnel into multiple fixed ventilation sections, switches the fan operating levels according to the number of trains passing through, and completes ventilation regulation by collecting overall tunnel environmental data through a background monitoring system. This patent is only applicable to railway tunnels used by diesel / electric trains. The hardware consists entirely of pre-embedded civil engineering shafts and large jet fans fixed at the top. It lacks an independently suspended, modular, lightweight ventilation robot structure, making it inflexible for deployment at the entrance of navigable tunnels and at localized exhaust gas accumulation points. At the perception level, it only interfaces with the track scheduling system and lacks ship identification sensors, making it unable to collect data on ship position, speed, and passage time, completely unsuitable for inland waterway navigation scenarios. The control logic only roughly divides high and low power levels according to traffic flow, without further subdividing into four levels of fine-grained operating conditions: pre-ventilation before navigation, dynamic air guidance during navigation, delayed sewage discharge after navigation, and pollution anomalies. It also lacks a real-time feedback and correction unit for environmental parameters, and the fan speed cannot be adjusted step by step according to the concentration of residual pollutants. The visualization design has significant shortcomings. All ventilation operation status and tunnel concentration data can only be viewed in the central control room. There are no three-color waterproof warning components facing the passing vehicles on the outside of the ventilation equipment, so the crew cannot intuitively know the ventilation and safety status inside the tunnel in real time and can only rely on remote control by maintenance personnel. Emergency response during ship passage is also delayed.

[0005] Current ventilation technology for navigation tunnels still suffers from multiple engineering shortcomings that cannot be addressed in a coordinated manner: traditional vertical shaft fixed fans have high civil engineering costs and poor deployment flexibility, and cannot precisely neutralize ship exhaust gases in specific areas; there is a lack of hardware for real-time sensing of ship passage status, making it impossible to adjust ventilation in stages according to the entire navigation process; there is no electrically adjustable airflow guiding mechanism, resulting in a fixed airflow direction that is difficult to dynamically counteract the pollution trail at the stern of ships; and there is a lack of on-site three-color visual prompting devices for crew members, leading to poor communication of navigation safety information and an inability to dynamically adjust fan power and airflow angle based on real-time pollutant concentrations inside the tunnel. Summary of the Invention

[0006] Based on the above-mentioned technical problems, this application discloses an intelligent ventilation robot system and control method based on ship passage status recognition; the intelligent ventilation robot system based on ship passage status recognition includes an intelligent ventilation robot, which is set at the entrance, exit, or other locations inside the cave where auxiliary ventilation is needed, collects ship passage status and cave environmental parameters, and adjusts the ventilation operation mode according to different states before, during, and after passage.

[0007] The intelligent ventilation robot includes a suspension mounting assembly, a protective shell, an airflow adjustment assembly, an environmental monitoring assembly, a ship passage identification assembly, a control assembly, a status display assembly, and a power supply and communication assembly.

[0008] The suspension mounting assembly is located on the upper part of the intelligent ventilation robot and is used to fix the intelligent ventilation robot to the top of the opening, the upper side of the opening, or the support structure inside the opening;

[0009] The airflow regulation assembly includes an air inlet assembly, a frequency conversion ventilation assembly, and a guide air outlet assembly. The air inlet assembly is located on the air inlet side of the protective shell and is used to introduce air from inside the cave or the cave entrance area. The frequency conversion ventilation assembly is located inside the protective shell and is connected to the air inlet assembly to form an adjustable supply or exhaust airflow. The guide air outlet assembly is located on the air outlet side of the frequency conversion ventilation assembly and is used to adjust the airflow discharge direction, air outlet angle, and airflow range.

[0010] The protective housing is located on the outside of the intelligent ventilation robot and is used to house and protect the air intake component, frequency conversion ventilation component, air flow guiding and exhaust component, environmental monitoring component, ship passage identification component, control component, status display component, and power supply and communication component.

[0011] The environmental monitoring component is located on the outside of the protective shell, near the air intake component, or adjacent to the airflow sampling location, and is used to collect environmental parameters of the opening or the area inside the cave.

[0012] The vessel passage identification component is located on the outside of the protective housing or on the side facing the vessel passage direction, and is used to acquire vessel passage status information;

[0013] The control component is connected to the frequency conversion ventilation component, the airflow guide component, the environmental monitoring component, the ship passage identification component, and the status display component, respectively, and is used to generate ventilation control commands based on the ship passage status and environmental parameters;

[0014] The status display component is located on the outside of the protective housing and below the intelligent ventilation robot or on the side facing the direction of the ship's approach, and is used to display the current working status of the intelligent ventilation robot.

[0015] The power supply and communication components are connected to the frequency conversion ventilation component, environmental monitoring component, ship passage identification component, control component, and status display component, respectively, for power supply and data transmission.

[0016] Preferably, the air inlet component of the airflow regulating component includes one or more of an air inlet grille, waterproof louvers, a filter screen, and a protective screen; the frequency conversion ventilation component of the airflow regulating component includes one or more of a frequency conversion axial flow fan, a frequency conversion jet fan, or a small axial flow exhaust fan; and the air outlet component of the airflow regulating component includes one or more of a guide tube, a guide hood, adjustable guide louvers, and an electric directional mechanism.

[0017] Preferably, the variable frequency ventilation component is used to form a supply or exhaust airflow along the longitudinal direction or toward a predetermined exhaust direction; the airflow guide component is used to make the airflow formed by the variable frequency ventilation component act along the longitudinal direction, toward the ship exhaust gas diffusion area, the area where pollutants are easy to accumulate in the tunnel, or the predetermined exhaust direction.

[0018] Preferably, the control component includes a data acquisition unit, a status judgment unit, a ventilation control unit, and a feedback correction unit;

[0019] The data acquisition unit is used to receive data from the environmental monitoring component and the ship passage identification component;

[0020] The status judgment unit is used to determine whether the intelligent ventilation robot is in the pre-navigation state, during-navigation state, post-navigation state, or abnormal enhanced ventilation state based on the ship's navigation status and environmental parameters.

[0021] The ventilation control unit is used to control the operating speed and operating time of the variable frequency ventilation component and the air guiding direction of the air outlet component.

[0022] The feedback correction unit is used to correct the operating speed, operating time, and airflow direction of the variable frequency ventilation component based on the environmental parameters after ventilation.

[0023] Preferably, the status display component includes a green status display unit, a yellow status display unit, and a red status display unit;

[0024] The green status display unit is used to display the pre-navigation preparation status, low-power standby status, or safe status after environmental recovery.

[0025] The yellow status display unit is used to display the status of the ship about to enter, is currently navigating, or has been ventilating after navigating;

[0026] The red status display unit is used to display pollutant concentrations that are too high, insufficient wind speed inside the tunnel, continuous ship navigation, sensor malfunctions, or equipment malfunctions.

[0027] The status display component adopts an exposed display structure facing the direction of the ship's approach, with green status display units, yellow status display units, and red status display units arranged horizontally or vertically.

[0028] Preferably, the status display component further includes one or more of the following: a text prompt area, a light-transmitting protective cover, a waterproof sealed housing, and a light shield;

[0029] The text prompt area is used to display information such as normal air traffic, air traffic caution, abnormal warning, or equipment operating status.

[0030] The light-transmitting protective cover is used to protect the green status display unit, the yellow status display unit, and the red status display unit;

[0031] The waterproof sealing housing is used to improve the adaptability of the status display component in high humidity and water vapor environments;

[0032] The light shield is used to reduce the impact of strong external light on the status display effect.

[0033] The intelligent ventilation robot control method based on ship passage status recognition is applicable to the implementation of the aforementioned intelligent ventilation robot system, and includes the following steps:

[0034] S1. Obtain vessel passage status information through the vessel passage identification component;

[0035] S2. Obtain environmental parameters of the cave entrance or the area inside the cave through environmental monitoring components;

[0036] S3. The control component determines the current working status of the intelligent ventilation robot based on ship passage status information and environmental parameters.

[0037] When the vessel has not yet entered the area and the environmental parameters are within the set range, it is considered to be in the pre-navigation state.

[0038] When a vessel is about to enter or is navigating within the naval area, it is considered to be in a state of navigation.

[0039] When the ship has left, and residual pollutants still need to be discharged from the cave, it is considered to be in the post-navigation state.

[0040] When environmental parameters exceed the set range, the wind speed inside the tunnel is insufficient, there is continuous ship navigation, or there are sensor malfunctions or equipment malfunctions, it is judged as an abnormal enhanced ventilation state.

[0041] S4. The control component controls the frequency conversion ventilation component, the airflow guide component, and the status display component according to the current working status.

[0042] S5. The environmental monitoring component continuously collects environmental parameters after ventilation, and the control component corrects the operating level, operating time, and airflow direction of the variable frequency ventilation component based on the feedback data.

[0043] Preferably, in step S4, the control component controls the variable frequency ventilation component, the airflow guide component, and the status display component according to the current operating state, specifically as follows:

[0044] Before navigation, the frequency converter ventilation component is controlled to operate at low power, intermittently, or standby. The basic airflow direction is maintained by the airflow guide component, and the status display component facing the ship displays green.

[0045] During navigation, the frequency converter ventilation component is controlled to increase the operating level, and the airflow direction is adjusted by the air guide component according to the ship's position, speed and direction of travel, so that the supply or exhaust airflow acts longitudinally towards the ship's exhaust gas diffusion area or the predetermined exhaust direction. At the same time, the status display component set towards the ship displays yellow.

[0046] After navigation resumes, the variable frequency ventilation component operates with a delay and gradually reduces its operating level based on feedback data from the environmental monitoring component. When residual pollutants are not discharged to the set range, the status display component maintains a yellow display or flashes yellow. When the environmental parameters return to the set range, the status display component switches to a green display.

[0047] In an abnormally enhanced ventilation state, the variable frequency ventilation components are controlled to operate more intensely, and the airflow guiding components are controlled to be directed toward areas where pollutants are prone to accumulate, the exhaust direction of the opening, or the predetermined exhaust area. The status display component set to face the ship will display red.

[0048] Preferably, in step S4, when a ship is detected to be about to enter, the control component activates the frequency conversion ventilation component in advance, so that the intelligent ventilation robot enters the pre-navigation ventilation state to form a basic airflow organization before the ship enters.

[0049] When the ship is inside, the control components adjust the airflow direction of the airflow guide components according to the ship's position, speed and direction of travel, so that the supply or exhaust airflow is directed towards the ship's exhaust gas diffusion area, the area where pollutants are likely to accumulate in the tunnel, or the predetermined exhaust direction.

[0050] After the ship departs, the control components determine the residual pollutant discharge status based on environmental parameters and gradually reduce the operating level of the variable frequency ventilation components until the environmental parameters return to the set range.

[0051] When the status display component shows red for a duration exceeding the set time, the control component sends an alarm message to the external monitoring platform, the opening control cabinet, or the existing ventilation control system via the power supply and communication component.

[0052] Preferably, the control component is configured to: in the navigation state, based on the real-time position and speed of the ship output by the ship passage identification component, dynamically adjust the outflow direction according to the ship position through the electric directional mechanism of the airflow guide component, so that the auxiliary airflow continuously acts on the exhaust gas diffusion area at the stern of the ship.

[0053] Compared with the prior art, the technical solution of this application has the following technical effects:

[0054] This invention features an integrated intelligent ventilation robot that can be flexibly suspended and deployed at the entrance of navigation tunnels and in specific areas within the tunnel. The entire machine integrates a complete set of ventilation, sensing, and control components, serving as a supplementary terminal to existing ventilation systems or as a standalone unit for ventilation in short tunnels. The equipment is stably fixed by a suspension structure, and its protective shell isolates it from moisture and exhaust gas corrosion within the tunnel. The integrated design of all functional components reduces its footprint, simplifying on-site installation and subsequent maintenance. It is adaptable to the localized ventilation modification needs of navigation tunnels of different sizes, thus improving the overall equipment's versatility and on-site adaptability.

[0055] This invention features an independent airflow regulation assembly that integrates three types of components: air intake, variable frequency air supply, and directional airflow control. This allows for the autonomous completion of the entire process, including air extraction, airflow adjustment, and airflow direction adjustment. The assembly utilizes a variable frequency structure to achieve multi-level airflow output, and, in conjunction with an electric directional mechanism, continuously targets areas where ship exhaust gases accumulate. The airflow's effective range can be matched to the ship's movement in real time, resulting in more comprehensive coverage of pollutants within the tunnel, significantly enhanced targeted local air replacement, and improved balance between exhaust gas diffusion and fresh air replenishment within the tunnel.

[0056] This invention features a control component with layered logic that simultaneously receives ship traffic information and multiple environmental parameters within the tunnel. It automatically classifies ventilation conditions into four categories and outputs corresponding execution commands. Simultaneously, it continuously adjusts the fan speed and guide angle based on real-time environmental data. The entire control chain forms a complete closed-loop adjustment mechanism, capable of autonomously completing the entire process of pre-ventilation based on prediction, dynamic ventilation adjustment for navigation, delayed purging after leaving the tunnel, and enhanced ventilation for exceeding standards. No manual intervention is required throughout the process, significantly improving the adaptability and condition matching of ventilation operation.

[0057] This invention features a status display component facing the direction of approaching ships, with layered three-color indicator units accompanied by text prompts and a waterproof and light-shielding structure. It can simultaneously and intuitively display the current ventilation status to crew and maintenance personnel. Different ventilation states correspond to specific light prompts, and alarm signals are automatically transmitted when equipment malfunctions. This facilitates ship operators in predicting ventilation conditions inside the tunnel and allows on-site maintenance personnel to quickly identify equipment operating status, significantly improving the visibility and timeliness of ventilation maintenance in navigation tunnels.

[0058] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the preferred embodiments of this application are described in detail below with reference to the accompanying drawings.

[0059] The above and other objects, advantages and features of this application will become more apparent to those skilled in the art from the following detailed description of specific embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0061] Based on the description of the figures and their corresponding technical content in the document, the titles of the figures are as follows:

[0062] Figure 1 This is a schematic diagram of the three-dimensional structure assembly of an intelligent ventilation robot based on ship passage status recognition.

[0063] Figure 2 A schematic diagram showing the installation of intelligent ventilation robots at the entrances and exits of navigation tunnels to support ship passage.

[0064] Figure 3 A complete control flow diagram of an intelligent ventilation robot based on ship passage status recognition;

[0065] Figure 4 A schematic diagram of the internal structure of the three-color status display component for an intelligent ventilation robot;

[0066] Figure 5 A three-dimensional structural diagram of the four main functional units inside the control components of an intelligent ventilation robot.

[0067] Figure 6 This is a logic block diagram showing the signal connections between the control components and various peripheral components of an intelligent ventilation robot. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. In the following description, specific details such as specific configurations and components are provided merely to help fully understand the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. In addition, for clarity and brevity, descriptions of known functions and structures are omitted in the embodiments.

[0069] It should be understood that the phrase "an embodiment" or "this embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "an embodiment" or "this embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0070] Furthermore, reference numerals and / or letters may be repeated in different examples within this application. Such repetition is for the purpose of simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or settings discussed.

[0071] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another type of relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the related objects before and after it are in an "or" relationship.

[0072] In this article, the term "at least one" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, "at least one of A and B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.

[0073] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion.

[0074] Example 1 describes an intelligent ventilation robot system based on ship passage status recognition. Specifically, it includes an intelligent ventilation robot 1, which includes a suspension mounting component 11, a protective shell 12, an air inlet component 13, a frequency conversion ventilation component 14, a flow guiding air outlet component 15, an environmental monitoring component 16, a ship passage recognition component 17, a control component 18, a status display component 19, and a power supply and communication component 20.

[0075] The suspension mounting assembly 11 is disposed on the upper part of the intelligent ventilation robot 1;

[0076] The protective housing 12 is disposed on the outside of the intelligent ventilation robot 1;

[0077] The air inlet assembly 13 is disposed on the air inlet side of the protective housing 12;

[0078] The variable frequency ventilation component 14 is disposed inside the protective housing 12 and is connected to the air inlet component 13;

[0079] The airflow guiding and outlet component 15 is disposed on the air outlet side of the frequency conversion ventilation component 14;

[0080] The environmental monitoring component 16 is located on the outside of the protective housing 12, near or adjacent to the air intake component 13, at the airflow sampling location.

[0081] The ship passage identification component 17 is disposed on the outside of the protective housing 12 or on the side facing the ship passage direction;

[0082] The control component 18 is connected to the frequency conversion ventilation component 14, the airflow guide component 15, the environmental monitoring component 16, the ship passage identification component 17, and the status display component 19, respectively.

[0083] The status display component 19 is disposed on the outside of the protective housing 12, and preferably disposed below the intelligent ventilation robot 1 or on the side facing the direction of the ship's approach;

[0084] The power supply and communication component 20 is connected to the frequency conversion ventilation component 14, the environmental monitoring component 16, the ship passage identification component 17, the control component 18, and the status display component 19, respectively.

[0085] like Figure 1 As shown, the suspension mounting assembly 11 is used to suspend and fix the intelligent ventilation robot 1 to the top structure or side support structure of the entrance, exit, or key ventilation position inside the cave. The suspension mounting assembly 11 may include one or more of the following: load-bearing beam, hanger, connecting seat, vibration damping connector, and angle adjustment seat, so that the protective shell 12 can be suspended relatively stably above the airspace and reduce the vibration transmission during the operation of the frequency conversion ventilation assembly 14.

[0086] The protective housing 12 constitutes the main shell of the intelligent ventilation robot 1, and is used to house and protect the air intake component 13, the frequency conversion ventilation component 14, the air outlet component 15, the environmental monitoring component 16, the ship passage identification component 17, the control component 18, the status display component 19, and the power supply and communication component 20. The protective housing 12 can be made of moisture-proof, water-resistant, and corrosion-resistant materials to adapt to the operating conditions of high humidity, heavy water vapor, and complex ship exhaust gas environment.

[0087] The air intake assembly 13 is disposed on the side or air intake side of the protective housing 12 and is used to introduce air into the opening area or the area inside the opening. The air intake assembly 13 may include one or more of the following: air intake grille, waterproof louvers, filter screen, or protective screen, to reduce the entry of water vapor, debris, or larger particles into the interior of the protective housing 12.

[0088] The variable frequency ventilation component 14 is disposed inside the protective housing 12 and is connected to the air inlet component 13 to generate adjustable supply or exhaust airflow. The variable frequency ventilation component 14 may be a variable frequency axial flow fan, a variable frequency jet fan, or a small axial flow exhaust fan, and its operating frequency can be adjusted according to the control commands output by the control component 18.

[0089] In this embodiment, the variable frequency ventilation component 14 is not limited to providing centralized ventilation for the entire structure; it can also serve as a local auxiliary ventilation actuator to create directional auxiliary ventilation airflow at the tunnel entrance, exit, or low-wind-speed areas within the tunnel. The variable frequency ventilation component 14 can change its operating frequency according to control commands output by the control component 18, thereby generating supply or exhaust airflows of varying intensities to meet ventilation needs before, during, and after navigation, as well as under abnormally enhanced ventilation conditions.

[0090] The airflow guiding assembly 15 is disposed on the air outlet side of the frequency conversion ventilation assembly 14 and is arranged toward the interior or a predetermined exhaust direction to guide airflow along the tunnel direction for supplying or exhausting air. The airflow guiding assembly 15 may include one or more of the following: a guide tube, a guide hood, adjustable guide louvers, and an electric directional mechanism, to adjust the exhaust direction, diffusion range, and effective area of ​​the airflow.

[0091] In this embodiment, the airflow guiding component 15 can guide the airflow generated by the frequency conversion ventilation component 14 to the longitudinal direction, the exhaust direction of the tunnel opening, the ship's exhaust gas diffusion area, or areas where pollutants are prone to accumulate inside the tunnel. Thus, the intelligent ventilation robot 1 can form a relatively clear airflow organization within a local area to assist in the discharge of polluted air from inside the tunnel to the tunnel opening, the exit direction, or the predetermined exhaust area, and to assist in the replenishment of fresh air from outside the tunnel. This auxiliary ventilation method can be used in conjunction with existing ventilation systems, and can also form a reinforced ventilation airflow in short-distance, tunnel opening areas, or localized low-wind-speed areas.

[0092] The environmental monitoring component 16 is located at the lower part, outer side, or near the airflow sampling point of the protective housing 12, and is used to collect environmental parameters of the opening or adjacent areas inside the opening. These environmental parameters may include one or more of the following: CO concentration, NO2 concentration, soot concentration, particulate matter concentration, oxygen concentration, temperature and humidity, wind speed, and wind direction. The location of the environmental monitoring component 16 should enable it to reflect the air conditions of the opening or adjacent areas inside the opening in a timely manner during ship passage.

[0093] The vessel passage identification component 17 is positioned on the protective housing 12 facing the oncoming vessel and is used to acquire vessel passage status information. This vessel passage status information may include one or more of the following: vessel position, speed, direction of travel, estimated time to enter or exit the tunnel, whether it has entered, whether it is inside, and whether it has left. The vessel passage identification component 17 may employ an AIS receiving module, a radar detection module, a laser ranging module, a video recognition module, or a combination thereof to adapt to different monitoring conditions.

[0094] The control component 18 is located inside or on the lower side of the protective housing 12, and is connected to the frequency conversion ventilation component 14, the airflow guide component 15, the environmental monitoring component 16, the ship passage identification component 17, the status display component 19, and the power supply and communication component 20, respectively. The control component 18 is used to receive data from the environmental monitoring component 16 and the ship passage identification component 17, and to generate corresponding ventilation control commands based on the pre-navigation, during-navigation, post-navigation, and abnormal enhanced ventilation states.

[0095] like Figure 4 As shown, the control component 18 includes a data acquisition unit 181, a status judgment unit 182, a ventilation control unit 183, and a feedback correction unit 184. The data acquisition unit 181 receives environmental parameters collected by the environmental monitoring component 16 and ship passage status information acquired by the ship passage identification component 17. The status judgment unit 182 determines whether the intelligent ventilation robot 1 is currently in a pre-passage state, a passage-in-passage state, a post-passage state, or an abnormal enhanced ventilation state based on the ship passage status and environmental parameters. The ventilation control unit 183 controls the operating level and operating time of the variable frequency ventilation component 14 and the airflow direction of the airflow guide component 15 based on the status judgment results. The feedback correction unit 184 corrects the operating level, operating time, and airflow direction of the variable frequency ventilation component 14 and the airflow guide component 15 based on the environmental parameters after ventilation.

[0096] Furthermore, such as Figure 5 As shown, the data acquisition unit 181, status judgment unit 182, ventilation control unit 183, and feedback correction unit 184 can be set up as independent modules, or they can be implemented using different functional modules in an integrated control board or industrial controller. The above units can interact with each other in the order of data acquisition, status judgment, ventilation control, and feedback correction, so that the control component 18 forms a relatively complete perception, judgment, execution, and feedback control link.

[0097] Furthermore, the status judgment unit 182 establishes a hierarchical switching logic between the pre-operational status, the operational status, the post-operational status, and the abnormal enhanced ventilation status. The pre-operational status corresponds to a green display, the operational status corresponds to a yellow display, the post-operational status maintains a yellow display or switches to a green display depending on the residual pollutant discharge status, and the abnormal enhanced ventilation status corresponds to a red display.

[0098] The status display component 19 is disposed on the outside of the protective housing 12, and preferably below, at the lower front, or on the side facing the direction of the ship's approach, so that the ship's navigator, the access point manager, and the on-site maintenance personnel can observe the current working status. The status display component 19 includes a green status display unit 191, a yellow status display unit 192, and a red status display unit 193. The green status display unit 191 is used to display the pre-navigation preparation or low-power standby status; the yellow status display unit 192 is used to display the status of the ship about to enter, currently navigating, or delayed exhaust after navigation; the red status display unit 193 is used to display the status of high pollutant concentration, insufficient wind speed, continuous ship navigation, sensor malfunction, or equipment malfunction.

[0099] The status display component 19 may further include a text prompt area 194, a light-transmitting protective cover 195, a waterproof sealing shell 196, and a light shield 197; the text prompt area 194 is used to display information such as normal navigation, navigation caution, abnormal warning, or equipment operating status; the light-transmitting protective cover 195 is disposed on the outside of the green status display unit 191, the yellow status display unit 192, and the red status display unit 193, and is used to protect the display units; the waterproof sealing shell 196 is disposed on the outer periphery of the status display component 19, and is used to improve the adaptability of the status display component 19 in high humidity and water vapor environments; the light shield 197 is disposed on the outside or top of the status display component 19, and is used to reduce the impact of strong external light on the display effect.

[0100] Furthermore, the green status display unit 191, the yellow status display unit 192, and the red status display unit 193 can be arranged horizontally or vertically; the text prompt area 194 can be located above, below, or to the side of the three-color status display units; the light-transmitting protective cover 195 can be made of transparent or semi-transparent material; and the waterproof sealing shell 196 and the light shield 197 can be adapted to the lighting, water vapor, and environmental conditions of the opening.

[0101] The power supply and communication component 20 is located inside, on the side of, or near the external wiring access point of the protective housing 12, and is electrically connected to the frequency conversion ventilation component 14, the environmental monitoring component 16, the ship passage identification component 17, the control component 18, and the status display component 19. The power supply and communication component 20 is used to provide power to the intelligent ventilation robot 1 and to realize data transmission between the intelligent ventilation robot 1 and the external monitoring platform, the opening control cabinet, or the existing ventilation control system.

[0102] like Figure 2 As shown, the intelligent ventilation robot 1 can be installed at the entrance, exit, or other locations within the tunnel where ventilation demand is high. When installed in the entrance area, the status display component 19 and the ship passage identification component 17 are preferably arranged facing the direction of the ship's approach to identify the ship's passage status and provide intuitive status prompts to the ship or maintenance personnel; the airflow guiding component 15 is preferably arranged facing the tunnel interior or the predetermined exhaust direction to cooperate with the frequency conversion ventilation component 14 to form a supply or exhaust airflow along the tunnel direction.

[0103] like Figure 6 As shown, during actual operation, the intelligent ventilation robot 1 uses the ship passage identification component 17 to identify whether a ship is about to enter, is inside, or has left; it uses the environmental monitoring component 16 to acquire environmental parameters at the entrance or inside the tunnel; it uses the control component 18 to determine the current ventilation status; and it uses the frequency conversion ventilation component 14 and the airflow guiding component 15 to form an auxiliary ventilation airflow corresponding to the current status. Simultaneously, the status display component 19 displays the current ventilation status to the ships ahead or on-site maintenance personnel in green, yellow, or red, ensuring that the ventilation control process corresponds to the on-site visual prompts.

[0104] Example 2 describes in detail an intelligent ventilation robot control method based on ship passage status recognition, such as... Figure 3 As shown, it includes the following steps:

[0105] S1. Obtain vessel passage status information through vessel passage identification component 17;

[0106] Specifically, the vessel access identification component 17 can obtain information such as vessel position, speed, direction of travel, estimated entry time, estimated exit time, and whether the vessel has entered the cave through an AIS receiving module, radar detection module, laser ranging module, or video recognition module.

[0107] S2. Obtain environmental parameters of the cave entrance or the area inside the cave through the environmental monitoring component 16;

[0108] Specifically, the environmental monitoring component 16 collects data on CO concentration, NO2 concentration, smoke concentration, particulate matter concentration, oxygen concentration, temperature and humidity, wind speed and wind direction, and transmits the collected data to the control component 18.

[0109] S3. The control component 18 determines the current working status of the intelligent ventilation robot 1 based on the ship's passage status information and environmental parameters.

[0110] When the ship has not yet entered and the environmental parameters are within the set range, the status judgment unit 182 determines that the intelligent ventilation robot 1 is in the pre-navigation state.

[0111] When the ship is about to enter or is navigating inside the water, the status judgment unit 182 determines that the intelligent ventilation robot 1 is in the navigation state.

[0112] When the ship has left, and residual pollutants still need to be discharged from the cave, the status judgment unit 182 determines that the intelligent ventilation robot 1 is in the post-navigation state.

[0113] When environmental parameters exceed the set range, the wind speed inside the cave is insufficient, there is continuous ship traffic, or the sensor or equipment is malfunctioning, the status judgment unit 182 determines that the intelligent ventilation robot 1 is in an abnormal enhanced ventilation state.

[0114] S4. Control component 18 controls frequency conversion ventilation component 14 and airflow guide component 15 according to the current working status.

[0115] In the pre-navigation state, the ventilation control unit 183 controls the frequency converter ventilation component 14 to operate at low power, operate intermittently, or standby, maintains the basic airflow direction through the airflow guide component 15, and displays green through the status display component 19 facing the ship to indicate that the ship ahead or on-site maintenance personnel are currently in the pre-navigation preparation state or low power standby state.

[0116] During navigation, the ventilation control unit 183 controls the variable frequency ventilation component 14 to increase the operating level, and adjusts the airflow direction through the air guide component 15 according to the ship's position, speed and direction of travel, so that the supply or exhaust airflow acts longitudinally towards the ship's exhaust gas diffusion area or the predetermined exhaust direction. At the same time, the status display component 19 set towards the ship displays yellow to indicate that the ship ahead or the on-site maintenance personnel are currently in the state of the ship about to enter or is in navigation.

[0117] After the system is operational, the ventilation control unit 183 controls the variable frequency ventilation component 14 to operate for a delay and gradually reduces the operating level based on the feedback data from the environmental monitoring component 16. When residual pollutants have not yet been discharged to the set range, the status display component 19 maintains a yellow display or a flashing yellow display. When the environmental parameters return to the set range, the status display component 19 switches to a green display.

[0118] In an abnormally enhanced ventilation state, the ventilation control unit 183 controls the variable frequency ventilation component 14 to operate more intensely, controls the airflow guide component 15 to be directed toward areas where pollutants are prone to accumulate, the exhaust direction of the opening, or the predetermined exhaust area, and displays red on the status display component 19 set toward the direction of the ship to indicate that the ship ahead, the opening management personnel, or the on-site maintenance personnel are currently in an abnormally enhanced ventilation state.

[0119] S5, the environmental monitoring component 16 continuously collects environmental parameters after ventilation, and the control component 18 corrects the operating level, operating time and air guiding direction of the variable frequency ventilation component 14 and the air guiding component 15 based on the feedback data.

[0120] Specifically, when the CO concentration, smoke concentration, or particulate matter concentration after ventilation decreases to the set range and the wind speed inside the tunnel meets the requirements, the feedback correction unit 184 controls the variable frequency ventilation component 14 to gradually reduce the operating level; when the pollutant concentration after ventilation is still too high or the wind speed inside the tunnel is insufficient, the feedback correction unit 184 controls the variable frequency ventilation component 14 to maintain a higher operating level or extend the operating time, and adjusts the airflow direction of the airflow guide component 15.

[0121] This embodiment realizes the auxiliary ventilation control of the intelligent ventilation robot 1 under different operating conditions through ship passage status recognition, environmental parameter acquisition, graded status judgment, frequency conversion ventilation control, airflow direction adjustment, status display of orientation towards the ship's direction of arrival, and feedback correction process.

[0122] Example 3 describes in detail a control method for the correspondence between a status display component and the ventilation status, specifically as follows:

[0123] Status display component 19 includes a green status display unit 191, a yellow status display unit 192, and a red status display unit 193. The green status display unit 191, yellow status display unit 192, and red status display unit 193 can be LED light panels, light boxes, displays, warning lights, or combined status displays;

[0124] Before navigation begins, the status display component 19 displays green. At this time, the vessel has not yet entered the area, environmental parameters are within the set range, and the control component 18 controls the variable frequency ventilation component 14 to be in standby, low-speed operation, or intermittent operation.

[0125] When the vessel is in transit, the status display component 19 displays yellow. At this time, the vessel is about to enter or is navigating inside the tunnel. The control component 18 controls the variable frequency ventilation component 14 to increase the operating level and adjusts the airflow direction of the air outlet component 15 according to the vessel's direction of travel and the airflow conditions inside the tunnel.

[0126] If residual pollutants remain inside the tunnel after navigation resumes, the status display component 19 will maintain a yellow display or a flashing yellow display, and the control component 18 will control the variable frequency ventilation component 14 to operate for a delay and gradually reduce the operating speed based on the feedback data from the environmental monitoring component 16. If the environmental parameters return to the set range, the status display component 19 will switch to a green display, and the control component 18 will control the variable frequency ventilation component 14 to operate at low speed or standby.

[0127] When environmental parameters exceed the set range, the wind speed inside the tunnel is insufficient, there is continuous ship traffic, or there is sensor malfunction or equipment malfunction, the status display component 19 will display red. At this time, the control component 18 controls the variable frequency ventilation component 14 to operate more efficiently, and can send alarm information to the external monitoring platform or the tunnel entrance control cabinet through the power supply and communication component 20.

[0128] In this embodiment, the status display component 19 is preferably located below, on the lower front side, or on the side facing the direction of the ship's approach of the intelligent ventilation robot 1, so that the display surfaces of the green status display unit 191, the yellow status display unit 192, and the red status display unit 193 face the direction of the ship's observation. Thus, the ship's navigator can observe the current ventilation status as they approach the entrance, and the entrance management personnel and on-site maintenance personnel can also intuitively identify the operating status of the intelligent ventilation robot 1.

[0129] The status display component 19 can assist in displaying information such as normal navigation, navigation caution, abnormal warning, or equipment operating status through the text prompt area 194; the light-transmitting protective cover 195 can protect the green status display unit 191, the yellow status display unit 192, and the red status display unit 193; the waterproof sealing housing 196 can improve the adaptability of the status display component 19 in the high humidity and water vapor environment of the opening; the light shield 197 can reduce the impact of strong external light on the status display effect.

[0130] This embodiment uses green, yellow, and red status display modes to correspond the on-site visual prompts with the states before, during, and after navigation, as well as the abnormal enhanced ventilation status. This allows the ventilation status of the intelligent ventilation robot to be quickly identified by on-site maintenance personnel and vessels ahead, while also ensuring that the ventilation control logic corresponds with the on-site status prompts.

[0131] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any changes, modifications, substitutions, integrations, and parameter changes made to these embodiments within the spirit and principles of the present invention, without departing from the principles and spirit of the present invention, through conventional substitutions or to achieve the same function, fall within the scope of protection of the present invention.

Claims

1. An intelligent ventilation robot system based on ship passage status recognition, characterized in that, The system includes an intelligent ventilation robot (1), which is set at the entrance, exit, or other locations in the tunnel where auxiliary ventilation is required. It collects the ship's passage status and the tunnel's environmental parameters, and adjusts the ventilation operation mode according to the different states before, during, and after navigation. The intelligent ventilation robot (1) includes a suspension mounting component (11), a protective shell (12), an airflow adjustment component, an environmental monitoring component (16), a ship passage identification component (17), a control component (18), a status display component (19), and a power supply and communication component (20). The suspension mounting assembly (11) is located on the upper part of the intelligent ventilation robot (1) and is used to fix the intelligent ventilation robot (1) to the top of the opening, the upper side of the opening, or the support structure inside the opening; The airflow regulating assembly includes an air inlet assembly (13), a frequency conversion ventilation assembly (14), and a guide air outlet assembly (15). The air inlet assembly (13) is located on the air inlet side of the protective shell (12) and is used to introduce air from inside the cave or the cave entrance area. The frequency conversion ventilation assembly (14) is located inside the protective shell (12) and is connected to the air inlet assembly (13) to form an adjustable supply or exhaust airflow. The guide air outlet assembly (15) is located on the air outlet side of the frequency conversion ventilation assembly (14) and is used to adjust the airflow discharge direction, air outlet angle, and airflow range. The protective housing (12) is located on the outside of the intelligent ventilation robot (1) and is used to house and protect the air intake assembly (13), the frequency conversion ventilation assembly (14), the air guide assembly (15), the environmental monitoring assembly (16), the ship passage identification assembly (17), the control assembly (18), the status display assembly (19), and the power supply and communication assembly (20). The environmental monitoring component (16) is located outside the protective shell (12), near or adjacent to the air intake component (13) and the airflow sampling location, and is used to collect environmental parameters of the opening or the area inside the cave. The vessel passage identification component (17) is located on the outside of the protective housing (12) or on the side facing the vessel passage direction, and is used to obtain vessel passage status information; The control component (18) is connected to the frequency conversion ventilation component (14), the airflow guide component (15), the environmental monitoring component (16), the ship passage identification component (17), and the status display component (19) respectively, and is used to generate ventilation control commands based on the ship passage status and environmental parameters; The status display component (19) is located on the outside of the protective housing (12) and below the intelligent ventilation robot (1) or on the side facing the direction of the ship's approach, for displaying the current working status of the intelligent ventilation robot (1); The power supply and communication component (20) is connected to the frequency conversion ventilation component (14), the environmental monitoring component (16), the ship passage identification component (17), the control component (18), and the status display component (19) respectively, for power supply and data transmission.

2. The intelligent ventilation robot system based on ship passage status recognition according to claim 1, characterized in that, The air inlet assembly (13) of the airflow regulating component includes one or more of an air inlet grille, waterproof louvers, a filter screen, and a protective screen; the variable frequency ventilation assembly (14) of the airflow regulating component includes one or more of a variable frequency axial flow fan, a variable frequency jet fan, or a small axial flow exhaust fan; the air outlet assembly (15) of the airflow regulating component includes one or more of a guide tube, a guide hood, adjustable guide louvers, and an electric adjustment mechanism.

3. The intelligent ventilation robot system based on ship passage status recognition according to claim 2, characterized in that, The variable frequency ventilation component (14) is used to form a supply or exhaust airflow along the longitudinal direction or toward a predetermined exhaust direction; the airflow guide component (15) is used to make the airflow formed by the variable frequency ventilation component (14) act along the longitudinal direction, toward the ship exhaust gas diffusion area, the area where pollutants are easy to accumulate in the cave, or the predetermined exhaust direction.

4. The intelligent ventilation robot system based on ship passage status recognition according to claim 1, characterized in that, The control component (18) includes a data acquisition unit (181), a status judgment unit (182), a ventilation control unit (183), and a feedback correction unit (184). The data acquisition unit (181) is used to receive data from the environmental monitoring component (16) and the ship passage identification component (17); The state judgment unit (182) is used to determine whether the intelligent ventilation robot (1) is in the pre-navigation state, the navigation state, the post-navigation state, or the abnormal enhanced ventilation state based on the ship's navigation state and environmental parameters. The ventilation control unit (183) is used to control the operating level and operating time of the variable frequency ventilation component (14) and the air guiding direction of the air guiding component (15); The feedback correction unit (184) is used to correct the operating level, operating time and air guiding direction of the variable frequency ventilation component (14) according to the environmental parameters after ventilation.

5. The intelligent ventilation robot system based on ship passage status recognition according to claim 1, characterized in that, The status display component (19) includes a green status display unit (191), a yellow status display unit (192), and a red status display unit (193). The green status display unit (191) is used to display the pre-flight preparation status, low-power standby status, or safety status after environmental recovery. The yellow status display unit (192) is used to display the status of the ship about to enter, is currently navigating, or is in the process of delayed ventilation after navigation. The red status display unit (193) is used to display pollutant concentration too high, insufficient wind speed in the tunnel, continuous ship navigation, sensor abnormality, or equipment malfunction. The status display component (19) adopts an exposed display structure facing the direction of the ship's approach, and the green status display unit (191), yellow status display unit (192) and red status display unit (193) are arranged in a horizontal or vertical direction.

6. The intelligent ventilation robot system based on ship passage status recognition according to claim 5, characterized in that, The status display component (19) further includes one or more of the following: a text prompt area (194), a light-transmitting protective cover (195), a waterproof sealed housing (196), and a light shield (197); The text prompt area (194) is used to display information such as normal navigation, navigation caution, abnormal warning, or equipment operating status; The light-transmitting protective cover (195) is used to protect the green status display unit (191), the yellow status display unit (192) and the red status display unit (193). The waterproof sealing housing (196) is used to improve the adaptability of the status display assembly (19) in high humidity and water vapor environments; The light shield (197) is used to reduce the impact of strong external light on the status display effect.

7. A control method for an intelligent ventilation robot based on ship passage status recognition, characterized in that, The implementation of the intelligent ventilation robot system according to any one of claims 1-6 includes the following steps: S1. Obtain vessel passage status information through the vessel passage identification component (17); S2. Obtain environmental parameters of the cave entrance or the area inside the cave through the environmental monitoring component (16); S3, Control Component (18) determines the current working status of Intelligent Ventilation Robot (1) based on ship passage status information and environmental parameters; When the vessel has not yet entered the area and the environmental parameters are within the set range, it is considered to be in the pre-navigation state. When a vessel is about to enter or is navigating within the naval area, it is considered to be in a state of navigation. When the ship has left, and residual pollutants still need to be discharged from the cave, it is considered to be in the post-navigation state. When environmental parameters exceed the set range, the wind speed inside the tunnel is insufficient, there is continuous ship navigation, or there are sensor malfunctions or equipment malfunctions, it is judged as an abnormal enhanced ventilation state. S4. The control component (18) controls the frequency conversion ventilation component (14), the airflow guide component (15), and the status display component (19) according to the current working status. S5. The environmental monitoring component (16) continuously collects environmental parameters after ventilation, and the control component (18) corrects the operating level, operating time and air guiding direction of the variable frequency ventilation component (14) based on the feedback data.

8. The intelligent ventilation robot control method based on ship passage status recognition according to claim 7, characterized in that, The control component (18) in S4 controls the frequency conversion ventilation component (14), the airflow guide component (15), and the status display component (19) according to the current working state, specifically as follows: Before navigation, the frequency conversion ventilation component (14) is controlled to operate at low power, intermittently, or standby, the basic airflow direction is maintained by the airflow guide component (15), and the status display component (19) facing the ship displays green. In the navigation state, the frequency conversion ventilation component (14) is controlled to increase the operating level, and the airflow direction is adjusted by the air guide component (15) according to the ship's position, speed and direction of travel, so that the supply or exhaust airflow acts longitudinally and toward the ship's exhaust gas diffusion area or the predetermined exhaust direction, while the status display component (19) set toward the ship's direction displays yellow. After navigation resumes, the variable frequency ventilation component (14) is controlled to operate for a delay and the operating level is gradually reduced according to the feedback data of the environmental monitoring component (16); when the residual pollutants are not discharged to the set range, the status display component (19) maintains a yellow display or displays a yellow flashing state; when the environmental parameters are restored to the set range, the status display component (19) switches to a green display. In the abnormal enhanced ventilation state, the frequency conversion ventilation component (14) is controlled to operate in a stronger manner, the air guide component (15) is controlled to be directed toward the area where pollutants are easy to accumulate, the exhaust direction of the opening, or the predetermined exhaust area, and the status display component (19) set to face the ship is displayed in red.

9. The intelligent ventilation robot control method based on ship passage status recognition according to claim 8, characterized in that, In S4, when the ship is detected to be about to enter, the control component (18) starts the frequency conversion ventilation component (14) in advance, so that the intelligent ventilation robot (1) enters the pre-navigation ventilation state to form a basic airflow organization before the ship enters. When the ship is inside, the control component (18) adjusts the air guiding direction of the air guiding component (15) according to the ship's position, ship speed and direction of travel, so that the supply or exhaust airflow is directed towards the ship's exhaust gas diffusion area, the area where pollutants are easy to accumulate in the cave or the predetermined exhaust direction. After the ship leaves, the control component (18) determines the discharge status of residual pollutants based on environmental parameters and gradually reduces the operating level of the frequency conversion ventilation component (14) until the environmental parameters return to the set range. When the status display component (19) displays red for a duration exceeding the set time, the control component (18) sends an alarm message to the external monitoring platform, the opening control cabinet, or the existing ventilation control system via the power supply communication component (20).

10. The intelligent ventilation robot control method based on ship passage status recognition according to claim 9, characterized in that, The control component (18) is configured to: in the navigation state, according to the real-time position and speed of the ship output by the ship passage identification component (17), dynamically adjust the outflow direction with the ship position through the electric directional mechanism of the airflow guide component (1), so that the auxiliary airflow continuously acts on the exhaust gas diffusion area at the stern of the ship.

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