Container yard fire pre-warning and extinguishing system and method

Abstract

The application discloses a container yard fire-fighting early warning and extinguishing system and method, and belongs to the technical field of fire-fighting equipment. The system comprises a temperature monitoring module installed below a rail-mounted crane crossbeam, a fire extinguishing module and a fire-fighting medium storage module installed on a working trolley, an automatic supply module and a fire alarm controller. The temperature monitoring module moves with the rail-mounted crane to realize global dynamic temperature measurement. The fire alarm controller determines a fire condition according to temperature data, realizes single container position level positioning in linkage with a wharf TOS system, and drives the fire extinguishing module to execute fire extinguishing. When the medium remaining amount is insufficient, an automatic dispatching supply unmanned aerial vehicle completes accurate docking and medium filling under the condition of dynamic movement of the rail-mounted crane. The application can reduce the false alarm rate, realize single container position level fire positioning and directional efficient fire extinguishing, can automatically monitor and supply fire-fighting medium, and can reuse existing equipment, thereby reducing construction and operation and maintenance costs.

Description

Technical Field

[0001] This invention relates to the field of fire-fighting equipment technology, specifically to a fire early warning and extinguishing system and method for container yards. Background Technology

[0002] Fully automated container yards are the core operational area of ​​a port's logistics system. The yards contain a wide variety of goods, and some (such as lithium batteries, chemical raw materials, coke, and grains) pose a risk of spontaneous combustion or smoldering during storage due to their inherent physical and chemical properties. Combined with factors such as high temperatures in summer, the heat generated by sunlight on the containers, and potential electrical faults in refrigeration units of some refrigerated containers due to prolonged operation, smoldering fires or open flames are highly likely to occur during cargo storage. If a fire is not detected and dealt with promptly, it can spread rapidly, causing not only large-scale cargo damage and damage to core yard equipment such as rail-mounted gantry cranes, but also directly disrupting normal port loading and unloading operations, leading to major safety accidents and huge economic losses.

[0003] To address the fire safety needs of container yards, some solutions involve deploying infrared thermometers or smoke detectors at fixed locations for monitoring, and installing fire monitors or extinguishing devices at fixed points. Other solutions utilize track-mounted inspection robots equipped with detection devices and fire suppression equipment to perform both inspection and firefighting functions. Additionally, some solutions propose using drones for fire inspections or firefighting operations at the container yard.

[0004] However, the aforementioned solutions have significant shortcomings when adapting to the special scenarios of fully automated container yards characterized by unmanned operation, high-density stacking, and dynamic operations. First, fixed-point temperature measurement has limited coverage, resulting in numerous blind spots in high-density stacking and multi-layered stacking scenarios. This makes it impossible to detect early-stage smoldering and abnormal temperature rises inside containers, leading to severely delayed warnings. Second, the fire extinguishing equipment, whether fixedly installed or carried by inspection robots, has limited capacity and cannot dynamically move with the operating equipment to the precise location of the fire, resulting in poor fire extinguishing positioning accuracy and low efficiency. Third, the existing fire protection system and the terminal operation system are independent and lack data sharing. After a fire occurs, only a general area can be determined, failing to pinpoint the specific container location, leading to chaotic emergency dispatch and slow response. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a fire early warning and extinguishing system and method for container yards. By equipping automated rail-mounted gantry cranes with temperature monitoring, extinguishing, and fire-fighting medium storage modules, it achieves dynamic temperature measurement and early warning of fires covering the entire storage area. This reduces false alarm rates, enables single-container-level fire location and directional, efficient fire extinguishing, and automatically monitors and replenishes fire-fighting media. Furthermore, it reuses existing equipment without requiring large-scale modifications, thus reducing construction and maintenance costs.

[0006] In a first aspect, the technical solution of the present invention provides a fire early warning and extinguishing system for container yards, comprising: The temperature monitoring module is installed below the crossbeam of the rail-mounted gantry crane and is used for non-contact temperature acquisition of stacked containers. The fire extinguishing module is installed on the working trolley of the rail-mounted crane and is used to spray fire extinguishing agents to extinguish fire sources. The fire-fighting medium storage module is installed on the top of the operating trolley and is connected to the fire extinguishing module through pipelines. It is equipped with a fire-fighting medium balance detection component and is used to store and supply fire-fighting medium. The fire-fighting medium replenishment module is used to add fire-fighting medium to the fire-fighting medium storage module; The fire alarm controller is connected to the temperature monitoring module, the fire extinguishing module, the fire-fighting medium remaining quantity detection component, the dock TOS system, and the remote monitoring center. It is used to receive temperature data, determine the fire situation based on the temperature data, drive the operation trolley to position based on the dock TOS system, and then drive the fire extinguishing module to perform fire extinguishing operations. It also sends the fire information to the remote monitoring center, and at the same time receives the fire-fighting medium remaining quantity data and triggers the fire-fighting medium replenishment based on the fire-fighting medium remaining quantity data.

[0007] Secondly, the technical solution of the present invention provides a fire early warning and extinguishing method for container yards, based on the aforementioned system implementation, including the following steps: The rail-mounted crane moves along the yard rails, driving the temperature monitoring module to collect temperature data from the stacked containers. The fire alarm controller receives temperature data in real time and uses the temperature data to make a logical determination of whether there is a warning state or a fire alarm state. When a warning or fire alarm is in effect, the fire information is linked in real time to the container position coordinates of the terminal's TOS system, generating a fire command with specific location information and pushing it to the remote monitoring center. When a fire alarm is detected, the dock's TOS system drives the rail-mounted gantry crane and the work trolley to the target location, thereby enabling the fire extinguishing module to spray directional fire extinguishing at the fire source. The system monitors the remaining amount of fire-fighting medium in the storage module in real time. When the remaining amount is lower than the preset lower limit, a replenishment command is issued, and a drone is dispatched to fly to the rail-mounted gantry to complete the docking and medium filling with the fire-fighting medium replenishment module.

[0008] As can be seen from the above technical solutions, this application has the following advantages: The temperature monitoring module is installed below the crossbeam of the rail-mounted crane. As the rail-mounted crane moves, it achieves dynamic temperature measurement of the entire storage area. Each temperature measurement unit corresponds to a row of containers, eliminating the blind spots inherent in fixed detection equipment. The temperature monitoring module is driven by the movement of the rail-mounted crane to achieve dynamic temperature monitoring of the entire area. Combined with multi-level composite logic judgment, it distinguishes between early warning status and fire alarm status, effectively reducing the false alarm rate caused by environmental factors. It can detect early abnormal temperature rise inside the container in advance, realize early warning of fire, and control fire risk from the source. The fire alarm controller is connected to the temperature monitoring module and the terminal TOS system to bind real-time temperature data with the container position coordinates of the TOS system in real time, so as to achieve precise positioning of fire at the single container position level and rapid linkage response. When a fire alarm is detected, the terminal TOS system drives the rail gantry crane and the working trolley to accurately position themselves, so that the fire extinguishing module can be aimed at the fire source to spray fire extinguishing in a directional manner, thereby improving the efficiency of emergency dispatch and the accuracy of fire extinguishing. The fire extinguishing module and fire-fighting medium storage module are installed on the rail-mounted gantry crane, so that the fire extinguishing device moves dynamically with the operating equipment. After the operating gantry crane is precisely positioned by the TOS system, it performs fire extinguishing, achieving accurate fire extinguishing without obstruction. The TOS system at the dock drives the rail-mounted gantry crane and operating gantry crane to position, so that the fire extinguishing module accurately targets the fire source and sprays fire extinguishing in a directional manner. The fire extinguishing efficiency is much higher than that of traditional fixed fire-fighting equipment. The fire-fighting medium balance detection component monitors the medium balance in real time. The fire alarm controller automatically triggers fire-fighting medium replenishment based on the balance data. When the balance is lower than the preset lower limit, the drone is automatically dispatched to ensure the system's continuous fire-fighting capability. The existing automated rail-mounted gantry cranes in the yard can be directly reused as the carrier. Temperature monitoring modules, fire extinguishing modules and fire-fighting medium storage modules can be installed on the rail-mounted gantry cranes. There is no need to add an additional independent fire inspection carrier or carry out large-scale civil engineering modifications, which greatly reduces construction and operation and maintenance costs. It is suitable for large-scale application in various types of port automated yards. Attached Figure Description

[0009] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic block diagram of a fire early warning and extinguishing system for a container yard, provided as an embodiment of the present invention.

[0011] Figure 2 A schematic diagram of the installation structure for the temperature monitoring module.

[0012] Figure 3This is a schematic diagram of the fire-fighting medium replenishment module.

[0013] Figure 4 This is a schematic diagram of a fire early warning and extinguishing method for container yards provided in an embodiment of the present invention.

[0014] Figure 5 A schematic diagram of the process for refueling a drone.

[0015] In the diagram, 1-crossbeam, 2-temperature measuring unit, 3-container, 4-supply drone, 5-liquid storage tank, 6-conical docking port, 7-automatic tracking and positioning jet extinguishing device, 8-visual positioning component, 9-operating trolley, 10-locking mechanism, 11-drone platform, 12-conical guide groove positioning mechanism, 13-fire-fighting medium storage tank, 14-container spreader. Detailed Implementation

[0016] To make the purpose, features, and advantages of this application more apparent and understandable, specific embodiments and accompanying drawings will be used to clearly and completely describe the technical solution protected by this application. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this application and in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0018] Figure 1 A schematic block diagram of a fire early warning and extinguishing system for container yards is provided as an embodiment of the present invention, as shown below. Figure 1 As shown, the system includes a temperature monitoring module, a fire extinguishing module, a fire-fighting medium storage module, a fire-fighting medium replenishment module, and a fire alarm controller.

[0019] The temperature monitoring module is installed below the crossbeam 1 of the rail-mounted gantry crane and is used to collect the temperature of the stacked containers 3 in a non-contact manner.

[0020] The fire extinguishing module is installed on the working trolley 9 of the rail-mounted crane and is used to spray fire extinguishing agents to extinguish fire sources.

[0021] The fire-fighting medium storage module is installed on the top of the working trolley 9 and is connected to the fire extinguishing module through pipelines. It is equipped with a fire-fighting medium balance detection component and is used to store and supply fire-fighting medium.

[0022] The fire-fighting medium replenishment module is used to add fire-fighting medium to the fire-fighting medium storage module.

[0023] The fire alarm controller is connected to the temperature monitoring module, the fire extinguishing module, the fire-fighting medium remaining quantity detection component, the dock TOS system, and the remote monitoring center. It is used to receive temperature data, determine the fire situation based on the temperature data, drive the operation trolley 9 to position based on the dock TOS system, and then drive the fire extinguishing module to perform fire extinguishing operations. It also sends the fire information to the remote monitoring center, and at the same time receives the fire-fighting medium remaining quantity data and triggers the fire-fighting medium replenishment based on the fire-fighting medium remaining quantity data.

[0024] like Figure 2 As shown, in some optional embodiments, the temperature monitoring module includes multiple temperature measuring units 2 arranged below the crossbeam 1 of the rail-mounted crane, each temperature measuring unit 2 corresponding to a column of container 3.

[0025] Specifically, the rail-mounted crane beam 1 extends laterally (Y-axis direction) along the yard, and several temperature measuring units 2 are installed at equal intervals along its length below the beam 1. The number of temperature measuring units 2 matches the number of rows of containers 3 in the yard, ensuring that each row of containers 3 is directly above a corresponding temperature measuring unit 2. When the automated rail-mounted crane moves longitudinally (X-axis direction) along the yard, each temperature measuring unit 2 moves with the entire crane, sequentially scanning containers 3 at different locations, achieving full-coverage dynamic temperature measurement of the storage area.

[0026] In a preferred embodiment, the temperature measuring unit 2 employs an infrared temperature sensor. It should be noted that the infrared temperature sensor is only one preferred implementation; those skilled in the art should understand that any sensor with non-contact temperature monitoring capabilities can be used as a replacement or supplement to the temperature measuring unit 2. For example, an infrared thermal imager can be used instead of the aforementioned point sensor.

[0027] Each temperature measuring unit 2 is fixedly installed below the crossbeam 1 of the rail-mounted crane via a shock-absorbing bracket. The shock-absorbing bracket can be an elastic damping structure. After installation, each temperature measuring unit 2 is calibrated on-site to establish a fixed correspondence with the column position of the container 3 below. This correspondence is stored in the fire alarm controller in the form of a mapping table, which records the number of each temperature measuring unit 2 and its corresponding column position number. When the rail-mounted crane moves to a certain bay position, the fire alarm controller can determine the specific container 3 position (bay position + column position) corresponding to the temperature data collected by that temperature measuring unit 2 based on the current trolley position coordinates and the temperature measuring unit 2 number. Combined with the layer information provided by the yard TOS system, the specific container 3 (bay position + column position + layer position) can be further precisely located. Furthermore, since the fire extinguishing module is installed on the operating trolley 9, and the installation position coordinates of each temperature measuring unit 2 on the crossbeam 1 correspond to the target position coordinates required for the operating trolley 9 to move directly above that column position, the fire alarm controller can obtain the target position that the operating trolley 9 needs to move to by looking up the table based on the target temperature measuring unit 2 number.

[0028] In the normalized temperature monitoring mode, the automated rail-mounted crane moves back and forth along the yard rails to perform loading and unloading operations, while simultaneously moving the temperature measuring units 2 below the crossbeam 1. Each temperature measuring unit 2 continuously performs non-contact temperature measurement on the surface of the container 3 directly below it at a preset sampling frequency, and the collected temperature data is uploaded to the fire alarm controller in real time.

[0029] like Figure 3 As shown, the fire extinguishing module is installed on the working trolley 9 of the automated rail-mounted gantry crane and is used to spray fire extinguishing agents to extinguish the fire. In some optional embodiments, the fire extinguishing module adopts an automatic tracking and positioning jet fire extinguishing device 7, which can automatically identify the location of the fire source and adjust the spray direction. Meanwhile, to ensure the reliability of the fire extinguishing operation and avoid interruption of fire extinguishing due to the failure of a single device, a dual-sided redundant deployment structure is adopted. Specifically, the fire extinguishing module includes a main automatic tracking and positioning jet fire extinguishing device 7 and a backup automatic tracking and positioning jet fire extinguishing device 7, which are respectively installed on the front and rear sides of the working trolley 9. In addition, a fire alarm control system is provided, which is communicatively connected to both the fire warning controller and the fire extinguishing module. The fire warning controller controls the fire extinguishing module to perform fire extinguishing operations through the fire alarm control system.

[0030] The main fire extinguishing device 7 has a built-in fault self-diagnosis module. This module monitors the operating status of the fire extinguishing device 7 in real time, including but not limited to: power supply status, communication status, pipeline pressure, spraying function, and the working status of the rotating and tilting mechanisms. The fault self-diagnosis module maintains real-time communication with the fire alarm control panel and uploads the monitoring data to the fire alarm control panel. When the fault self-diagnosis module detects a fault in the main fire extinguishing device 7, such as insufficient spraying pressure, stuck rotating mechanism, or communication interruption, it automatically performs a main / backup switchover.

[0031] The fire extinguishing device 7 is installed on the working trolley 9, and it must be ensured that its entire stroke trajectory does not interfere with the movement trajectory of the rail-mounted crane. This is achieved through the following process.

[0032] First, during the installation design phase, 3D motion simulation software was used to simulate the entire travel trajectory of the spreader, including its lifting, translation, and swinging movements. The maximum swing amplitude of the spreader under a level 6 wind load was considered, and sufficient safety margin was reserved.

[0033] Secondly, based on the simulation results, the optimal installation position of the fire extinguishing device 7 on the working trolley 9 is determined. Preferably, the main fire extinguishing device 7 and the backup fire extinguishing device 7 are installed at the ends of the front and rear sides of the working trolley 9, respectively, so that the spray nozzle of the fire extinguishing device 7 exceeds the projection range of the lifting device in the horizontal direction, ensuring that the spray path is unobstructed throughout.

[0034] Finally, after the actual installation is completed, an on-site motion interference test is conducted: simulating various extreme motion postures of the lifting equipment to verify that there is no physical contact or obstruction between the fire extinguishing device 7 and its spray path and the lifting equipment, ensuring safe operation under all working conditions.

[0035] like Figure 3 As shown, the fire-fighting medium storage module is fixedly installed on the top of the working trolley 9 of the automated rail-mounted gantry crane. It is connected to the fire extinguishing module through a pressure-resistant delivery pipeline and is used to store and supply fire-fighting medium. The fire-fighting medium storage module moves synchronously with the working trolley 9, ensuring that the fire extinguishing module can receive medium supply at any working position.

[0036] In some optional embodiments, the fire-fighting medium storage module includes a fire-fighting medium storage tank 13, which is made of stainless steel. The fire-fighting medium storage tank 13 is fixedly installed on the top of the working trolley 9 by a reinforcing base. A shock-absorbing pad can be installed between the storage tank and the base to absorb vibrations generated during the operation of the rail-mounted crane and the movement of the working trolley 9.

[0037] The fire-fighting medium storage tank 13 is equipped with a fire-fighting medium balance detection component for real-time monitoring of the remaining fire-fighting medium level in the tank. This component is communicatively connected to the fire alarm controller, uploading real-time balance data to the controller. Specifically, the delivery pressure detection component includes a pressure sensor installed at the medium outlet of the storage tank or the beginning of the delivery pipeline. It monitors the medium pressure in the delivery pipeline in real-time to ensure that the medium can be sprayed to the fire source with sufficient pressure and flow during firefighting. When the pipeline pressure is detected to be lower than the preset minimum pressure threshold required for firefighting, the fire alarm controller issues a low-pressure alarm signal, indicating a possible medium leak. Combined with the balance detection data, when the balance is sufficient but the pressure is abnormally low, it can be determined that the delivery pipeline is blocked or damaged, assisting maintenance personnel in quickly locating the fault.

[0038] like Figure 3 As shown, the fire-fighting medium replenishment module is located on the top surface of the fire-fighting medium storage module and is used for automatic replenishment of the fire-fighting medium storage module. The fire-fighting medium replenishment module includes a drone platform 11, which is located on the top surface of the fire-fighting medium storage module and serves as the landing and docking base for the replenishment drone 4. The upper surface of the drone platform 11 integrates a visual positioning component 8, a conical guide groove positioning mechanism 12, a locking mechanism 10, and a sealed replenishment interface.

[0039] A liquid storage tank 5 is installed under the fuselage of the resupply drone 4 to carry the fire-fighting medium to be refilled. The bottom of the liquid storage tank 5 is equipped with a conical interface 6 that mates with the conical guide groove positioning mechanism 12 on the drone platform 11, as well as a sealed refill port on the drone side. When the resupply drone 4 lands on the drone platform 11, the conical interface 6 and the conical guide groove positioning mechanism 12 work together to achieve positioning, and the sealed refill port on the drone side mates with the sealed refill interface on the platform side to form a sealed refilling passage.

[0040] The visual positioning element 8 provides visual navigation markers for the resupply drone 4, assisting it in completing coarse positioning. In a preferred embodiment, the visual positioning element 8 is an infrared high-reflection positioning marker. After the resupply drone 4 arrives over the target area, it identifies the visual positioning element 8 through its onboard visual positioning system, calculates the relative position and attitude deviation between the resupply drone 4 and the drone platform 11, and guides the resupply drone 4 to move within the capture range of the conical guide groove positioning mechanism 12, thus completing coarse positioning.

[0041] The conical guide groove positioning mechanism 12 provides passive mechanical guidance during the descent of the resupply drone 4, achieving precise positioning. Specifically, the conical guide groove positioning mechanism 12 has a trumpet-shaped structure with a guide ramp that tapers from top to bottom. The inlet diameter of the guide groove is larger than the outline size of the landing gear of the resupply drone 4, so that the resupply drone 4 falls into the capture range of the guide groove; the bottom diameter of the guide groove matches the diameter of the landing gear of the resupply drone 4, forming a positioning surface. When the resupply drone 4 descends into the inlet range of the conical guide groove under coarse positioning guidance, the landing gear of the resupply drone 4 first contacts the guide ramp. Under the combined action of gravity and the thrust of the resupply drone 4, the landing gear naturally slides down the guide ramp to the positioning center at the bottom of the guide groove. Due to the constraint of the guide ramp, when the deviation does not exceed the capture range of the guide groove inlet, it slides to the center position, achieving passive positioning.

[0042] The locking mechanism 10 is used to rigidly lock the supply drone 4 to the drone platform 11 after the supply drone 4 is positioned, preventing relative displacement between the supply drone 4 and the platform during the refueling process. Preferably, the locking mechanism 10 is an electric pin-type locking mechanism 10, which includes a locking drive motor, a transmission mechanism, and a locking pin. The extension direction of the locking pin corresponds to the preset lock hole position on the landing gear of the supply drone 4. When the supply drone 4 is positioned at the bottom center of the conical guide groove positioning mechanism 12, the fire alarm controller sends a locking command to the locking mechanism 10, the locking drive motor is energized and runs, driving the locking pin forward through the transmission mechanism to insert into the lock hole on the landing gear of the supply drone 4, forming a mechanical interlock. After locking is completed, the medium refueling process is started. After refueling is completed, the fire alarm controller sends an unlocking command to the locking mechanism 10, the locking drive motor runs in reverse, driving the locking pin back to the initial position, releasing the lock on the supply drone 4, and the supply drone 4 can then take off and return.

[0043] The sealed filling port is used to form a sealed connection with the docking port on the supply drone 4 after the drone 4 is locked, thus establishing a medium filling passage.

[0044] The foregoing has described in detail an embodiment of a container yard fire early warning and extinguishing system. Based on the container yard fire early warning and extinguishing system described in the above embodiment, this invention also provides a container yard fire early warning and extinguishing method corresponding to the system.

[0045] Figure 4 This is a schematic diagram of a fire early warning and extinguishing method for container yards provided by an embodiment of the present invention, as shown below. Figure 4 As shown, the method includes the following steps.

[0046] S1, the rail-mounted crane moves along the yard track, driving the temperature monitoring module to collect temperature data from the stacked container 3.

[0047] S2, the fire alarm controller receives temperature data in real time and makes a logical determination based on the temperature data to determine whether there is a warning state or a fire alarm state.

[0048] S21, acquire real-time surface temperature data of container 3 collected by the temperature monitoring module.

[0049] The fire alarm controller receives the surface temperature data of the container 3 collected by each temperature measuring unit 2 in real time, performs median filtering on the raw temperature data, removes abnormal jump values ​​caused by instantaneous interference from the sensor or occasional influence of external heat sources, and obtains stable temperature measurement values.

[0050] S22 calculates the absolute temperature index, temperature difference change index, and abnormal duration index based on real-time temperature data.

[0051] The absolute temperature index is the measured temperature value T on the surface of container 3, with a preset first threshold of 80℃.

[0052] The temperature difference change index refers to the temperature change of the container surface per unit time. internal temperature change rate ,Right now The preset second threshold is 15℃; The abnormal duration index refers to the length of time that the temperature index or temperature difference index exceeds the threshold within a continuous sampling period. The preset third threshold is 10 seconds.

[0053] S23, compare the absolute temperature index with the first preset threshold, compare the temperature difference change index with the second preset threshold, and compare the abnormal duration index with the third preset threshold.

[0054] S24. When the absolute temperature index, temperature difference change index, and abnormal duration index all reach or exceed their respective preset thresholds, a fire alarm state is determined and the fire extinguishing procedure is triggered.

[0055] S25. When some of the absolute temperature index, temperature difference change index, and abnormal duration index reach or exceed their respective preset thresholds, it is determined to be a warning state.

[0056] Specifically, when and When the system is in a normal state, it will only record temperature data and will not trigger any warning or fire alarm signals.

[0057] A warning state is declared when only some of the indicators among the absolute temperature, temperature difference change, and abnormal duration indicators reach or exceed their respective preset thresholds. Specifically, these include: The absolute temperature index reaches or exceeds the first preset threshold, but the temperature difference change index is lower than the second preset threshold, and the abnormal duration index is lower than the third preset threshold. The temperature difference change index reaches or exceeds the second preset threshold, but the absolute temperature index is lower than the first preset threshold, and the abnormal duration index is lower than the third preset threshold. The absolute temperature index and the temperature difference change index both reached or exceeded their respective preset thresholds, but the abnormal duration index was lower than the third preset threshold. The absolute temperature index and the abnormal duration index both reached or exceeded their respective preset thresholds, but the temperature difference change index was lower than the second preset threshold. The temperature difference change index and the abnormal duration index both reached or exceeded their respective preset thresholds, but the absolute temperature index was lower than the first preset threshold.

[0058] In the early warning state, the system pushes early warning information to the remote monitoring center, prompting operators to pay attention to the temperature change trend of the container, but does not trigger the fire extinguishing procedure.

[0059] When the absolute temperature index, temperature difference change index, and abnormal duration index all reach or exceed their respective preset thresholds, a fire alarm state is determined.

[0060] S3, when there is an early warning or fire alarm, binds the fire information to the coordinates of container position 3 in the terminal's TOS system in real time, generates a fire command with specific location information, and pushes it to the remote monitoring center.

[0061] It should be noted that the fire alarm controller pre-establishes a unified spatial coordinate system for the storage yard, with the pre-set ground reference point of the storage yard as the origin, the direction of the rail-mounted gantry crane's movement as the X-axis, the extension direction of the rail-mounted gantry crane's crossbeam 1 as the Y-axis, and the vertical direction as the Z-axis. Each temperature measuring unit 2 corresponds to a fixed position of a container 3 along the Y-axis, and this correspondence is pre-stored in the fire alarm controller. When the rail-mounted gantry crane moves along the X-axis, each temperature measuring unit 2 moves with the entire gantry crane, realizing the sequential scanning and temperature measurement of containers 3 in different bays.

[0062] S31, real-time acquisition of temperature data collected by the temperature monitoring module and the position data of the gantry crane.

[0063] S32, record the target temperature measurement unit 2 number that triggered the fire and the corresponding triggering time.

[0064] When the fire alarm controller determines that a fire exists, including in warning or fire alarm status, it records the number of the target temperature measuring unit 2 that triggered the fire alarm. and the corresponding trigger time .

[0065] S33, obtain the target position of the vehicle at the trigger time.

[0066] The fire alarm controller retrieves the trigger time from the cached historical data. Corresponding large vehicle position data The position data of the trolley can be provided in real time by the encoder or laser rangefinder of the rail-mounted gantry crane itself.

[0067] S34. Calculate the coordinates of the fire location based on the fixed column position corresponding to the target temperature measurement unit 2 number and the position interval corresponding to the target trolley position data.

[0068] The fire alarm controller is based on the target temperature measuring unit 2 numbered. The corresponding fixed column position and the position of the main vehicle at the trigger time. The coordinates of container position 3 where the fire occurred were calculated from the corresponding bay space interval. .

[0069] Specifically, when the fire alarm controller determines the fire alarm status and obtains the target temperature measuring unit 2 number... and the position of the large vehicle at the trigger time Then, perform a table lookup operation: based on the target temperature measuring unit 2 number. Query the fixed column number corresponding to the cell from the mapping table. Based on the position of the large vehicle at the trigger time Query the bay number interval to which the position belongs from the mapping table. Generate the coordinates of the fire location box. .

[0070] S35 sends a query command containing the coordinates of the container location where the fire occurred to the terminal's TOS system, and receives the container 3 information corresponding to that location from the terminal's TOS system.

[0071] The fire alarm controller sends a container location query command to the terminal's TOS system, which includes the calculated coordinates of the container location where the fire occurred. The TOS system retrieves the corresponding container 3 information based on the coordinates, returning data such as container 3 number, container type, cargo category, weight, and storage time.

[0072] S36 integrates the time of the fire, the coordinates of the container where the fire occurred, container 3 information, and measured temperature data to generate a fire command with specific location information and push the fire command to the remote monitoring center.

[0073] The fire alarm controller integrates the time of the fire, the coordinates of the container where the fire occurred, the container information returned by the TOS system, and the measured temperature data to generate a fire alarm command with specific location information, which is then pushed to the remote monitoring center.

[0074] S4, when a fire alarm is detected, the rail gantry crane and the work trolley 9 are driven to the target position through the dock TOS system, so that the fire extinguishing module can be aimed at the fire source and spray fire extinguishing in a directional manner.

[0075] S41, the fire alarm controller obtains the target position of the main vehicle at the time of fire triggering, as well as the target temperature measuring unit 2 number that triggered the fire, and obtains the corresponding target position of the work trolley 9 through the target temperature measuring unit 2 number and the preset mapping relationship.

[0076] In step S3, the fire alarm controller has recorded the location data of the main vehicle at the moment the fire alarm was triggered. This position is the target position of the trolley required to move the track-mounted crane beam 1 to the location directly above the fire box.

[0077] The fire alarm controller is based on the target temperature measuring unit 2 numbered to trigger the fire alarm. Query the preset mapping table to obtain the target position of the work vehicle 9. The mapping table records the lateral position correspondence between each infrared temperature measuring unit 2 and the column of the container 3 directly below it, ensuring that when the operating trolley 9 moves to... At that time, the spray nozzle of the fire extinguishing module installed on the trolley is directly facing the fire source box in the horizontal direction.

[0078] S42 sends the target position of the main trolley and the target position of the working trolley 9 to the terminal TOS system, so that the terminal TOS system drives the rail gantry crane to move to the position corresponding to the container where the fire occurred, and drives the working trolley 9 to move to the target position of the working trolley 9.

[0079] The fire alarm controller sends a query command to the terminal's TOS system, which includes the coordinates of the container location where the fire occurred. (Used to determine the target position of the large vehicle) and the target position of the small vehicle (Used to determine the target position of the work trolley 9).

[0080] After receiving the query command, the terminal's TOS system performs a conflict determination based on the current operating status of the rail-mounted gantry crane. If the gantry crane is not currently performing a higher-priority loading or unloading operation, the TOS system takes over control of the equipment, issues a movement command to the gantry crane control system, and drives the trolley to the coordinates of the container location where the fire occurred. The corresponding position is determined, and the work trolley 9 is driven to move to the target position. .

[0081] S43, after the rail-mounted gantry crane and the trolley 9 are in place, the dock's TOS system sends a signal indicating that the gantry crane and the trolley 9 are in place to the fire alarm controller.

[0082] S44, the fire alarm controller responds to the positioning completion signal and issues a fire extinguishing command to the fire linkage controller, which then controls the fire extinguishing module to perform the fire extinguishing operation.

[0083] After receiving the positioning completion signal, the fire alarm controller issues a fire extinguishing execution command to the fire linkage controller.

[0084] In some optional implementations, the fire alarm control panel calculates the pitch and horizontal rotation angles of the fire extinguishing device 7 based on the floor height information (Z-axis coordinates) of the fire alarm box location, and drives the rotation and pitch mechanisms of the fire extinguishing device 7 to adjust to the target posture, so that the spray nozzle is directly facing the fire source. After the fire extinguishing device 7 completes the posture adjustment, the fire alarm control panel opens the delivery valve of the fire extinguishing medium storage module, supplies the fire extinguishing medium to the fire extinguishing device 7 through the pressure-resistant delivery pipeline, and the fire extinguishing device 7 begins directional spraying to extinguish the fire.

[0085] When the fire alarm controller detects that the surface temperature of the fire source box has continuously dropped below the safety threshold and remained stable for a preset time, it determines that the fire has been extinguished and there is no risk of reignition. The fire linkage controller then closes the medium delivery valve, stops spraying, and resets the fire extinguishing device 7 to its initial standby position.

[0086] S5 monitors the remaining media level of the fire-fighting medium storage module in real time. When the remaining level is lower than the preset lower limit, it issues a replenishment command and dispatches a drone to fly to the rail-mounted gantry crane operation point to complete the docking with the fire-fighting medium replenishment module and media filling.

[0087] Figure 5 A schematic diagram of the medium filling process for a drone, which includes the following steps.

[0088] S51 dispatches the supply drone 4 to fly to the target location, completes coarse positioning through visual positioning, and dynamically tracks the movement of the rail-mounted gantry crane to adjust its own flight attitude and speed.

[0089] The fire alarm controller sends a replenishment command to the replenishment drone 4 of the fire-fighting medium replenishment module. After receiving the command, the replenishment drone 4 takes off autonomously and flies to the target rail-mounted gantry crane operation area according to the position coordinates in the command. After arriving above the target area, the replenishment drone 4 uses its onboard visual positioning system to identify the infrared high-reflection positioning markers set on the top surface of the fire-fighting medium storage module, completes coarse positioning, and hovers at a preset height directly above the fire-fighting medium replenishment module.

[0090] After completing coarse positioning, the supply drone 4 initiates dynamic tracking mode. The drone monitors the motion status of the rail-mounted gantry crane in real time, including the speed of the main trolley, changes in the position of the auxiliary trolley, and the amplitude of equipment vibration, and automatically adjusts its own flight attitude and speed to keep the drone and the rail-mounted gantry crane relatively stationary, achieving flight synchronization under dynamic working conditions.

[0091] S52, through the conical guide groove positioning mechanism 12, completes the precise positioning, so that the supply drone 4 lands on the drone platform 11 of the fire-fighting medium supply module.

[0092] The resupply drone 4 descends slowly while maintaining dynamic synchronization, approaching the drone platform 11 of the fire-fighting medium resupply module. The drone platform 11 integrates a conical guide groove positioning mechanism 12, which is flared and has a guide ramp that tapers from top to bottom. When the resupply drone 4 descends into the capture range of the conical guide groove, the guide ramp guides the drone's landing gear to slide to the positioning center at the bottom of the guide groove, achieving precise positioning.

[0093] S53, locking mechanism 10 locks the supply drone 4, sealing the filling interface to complete the docking.

[0094] After the resupply drone 4 is in place, the electric pin-type locking mechanism 10 of the drone platform 11 automatically extends the locking pin to rigidly lock the landing gear of the resupply drone 4 to the drone platform 11, preventing relative displacement caused by vibration or speed change of the rail gantry during the refueling process.

[0095] After locking, the sealed refueling interface of the refueling drone 4 fits tightly with the sealed refueling interface of the drone platform 11, forming a sealed refueling passage.

[0096] S54, Initiate refueling to replenish fire-fighting medium to the fire-fighting medium storage module.

[0097] After the sealing and docking is completed, the supply drone 4 starts the onboard refueling pump and refuels the fire-fighting medium into the fire-fighting medium storage module through the sealed refueling interface.

[0098] S55, when the remaining medium reaches the preset upper limit threshold, the refueling stops, the locking mechanism 10 unlocks, and the refueling drone 4 returns autonomously.

[0099] When the detection component detects that the remaining medium level has risen to a preset upper limit threshold, the fire alarm controller sends a stop refueling command to the refueling drone 4. The refueling drone 4 shuts down the refueling pump, stopping the medium delivery. Subsequently, the electric pin-type locking mechanism 10 automatically retracts the locking pin, releasing the rigid lock on the refueling drone 4. The refueling drone 4 takes off autonomously and returns to the preset parking apron, completing the entire automatic refueling process.

[0100] In this embodiment, a tiered handling strategy is preset to address any abnormal situations that may occur during the resupply process, specifically including the following strategies.

[0101] (1) When the supply drone 4 fails to dock for the first time, it is pulled up to a safe altitude and coarse positioning is performed again.

[0102] When the resupply drone 4 fails to land within the capture range of the conical guide groove positioning mechanism 12 after descent, the system determines that the initial docking has failed. The resupply drone 4 automatically ascends to a safe altitude, clears the current positioning data, and re-executes the coarse positioning and descent docking process without triggering an alarm.

[0103] (2) When docking fails three times in a row, the automatic resupply is terminated and an alarm is sent to the remote monitoring center. The resupply drone 4 hovers and waits for manual intervention.

[0104] When three consecutive docking attempts fail, the system determines it to be a serious anomaly and automatically terminates the automatic resupply process. The resupply drone 4 hovers in a safe area and waits, while simultaneously sending a high-frequency alarm to the remote monitoring center to prompt manual intervention from the operator.

[0105] (3) When communication is interrupted during resupply, refueling is immediately terminated and the drone is unlocked and disengaged. The resupply drone 4 returns autonomously and uploads the fault record.

[0106] When the communication link between the fire alarm controller and the supply drone 4 is interrupted, the supply drone 4 immediately stops refueling, performs unlocking and disengagement, and autonomously returns to base according to the preset fault return procedure. The system simultaneously uploads the fault record to the remote monitoring center.

[0107] (4) When the resupply UAV 4 dynamically tracks and adjusts its flight attitude, it monitors the relative position deviation in real time. When the relative position deviation does not exceed the preset safety threshold, it executes the docking process. When the phase position deviation exceeds the preset safety threshold, it suspends refueling and restarts the docking process after the working conditions stabilize.

[0108] During the dynamic tracking and descent docking process of the resupply drone 4, if the rail-mounted gantry crane suddenly changes speed or direction, the resupply drone 4 will detect the relative position deviation in real time. When the relative position deviation does not exceed the preset safety threshold, the resupply drone 4 will dynamically adjust its flight attitude to continuously synchronize with the movement of the rail-mounted gantry crane and continue to execute the docking process; when the relative position deviation exceeds the preset safety threshold, the system will pause the refueling process, the resupply drone 4 will rise to a safe altitude, and the docking process will be restarted after the rail-mounted gantry crane's operating conditions stabilize.

[0109] Relative position deviations include horizontal position deviation, vertical height deviation, and attitude angle deviation between the resupply drone 4 and the drone platform 11. Horizontal position deviation refers to the projected distance between the drone's central axis and the center point of the conical guide groove positioning mechanism 12 in the horizontal plane; vertical height deviation refers to the difference between the drone's current altitude and the ideal docking altitude; attitude angle deviation refers to the angular differences between the drone's roll angle, pitch angle, yaw angle, and the ideal docking attitude. The preset safety threshold is determined comprehensively based on the geometric dimensions of the conical guide groove positioning mechanism 12, the shape parameters of the conical docking interface, and the dynamic characteristics of the rail-mounted gantry. When the deviation in any dimension exceeds the corresponding safety threshold, the system determines that the docking risk is too high, suspends refueling, and raises the platform to a safe altitude.

[0110] In some optional implementations, when multiple temperature measuring units 2 are in an alarm state, the fire alarm controller generates alarm information corresponding to each unit and pushes all alarm information to the remote monitoring center. When multiple temperature measuring units 2 are in a fire alarm state, the fire alarm controller executes fire suppression according to a pre-configured priority order.

[0111] In some optional implementations, the remote monitoring center supports two operating modes: a fully automatic intelligent fire suppression mode and a remote manual control mode. The fully automatic mode is the system's default operating mode and is suitable for routine unattended operation. In this mode, the fire alarm controller autonomously executes all operations from steps S1 to S5, including full-area temperature monitoring, intelligent fire detection, fire location and notification, fire suppression operations, and automatic replenishment of fire-fighting media. In the remote manual mode, operators can temporarily disable the automatic control commands of the fire alarm controller through the intelligent operating platform of the remote monitoring center, and remotely perform relevant operations manually.

[0112] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fire early warning and extinguishing system for container yards, characterized in that, include: The temperature monitoring module is installed below the crossbeam of the rail-mounted gantry crane and is used for non-contact temperature acquisition of stacked containers. The fire extinguishing module is installed on the working trolley of the rail-mounted crane and is used to spray fire extinguishing agents to extinguish fire sources. The fire-fighting medium storage module is installed on the top of the operating trolley and is connected to the fire extinguishing module through pipelines. It is equipped with a fire-fighting medium balance detection component and is used to store and supply fire-fighting medium. The fire-fighting medium replenishment module is used to add fire-fighting medium to the fire-fighting medium storage module; The fire alarm controller is connected to the temperature monitoring module, the fire extinguishing module, the fire-fighting medium remaining quantity detection component, the dock TOS system, and the remote monitoring center. It is used to receive temperature data, determine the fire situation based on the temperature data, drive the operation trolley to position based on the dock TOS system, and then drive the fire extinguishing module to perform fire extinguishing operations. It also sends the fire information to the remote monitoring center, and at the same time receives the fire-fighting medium remaining quantity data and triggers the fire-fighting medium replenishment based on the fire-fighting medium remaining quantity data.

2. The container yard fire early warning and extinguishing system according to claim 1, characterized in that, The temperature monitoring module includes multiple temperature measuring units arranged under the crossbeam of the rail-mounted crane, with each temperature measuring unit corresponding to a container row position.

3. The container yard fire early warning and extinguishing system according to claim 1, characterized in that, The fire extinguishing module is an automatic tracking and positioning jet fire extinguishing device with a dual-redundant deployment structure. The main and backup automatic tracking and positioning jet fire extinguishing devices are respectively installed on the front and rear sides of the working trolley.

4. The container yard fire early warning and extinguishing system according to claim 1, characterized in that, The fire-fighting medium storage module includes a fire-fighting medium storage tank, which is equipped with a fire-fighting medium balance detection component and a delivery pressure detection component. The delivery pressure detection component is communicatively connected to the fire alarm controller.

5. The container yard fire early warning and extinguishing system according to claim 1, characterized in that, The fire-fighting medium replenishment module includes a drone platform installed on the top surface of the fire-fighting medium storage module. The drone platform is equipped with a visual positioning component, a conical guide groove positioning mechanism, a locking mechanism, and a sealed filling interface.

6. A method for fire early warning and extinguishing in container yards, characterized in that, Based on the container yard fire early warning and extinguishing system according to any one of claims 1 to 5, the method includes the following steps: The rail-mounted crane moves along the yard rails, driving the temperature monitoring module to collect temperature data from the stacked containers. The fire alarm controller receives temperature data in real time and uses the temperature data to make a logical determination of whether there is a warning state or a fire alarm state. When a warning or fire alarm is in effect, the fire information is linked in real time to the container position coordinates of the terminal's TOS system, generating a fire command with specific location information and pushing it to the remote monitoring center. When a fire alarm is detected, the dock's TOS system drives the rail-mounted gantry crane and the work trolley to the target location, thereby enabling the fire extinguishing module to spray directional fire extinguishing at the fire source. The system monitors the remaining amount of fire-fighting medium in the storage module in real time. When the remaining amount is lower than the preset lower limit, a replenishment command is issued, and a drone is dispatched to fly to the rail-mounted gantry to complete the docking and medium filling with the fire-fighting medium replenishment module.

7. The fire early warning and extinguishing method for container yards according to claim 6, characterized in that, The system uses temperature data to logically determine whether a warning or fire alarm is in effect, specifically including: Acquire real-time temperature data of the container surface collected by the temperature monitoring module; Calculate the absolute temperature index, temperature difference change index, and abnormal duration index based on real-time temperature data; The absolute temperature index is compared with the first preset threshold, the temperature difference change index is compared with the second preset threshold, and the abnormal duration index is compared with the third preset threshold. When the absolute temperature index, temperature difference change index, and abnormal duration index all reach or exceed their respective preset thresholds, a fire alarm state is determined and the fire extinguishing procedure is triggered. When some of the absolute temperature index, temperature difference change index, and abnormal duration index reach or exceed their respective preset thresholds, a warning state is determined.

8. The fire early warning and extinguishing method for container yards according to claim 6, characterized in that, When a fire alarm is detected, the dock's TOS system drives the rail-mounted gantry crane and work trolley to the target location, allowing the fire extinguishing module to target the fire source and perform directional spraying for fire suppression. Specifically, this includes: The fire alarm controller obtains the target location of the main vehicle at the moment the fire is triggered, as well as the target temperature measuring unit number that triggered the fire, and obtains the corresponding target location of the work vehicle through the target temperature measuring unit number and the preset mapping relationship; The target positions of the main gantry crane and the trolley are sent to the terminal's TOS system, which then drives the rail-mounted gantry crane to the location corresponding to the container where the fire occurred, and drives the trolley to the target position. Once the rail-mounted gantry crane and the trolley are in place, the terminal's TOS system sends a signal indicating that the crane has been positioned to the fire alarm controller. When the fire alarm controller responds to the signal indicating that it is in place, it issues a fire extinguishing command to the fire linkage controller, which then controls the fire extinguishing module to perform the fire extinguishing operation.

9. The fire early warning and extinguishing method for container yards according to claim 6, characterized in that, The drone is dispatched to the rail-mounted gantry crane's work site to complete the docking and refueling of the fire-fighting medium supply module, specifically including: The supply drone is dispatched to fly to the target location. Coarse positioning is completed through visual positioning. The supply drone dynamically tracks the movement of the rail-mounted gantry and adjusts its own flight attitude and speed accordingly. Precise positioning is achieved through a conical guide groove positioning mechanism, allowing the supply drone to land on the drone platform of the fire-fighting medium supply module; The locking mechanism secures the refueling drone, sealing the refueling interface and completing the docking. Initiate the refueling process to replenish the fire-fighting medium storage module; When the remaining medium reaches the preset upper limit threshold, refueling stops, the locking mechanism unlocks, and the refueling drone returns autonomously.

10. The fire early warning and extinguishing method for container yards according to claim 9, characterized in that, The process of dispatching a drone to the rail-mounted gantry crane's work site to complete the docking and refueling of the fire-fighting medium supply module also includes abnormal condition handling procedures, specifically including: If the resupply drone fails to dock on the first attempt, it will ascend to a safe altitude and re-perform coarse positioning. When three consecutive docking failures occur, automatic resupply is terminated and an alarm is sent to the remote monitoring center. The resupply drone then hovers and awaits manual intervention. If communication is interrupted during resupply, refueling will be immediately terminated and the drone will be unlocked and disengaged. The resupply drone will then return autonomously and upload a fault record. When the resupply drone dynamically tracks and adjusts its flight attitude, it monitors the relative position deviation in real time. When the relative position deviation does not exceed the preset safety threshold, it executes the docking process. When the phase position deviation exceeds the preset safety threshold, it suspends refueling and restarts the docking process after the working conditions stabilize.

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