A ramp passive heavy dolly track jamming and derailment detection protection device and control method

Abstract

This invention provides a detection and protection device and control method for track jamming and derailment of a passive gravity trolley on a slope, belonging to the field of slope track-type gravity energy storage technology. The method includes: first, collecting cable stability tension data under different loads and speeds through multi-condition calibration tests and constructing a sample set; then, establishing a three-dimensional quadratic polynomial coupled benchmark model of load-tension-speed, and using the least squares method to fit the coefficients to form a three-dimensional benchmark surface; real-time acquisition of speed, tension, and load data to calculate the benchmark tension and deviation rate; combining hysteresis filtering and continuous cycle counting logic to determine the operating status; and finally, implementing graded protection based on the results of normal operation, jamming, and derailment / slack rope. This invention, employing the aforementioned detection and protection device and control method for track jamming and derailment of a passive gravity trolley on a slope, solves the problems of early identification, easy misjudgment, and delayed protection in ensuring the safe and stable operation of passive gravity trolleys on slopes.

Description

Technical Field

[0001] This invention relates to the field of inclined track gravity energy storage technology, and in particular to a detection and protection device and control method for track jamming and derailment of a passive heavy-duty trolley on an inclined track. Background Technology

[0002] Inclined track gravity energy storage is a novel mechanical energy storage technology that converts electrical energy into gravitational potential energy by moving a passive heavy-duty trolley up and down an inclined track. To reduce weight and adapt to harsh outdoor conditions such as wind, sand, high and low temperatures, existing heavy-duty trolleys adopt a purely mechanical structure without power, batteries, onboard sensors, or electrical actuators. The upward energy storage and downward energy release are accomplished solely by a ground-based hoisting mechanism via cable traction.

[0003] Existing fault detection and protection methods mostly rely on on-board sensors and on-board controllers, which cannot be adapted to the working conditions of passive trolleys; or they use single tension overload protection and fixed threshold judgment, which can only detect extreme overloads; some solutions only monitor the speed of the winch drum, which cannot distinguish between trolley jamming, derailment and normal resistance fluctuations.

[0004] The existing technology has obvious defects: First, the passive trolley has no detection capability, and the ground end cannot accurately identify jamming or derailment, resulting in a very high false judgment rate; Second, the single tension protection response is lagging, and it cannot identify the initial state of jamming, which can easily lead to accidents such as cable breakage and trolley overturning; Third, the traditional model only considers the two-dimensional relationship between rotation speed and tension, without taking into account the influence of load, resulting in insufficient accuracy and poor adaptability to working conditions; Fourth, it lacks an anti-interference mechanism, making it susceptible to instantaneous fluctuations that can cause frequent false shutdowns, affecting the continuous operation of the system.

[0005] Therefore, there is an urgent need for a detection and protection device and control method that is purely ground-based, requires no modification to the trolley structure, can accurately identify jamming and derailment, and has strong anti-interference capabilities, in order to improve the operational safety and stability of the slope gravity energy storage system. Summary of the Invention

[0006] The purpose of this invention is to provide a detection and protection device and control method for track jamming and derailment of a passive gravity trolley on a slope, which solves the problems of early identification, easy misjudgment, and delayed protection of track jamming and derailment of a passive gravity trolley on a slope, ensuring safe and stable operation.

[0007] To achieve the above objectives, the present invention provides a method for detecting and controlling track jamming and derailment of a passive heavy-duty trolley on a ramp, comprising the following steps: S1. Collect cable stability tension data under different load weights and different drum speeds through multi-condition calibration tests to construct a sample dataset; S2. Based on the sample dataset, establish a three-dimensional quadratic polynomial coupled benchmark model of load-tension-rotation speed, and use the least squares method to fit and solve the model coefficients to form a continuous and smooth three-dimensional benchmark surface. S3. Real-time acquisition of actual drum speed, actual cable tension and current load weight, and input into the three-dimensional reference model to calculate the reference tension for the corresponding working condition; S4. Calculate the deviation rate of the actual tension relative to the reference tension, and combine hysteresis filtering and continuous cycle counting logic to determine whether the system is in normal operation, track jamming, or trolley derailment / slack rope state. S5. Execute graded protection actions based on the judgment results. Maintain working mode during normal operation, provide early warning and deceleration in case of jamming, and apply emergency braking in case of derailment / slack rope.

[0008] The preferred formula for the three-dimensional quadratic polynomial coupled benchmark model is: ; in, This is the reference tension of the cable under the current operating conditions; This is the equivalent constant term for the initial tension and static friction of the system; , These are the first-order main effect terms for load and speed, respectively; , These are nonlinear characteristic terms such as inertia and damping. This refers to the nonlinear change in tension under heavy load and high speed.

[0009] Preferred deviation rate The calculation formula is: 00; in, This represents the actual tension of the cable. As the reference tension; A deviation rate of ≤15% is considered normal operation; a deviation rate of ≥+30% is considered track jamming; and a deviation rate of ≤-50% is considered trolley derailment / rope slack.

[0010] Preferably, the graded protection actions are as follows: During normal operation, the motor maintains the set speed, and the alarm does not activate. When the track jams, an audible and visual warning is activated, and the motor is controlled to slow down. In the event of derailment / rope slack, a millisecond-level emergency braking is triggered through a hard-wired emergency circuit, causing the brake to activate immediately and the motor to stop quickly.

[0011] A track jamming and derailment detection and protection device for a passive heavy-duty trolley on a ramp includes a ground mechanical monitoring mechanism, an electrical measurement and control unit, and an execution braking mechanism; The ground machinery monitoring mechanism includes a passive heavy-duty trolley, an inclined track, a traction cable, guide wheels, a pin-type tension sensor, a winch drum, a winch drive motor, and a motor encoder. The passive heavy-duty trolley is mounted on the inclined track and is connected to the winch drum via the traction cable. The traction cable is guided by the guide wheels. The pin-type tension sensor is connected in series on the cable force path between the guide wheels and the winch drum. The winch drum is driven by the winch drive motor, and a motor encoder is installed on the output shaft of the winch drive motor. Both the motor encoder and the pin-type tension sensor are electrically connected to the electrical measurement and control unit. The electrical measurement and control unit is controlled by the actuator braking mechanism, which is driven by the winch drive motor.

[0012] Preferably, the electrical measurement and control unit includes a main controller, a signal acquisition module, a human-machine interface, and an audible and visual alarm. The signal acquisition module is electrically connected to the shaft pin type tension sensor and the motor encoder, respectively. The main controller has a built-in three-dimensional coupling reference model, fault judgment algorithm, and anti-interference logic.

[0013] Preferably, the braking mechanism includes a normally closed power failure brake and a hard-wired emergency circuit. The hard-wired emergency circuit is directly connected to the main controller and the normally closed power failure brake to achieve hardware-level emergency braking.

[0014] Preferably, the passive heavy-duty trolley is a purely mechanical structure without power, battery, on-board sensors, or on-board electrical actuators, and all detection and protection functions are independently implemented by ground-based equipment.

[0015] Therefore, the present invention employs the above-mentioned passive track jamming and derailment detection and protection device and control method for inclined ramp heavy load trolleys, and the technical effects are as follows: 1. Perfectly adapted to the working conditions of passive vehicles, without the need to modify the vehicle: It eliminates the dependence on on-board sensors and on-board controllers, and relies solely on ground equipment for detection and protection throughout the process. It does not increase the weight of the vehicle or damage the purely mechanical structure, and has extremely strong engineering adaptability and versatility.

[0016] 2. Significantly improved fault identification accuracy, accurately distinguishing between jamming / derailment: Breaking through the limitations of traditional two-dimensional models and fixed thresholds, the introduction of load-speed coupling nonlinear relationship truly reflects the cable tension pattern under different loads and speeds, accurately distinguishing between normal resistance fluctuations, track jamming, and trolley derailment, reducing the misjudgment rate from the root.

[0017] 3. Strong anti-interference capability and more stable continuous system operation: Through hysteresis filtering and continuous periodic counting logic, instantaneous signal interference is suppressed, frequent switching of threshold critical points and accidental shutdown are avoided, ensuring the continuous, efficient and stable operation of the gravity energy storage system.

[0018] 4. Wide model adaptability and easy engineering implementation: The least squares method is used to fit and form a smooth and continuous three-dimensional reference surface, covering the full load and full speed range. The algorithm has low computational load and strong real-time performance, and can be directly deployed in PLC and embedded systems. It is suitable for various heavy-duty cable traction scenarios. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the passive heavy-duty trolley track jamming and derailment detection and protection device of the present invention. Figure 2 This is a flowchart of a method for detecting and controlling track jamming and derailment of a passive heavy-duty trolley on a ramp according to the present invention. Figure 3 This is a schematic diagram of the three-dimensional reference surface for load-tension-speed of the present invention; Figure 4 This is a schematic diagram of the tension-velocity fault determination curve of the present invention.

[0020] Figure Labels 1. Passive heavy-duty trolley; 2. Inclined track; 3. Traction cable; 4. Guide wheel; 5. Axle pin type tension sensor; 6. Winch drum; 7. Winch drive motor; 8. Motor encoder. Detailed Implementation

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0023] Example 1 This invention provides a detection and protection device and control method for track jamming and derailment of a passive heavy-duty trolley on an inclined track, applied to an inclined track-type gravity energy storage system. This system relies on the ascent and descent of the passive heavy-duty trolley 1 on the inclined track 2 to complete the mutual conversion of electrical energy and gravitational potential energy, featuring long lifespan, no pollution, and low operation and maintenance costs. To adapt to harsh working conditions such as outdoor sandstorms, high and low temperatures, and heavy loads, the passive heavy-duty trolley 1 in the system adopts a purely mechanical structure without power, batteries, onboard sensors, or onboard electrical actuators. No electrical components are allowed to be added to the trolley; all detection, judgment, control, and protection functions are independently implemented by ground-based equipment.

[0024] like Figure 1 As shown, the detection and protection device is divided into three parts: ground mechanical monitoring mechanism, electrical measurement and control unit, and execution braking mechanism. The passive heavy object trolley 1 is only the monitored object and does not have any electrical components.

[0025] In the ground-based mechanical monitoring mechanism, a passive heavy-duty trolley 1 is positioned on an inclined track 2, reciprocating along the track using the traction force of a traction cable 3 to store and release energy. The inclined track 2 employs a steel rail structure to provide a stable running path for the trolley. One end of the traction cable 3 is connected to the trolley, and the other end is wound around a winch drum 6, transmitting traction force to control the trolley's lifting and lowering. The guide wheel 4 is mounted on a rigid bracket, providing support, direction changing, and guidance for the cable, ensuring stable force direction. A pin-type tension sensor 5 is connected in series on the cable's force path between the guide wheel 4 and the winch drum 6, rigidly fixed, and used for high-frequency acquisition of the cable's dynamic tension. The winch drum 6 is driven in both forward and reverse directions by a winch drive motor 7 to retract and extend the cable. A motor encoder 8 is mounted on the output shaft at the rear end of the winch drive motor 7, rotating synchronously with the motor to collect real-time drum speed, direction, and displacement signals. A rigid mounting bracket is used to fix the guide wheel 4 and the tension sensor, ensuring installation accuracy and structural rigidity, and preventing vibration from affecting the acquisition accuracy.

[0026] In the electrical measurement and control unit, the main controller is the core of the system. It has a built-in three-dimensional coupled reference model of load-tension-speed, fault judgment algorithm, hysteresis filtering logic and continuous cycle counting logic, and completes signal reception, data processing, fault diagnosis and command output. The signal acquisition module is connected to the tension sensor and encoder respectively to realize synchronous high-frequency acquisition of tension and speed signals, with a sampling frequency of not less than 100Hz. The human-machine interface communicates with the main controller and displays load, speed, tension, deviation rate, operating status and fault information in real time, and supports parameter setting and fault reset. The audible and visual alarm is controlled by the controller and issues a prompt signal in the event of a warning or fault.

[0027] In the braking mechanism, the winch drive motor 7 receives commands to achieve normal operation, deceleration, or stopping. The brake adopts a normally closed power-off braking structure and is installed at the tail of the motor to ensure reliable stopping. The hard-wired emergency circuit directly connects the controller and the brake, without relying on software or the bus, achieving hardware-level millisecond-level braking and improving the inherent safety of the system. All mechanical components of this device are rigidly connected, the electrical wiring is standardly wired, and there are no redundant structures or on-board equipment, which can meet the detection and protection requirements of passive vehicles.

[0028] like Figure 2 The flowchart of the control method shown is as follows. This control method is executed in a fixed order. The steps are as follows: system startup, baseline model establishment, real-time data acquisition, data verification, fault determination, and graded protection execution. After the system is powered on, it automatically enters the running state. Each step is executed sequentially and is interconnected without any breakpoints or ambiguities, forming a complete closed-loop logic. It runs continuously under normal operating conditions and triggers protection according to the grade under fault conditions. It can automatically resume operation after the fault is cleared.

[0029] The core criterion is a three-dimensional quadratic polynomial coupled benchmark model of load-tension-speed. The model establishment process is as follows: Through multi-condition calibration tests, different load weights G and different drum speeds n were set on the slope gravity energy storage system, and cable tension data corresponding to the stable operation state were collected to construct a sample dataset.

[0030] Load G range: 0t~5t (covering the entire load range of the system); The drum rotation speed n ranges from 0 m / s to 2.0 m / s (covering the full speed range of the system). Cable tension T range: 0kN~130kN (matching) Figure 3 (Z-axis reference tension range).

[0031] A three-dimensional quadratic polynomial coupled benchmark model is established, consisting of load weight G, cable tension T, and drum rotation speed n, as shown in the following formula: ; in, This is the reference tension of the cable under the current operating conditions; This is the equivalent constant term for the initial tension and static friction of the system; , These are the first-order main effect terms for load and speed, respectively; , These are nonlinear characteristic terms such as inertia and damping. This refers to the nonlinear change in tension under heavy load and high speed.

[0032] The least squares method is used to fit the sample dataset and solve for the model coefficients. , , , , , This minimizes the error between the model output and the measured data, ultimately resulting in... Figure 3 The continuous, smooth three-dimensional reference surface shown is used to accurately characterize the standard tension value that a cable should have under any load and rotational speed, providing a unique benchmark for subsequent fault diagnosis.

[0033] After the system enters the real-time operation phase, the following data processing steps are performed: The signal acquisition module acquires the actual drum speed output by the motor encoder 8 at a frequency of 100Hz. The actual cable tension output by the pin-type tension sensor 5 The main controller directly reads the current load. .

[0034] Will , Substituting into the three-dimensional reference model, the reference tension under the current working condition is calculated. .

[0035] Calculate the deviation rate of the actual tension relative to the reference tension. : 00; As the core indicator, it directly reflects the degree to which the cable tension deviates from the normal level: Positive: The actual tension is greater than the reference tension, and the resistance increases; Negative: The actual tension is less than the reference tension, and the tension drops sharply; The smaller the absolute value, the closer the operating status is to normal.

[0036] like Figure 4 The tension-speed fault determination curve shown in this embodiment has three levels of state intervals, corresponding to normal operation, track jamming, and derailment / slack rope, respectively.

[0037] When the absolute value of the deviation rate does not exceed 15%, it is judged as normal operation, and the tension fluctuation is within a reasonable range caused by track resistance, system inertia and signal noise; when the deviation rate is not lower than +30%, it is judged as track jamming, and the trolley is affected by debris accumulation, track deformation, wheel flange jamming, etc., resulting in a sharp increase in running resistance; when the deviation rate is not higher than -50%, it is judged as trolley derailment or rope slack, the cable tension drops significantly, and the system is in a dangerous working condition.

[0038] To avoid misjudgments caused by transient interference, signal glitches, and threshold jitter, this embodiment introduces dual anti-interference logic of hysteresis filtering and continuous period counting: the deviation rate is hysteresis processed, fault entry and exit thresholds are set to prevent frequent state switching, and the number of continuous sampling periods is set. Only when multiple consecutive periods meet the fault threshold is a valid fault confirmed. If a period returns to normal, the count is reset to zero. This logic can effectively filter out transient interference, ensure that there are no false alarms or missed alarms in fault judgment, and improve the stability of system operation.

[0039] The main controller executes tiered protection actions based on the fault diagnosis results. Under normal operating conditions, the system maintains its current working mode, the motor maintains its set speed, the alarm does not activate, and the interface displays normal operation. In the case of track jamming, the controller outputs a warning command, the alarm activates, and the motor decelerates to reduce traction and cable tension. The interface displays the jamming fault and records relevant parameters to prevent continuous traction from causing cable breakage, trolley overturning, and track structure damage. In the case of derailment or cable slack, the controller outputs an emergency braking command through a hard-wired emergency circuit. The brake immediately activates, the motor stops quickly, the alarm sounds at high frequency, and the interface displays the derailment fault and latches the information to prevent major accidents such as trolley falls and cable entanglement. After the fault is cleared, if the deviation rate returns to the normal range and remains stable for several cycles, the system can automatically deactivate protection and resume operation, or it can be manually reset via the human-machine interface.

[0040] The complete workflow of this embodiment is as follows: system power-on initialization, main controller loads 3D reference model, each component completes self-test, and the reference model, judgment threshold, sampling parameters and cycle counting parameters are all ready; the winch pulls the trolley to complete upward energy storage or downward energy release on the track, and the encoder and tension sensor synchronously collect signals; the main controller calculates the reference tension and deviation rate at high frequency, and determines the operating status after anti-interference logic verification; according to the judgment result, it executes actions such as maintaining operation, deceleration warning or emergency braking; after the abnormality is eliminated, the system automatically resets and continues to work stably. This embodiment requires no structural modifications to the passive trolley, enabling full-function detection and protection from the ground level. Engineering modifications are simple and cost-effective. A three-dimensional coupled model replaces the traditional two-dimensional model and fixed threshold judgment, accurately distinguishing between normal fluctuations, jamming, and derailment, significantly improving fault identification accuracy. It can complete identification and action in the early stages of jamming or derailment, achieving proactive protection and preventing major safety accidents from the source. Hysteresis filtering and continuous periodic verification enhance anti-interference capabilities, reducing false shutdowns and ensuring continuous system operation. The model has low computational load and strong real-time performance, allowing direct deployment in PLCs and embedded systems, adapting to heavy-load, variable-speed, and harsh outdoor conditions. Balancing safety protection and operational efficiency, it significantly improves the overall reliability of the slope gravity energy storage system. Parameters such as load, speed, tension range, deviation threshold, sampling frequency, and cycle count in this embodiment can be flexibly calibrated and adjusted according to track slope, trolley weight, cable specifications, and on-site conditions, while the model structure and control flow remain unchanged. It possesses good versatility and scalability, and can be widely applied to slope gravity energy storage, cable traction lifting, and various heavy-load track trolley engineering scenarios.

[0041] Therefore, this invention employs the aforementioned track jamming and derailment detection and protection device and control method for a passive heavy-duty trolley on a ramp. Through multi-condition calibration tests, cable tension data across the full load and speed range are collected. A three-dimensional quadratic polynomial benchmark model of load-tension-speed, including constant terms, first-order main effect terms, nonlinear terms, and load-speed coupling terms, is constructed. A high-precision continuous benchmark surface is generated using the least squares method for fitting. This surface is used to calculate the standard tension value for the corresponding working condition in real time. The tension deviation rate is calculated by combining the actual operating tension and speed parameters. A 15% normal fluctuation threshold, a 30% jamming fault threshold, and a 50% derailment slack rope threshold are used to determine the working condition. Hysteresis filtering and continuous... The continuous cycle counting anti-interference logic avoids instantaneous signal interference and threshold jitter misjudgment. Based on three working conditions—normal operation, track jamming, and trolley derailment—it implements a graded protection strategy of normal operation, audible and visual warning deceleration, and hard-wired millisecond-level emergency braking. It effectively solves the technical pain points of traditional technology, such as inability to adapt to passive trolleys, low fault identification accuracy, difficulty in distinguishing between jamming and derailment faults, delayed protection response, and easy system shutdown. It has the characteristics of no need to modify the trolley structure, strong adaptability to working conditions, accurate fault identification, excellent anti-interference ability, convenient engineering implementation, and high operational safety and stability. It can be widely adapted to the safety protection scenarios of various outdoor heavy-duty slope gravity energy storage and cable traction track equipment.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for detecting and controlling track jamming and derailment of a passive heavy-duty trolley on a ramp, characterized in that, Includes the following steps: S1. Collect cable stability tension data under different load weights and different drum speeds through multi-condition calibration tests to construct a sample dataset; S2. Based on the sample dataset, establish a three-dimensional quadratic polynomial coupled benchmark model of load-tension-rotation speed, and use the least squares method to fit and solve the model coefficients to form a continuous and smooth three-dimensional benchmark surface. S3. Real-time acquisition of actual drum speed, actual cable tension and current load weight, and input into the three-dimensional reference model to calculate the reference tension for the corresponding working condition; S4. Calculate the deviation rate of the actual tension relative to the reference tension, and combine hysteresis filtering and continuous cycle counting logic to determine whether the system is in normal operation, track jamming, or trolley derailment / slack rope state. S5. Execute graded protection actions based on the judgment results. Maintain working mode during normal operation, provide early warning and deceleration in case of jamming, and apply emergency braking in case of derailment / slack rope.

2. The method for detecting and controlling track jamming and derailment of a passive heavy-duty trolley on a ramp according to claim 1, characterized in that, The formula for the three-dimensional quadratic polynomial coupled benchmark model is: ； in, This is the reference tension of the cable under the current operating conditions; This is the equivalent constant term for the initial tension and static friction of the system; , These are the first-order main effect terms for load and speed, respectively; , These are nonlinear characteristic terms such as inertia and damping. This refers to the nonlinear change in tension under heavy load and high speed.

3. The method for detecting and controlling track jamming and derailment of a passive heavy-duty trolley on a slope according to claim 1, characterized in that, Deviation rate The calculation formula is: 00； in, This represents the actual tension of the cable. As the reference tension; A deviation rate of ≤15% is considered normal operation; a deviation rate of ≥+30% is considered track jamming; and a deviation rate of ≤-50% is considered trolley derailment / rope slack.

4. The method for detecting and controlling track jamming and derailment of a passive heavy-duty trolley on a ramp according to claim 1, characterized in that, The specific actions of graded protection are as follows: During normal operation, the motor maintains the set speed, and the alarm does not activate. When the track jams, an audible and visual warning is activated, and the motor is controlled to slow down. In the event of derailment / rope slack, a millisecond-level emergency braking is triggered through a hard-wired emergency circuit, causing the brake to activate immediately and the motor to stop quickly.

5. A detection and protection device for track jamming and derailment of a passive heavy-duty trolley on a ramp, based on the detection and control method for track jamming and derailment of a passive heavy-duty trolley on a ramp according to any one of claims 1-4, characterized in that, Includes ground machinery monitoring mechanisms, electrical measurement and control units, and actuator braking mechanisms; The ground machinery monitoring mechanism includes a passive heavy-duty trolley, an inclined track, a traction cable, guide wheels, a pin-type tension sensor, a winch drum, a winch drive motor, and a motor encoder. The passive heavy-duty trolley is mounted on the inclined track and is connected to the winch drum via the traction cable. The traction cable is guided by the guide wheels. The pin-type tension sensor is connected in series on the cable force path between the guide wheels and the winch drum. The winch drum is driven by the winch drive motor, and a motor encoder is installed on the output shaft of the winch drive motor. Both the motor encoder and the pin-type tension sensor are electrically connected to the electrical measurement and control unit. The electrical measurement and control unit is controlled by the actuator braking mechanism, which is driven by the winch drive motor.

6. The slope passive heavy load trolley track jamming and derailment detection and protection device according to claim 5, characterized in that, The electrical measurement and control unit includes a main controller, a signal acquisition module, a human-machine interface, and an audible and visual alarm. The signal acquisition module is electrically connected to the shaft pin tension sensor and the motor encoder, respectively. The main controller has a built-in three-dimensional coupled reference model, fault judgment algorithm, and anti-interference logic.

7. The slope passive heavy load trolley track jamming and derailment detection and protection device according to claim 5, characterized in that, The braking mechanism includes a normally closed power failure brake and a hard-wired emergency circuit. The hard-wired emergency circuit is directly connected to the main controller and the normally closed power failure brake to achieve hardware-level emergency braking.

8. The slope passive heavy load trolley track jamming and derailment detection and protection device according to claim 5, characterized in that, The passive heavy-duty trolley is a purely mechanical structure without power, battery, on-board sensors, or on-board electrical actuators. All detection and protection functions are independently implemented by ground-based equipment.

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