Mine car operation data management method and system based on three-axis sensor

Abstract

The invention discloses a tramcar operation data management method and system based on a three-axis sensor, and relates to the technical field of tramcar operation data management.The tramcar operation data management method based on the three-axis sensor specifically comprises the steps that firstly, the three-axis sensor is used for monitoring operation state data of a tramcar in real time, the method comprises the following steps of: 1, preprocessing the running state data of the mine car, determining the real-time motion state of the mine car, establishing a state equation of a Kalman filtering system according to the motion characteristics of the mine car, and processing the running state data of the mine car through the Kalman filtering system; 3, a mine car operation data management model is established, mine car operation data are managed in real time, and the method has important significance for improving the production safety, the production efficiency and the economic benefits of a mine.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine car operation data management, and in particular relates to a mine car operation data management method and system based on a three-axis sensor. Background Art

[0002] In the complex and ever-changing working environment of mines, the dispatching and management of mine cars has always been an important part of mining production. The traditional dispatching method of mine cars mainly relies on manual monitoring and simple automatic control systems. However, this method has exposed many problems and limitations in practical applications.

[0003] First, traditional systems often cannot obtain the driving speed information of mine cars in real time and accurately. Under the complex terrain and changing conditions of the mine, if the speed of the mine car cannot be grasped in real time, it will be difficult to promptly detect and deal with potential safety hazards such as speeding, thereby increasing the risk of accidents. Secondly, traditional systems are also insufficient in monitoring the steering angle. When the mine car is traveling in the mine, it is often necessary to perform steering operations. If the steering angle control is inaccurate, it may cause the mine car to deviate from the predetermined track, or even cause serious accidents such as collisions. In addition, the balance level of the mine car is also one of the key factors affecting driving safety. In the inclined tunnels or uneven roads of the mine, the balance state of the mine car may be seriously affected.

[0004] In view of the above problems, it is particularly important to develop a management system and method that can obtain key operating data such as mine car speed, steering angle and balance level in real time and accurately. As an advanced sensor technology, the three-axis sensor can simultaneously measure physical quantities such as acceleration and angular velocity of an object in three axes, providing strong technical support for the operation data monitoring of mine cars. Summary of the invention

[0005] The purpose of the present invention is to provide a mine car operation data management method and system based on a three-axis sensor, which is used to solve the technical problem in the prior art that the vehicle's travel speed, steering angle, and vehicle balance level cannot be obtained in real time, resulting in increased safety risks.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The mine car operation data management method based on three-axis sensor includes:

[0008] Step 1: Use a three-axis sensor to monitor the running status data of the mine car in real time, pre-process the running status data of the mine car, and determine the real-time motion status of the mine car;

[0009] Based on the three-axis sensor module pre-installed inside the mine car, the acceleration, angular velocity and pressure of different wheels on the three axes of the mine car in three-dimensional space are measured to realize real-time monitoring of the mine car operation status data. The mine car operation status data includes mine car speed data, mine car steering angle data and mine car wheel force data;

[0010] The state equation of the Kalman filter system is established according to the motion characteristics of the mine car, and the running state data of the mine car is processed through the Kalman filter system;

[0011] Step 2: Based on the pre-processed mine car running status data, determine the mine car braking response index, the mine car steering response index and the real-time mine car force index;

[0012] Step 3: Establish a mine car operation data management model to manage the mine car operation data in real time.

[0013] Furthermore, based on the pre-processed mine car running status data, the mine car braking response index is determined, and the specific method is as follows:

[0014] By collecting the historical working status data of the mine car within T time, the time period from when the mine car receives the braking command to when the braking command is cancelled is screened, and the mine car braking response index is determined based on the data related to the mine car braking response in this time period. represents the braking response index of the mine car, where zd represents the braking response index of the mine car, i represents the time period from when the i-th mine car receives the braking command to when the braking command is cancelled, n represents the time period from when n mine cars receive the braking command to when the braking command is cancelled within the T time length, t represents time, T 1 (i) represents the braking delay time length from when the mine car receives the braking command to when the mine car starts braking in the i-th time period, T 2 (i) represents the total braking time from the start of braking to the cancellation of the braking command in the i-th time period, v(i) represents the initial speed of the mine car in the i-th time period, a(i, τ) represents the acceleration of the mine car changing with time in the i-th time period, k 1 Indicates the weight coefficient of the braking delay time, k 2 Indicates the weight coefficient of the braking effect.

[0015] Furthermore, based on the preprocessed mine car running status data, the mine car steering response index is determined. The specific method is as follows:

[0016] Using the formula Represents the minecart steering response index, where zx represents the minecart steering response index, j represents the time period from when the jth minecart receives the steering command to when the steering command is canceled, m represents the time period from when m minecarts receive the steering command to when the steering command is canceled within the T time period, t represents time, T 3(j) represents the turning delay time length from when the mine car receives the turning command to when the mine car starts turning in the jth time period, T 4 (j) represents the total length of the turning time from the start of the minecart turning to the cancellation of the turning command in the jth time period, w(j) represents the initial angular velocity of the minecart in the jth time period, b(j, τ) represents the angular acceleration of the minecart changing with time in the jth time period, k 3 Represents the weight coefficient of the turn delay time, k 4 Indicates the weight coefficient of the steering effect.

[0017] Furthermore, based on the pre-processed mine car operation status data, the real-time mine car force index is determined. The specific method is as follows:

[0018] Using the formula represents the force index of the mine car, where x represents the xth moment, sl(x) represents the force index of the mine car at the xth moment, represents the average pressure on the minecart wheel at the xth time point, Fr(x) represents the pressure on the right wheel of the minecart at the xth time point, Fl(x) represents the pressure on the left wheel of the minecart at the xth time point, k 5 The weight coefficient representing the pressure on the minecart.

[0019] Furthermore, a mine car operation data management model is established to manage the mine car operation data in real time. The specific method is as follows:

[0020] The mine car operation data management model is represented by the formula Yx(x)=v(x)*(w(x)+e)*sl(x)*zx*zd, which is a comprehensive mine car braking response index, mine car steering response index and mine car wheel force data. Among them, x represents the xth moment, Yx(x) represents the mine car operation state index at the xth moment, v(x) represents the mine car operation speed at the xth moment, w(x) represents the angular velocity of the mine car under the operation state at the xth moment, sl(x) represents the mine car force index at the xth moment, zd represents the mine car braking response index, zx represents the mine car steering response index, and e is a constant.

[0021] There are preset mine cart speed thresholds and mine cart angular velocity thresholds. When the mine cart speed exceeds the corresponding thresholds, the mine cart is forced to slow down by managing the running acceleration of the mine cart until the mine cart speed is less than the corresponding thresholds.

[0022] When the angular velocity of the minecart exceeds its corresponding threshold, the angular velocity of the minecart is forcibly reduced by managing the angular acceleration of the minecart until the angular velocity of the minecart is less than its corresponding threshold;

[0023] A threshold Q of the mine car running status index is preset. When the running status index of the mine car at the xth moment is less than the threshold Q, it indicates that the running status of the mine car at this moment is normal. When the running status index of the mine car at the xth moment is greater than or equal to the threshold Q, it indicates that the running status of the mine car at this moment is abnormal. It is necessary to reduce the running speed of the mine car and the angular velocity in the running state from the current moment until the running status index of the mine car is less than the threshold Q.

[0024] Furthermore, the present invention also provides a mine car operation data management system based on a three-axis sensor, which is applied to a mine car operation data management method based on a three-axis sensor, comprising:

[0025] The mine car running status data acquisition module is used to monitor the mine car running status data, pre-process the mine car running status data, and determine the real-time movement status of the mine car;

[0026] The mine car operation status data analysis module is used to analyze the pre-processed mine car operation status data to determine the mine car braking response index, the mine car steering response index and the real-time mine car force index;

[0027] The mine car operation status data management module is used to integrate the mine car braking response index, the mine car steering response index and the real-time mine car force index, establish a mine car operation data management model, and realize real-time management of the mine car operation data.

[0028] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0029] 1. The present invention determines the braking response index and steering response index of the mine car by collecting and analyzing the historical working status data of the mine car, which provides an important reference basis for the safe driving of the mine car, and determines the force index of the mine car based on the wheel force data of the mine car. In combination with the braking response index, the steering response index and the mine car operation data, a mine car operation data management model is established. The model can comprehensively reflect the operating status of the mine car, provide strong data support for the intelligent scheduling and management of the mine car, and help to improve the production safety, production efficiency and economic benefits of the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A step diagram of a mine car operation data management method based on a three-axis sensor is shown. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Embodiment 1: Figure 1 The mining vehicle operation data management method based on the three-axis sensor shown in the figure specifically comprises the following steps:

[0034] Step 1: Use a three-axis sensor to monitor the running status data of the mine car in real time, pre-process the running status data of the mine car, and determine the real-time movement status of the mine car.

[0035] Based on the three-axis sensor module pre-installed inside the mine car, the real-time monitoring of the mine car's operating status data is realized. The three-axis sensor module includes a three-axis acceleration sensor, a three-axis gyroscope and a wheel pressure sensor, which are used to measure the acceleration, angular velocity and pressure of different wheels of the mine car on three axes in three-dimensional space. The three-axis sensor module collects the original operating status data of the mine car in real time, including the mine car speed data, the mine car steering angle data and the mine car wheel force data;

[0036] The state equation of the Kalman filter system is established according to the motion characteristics of the mine car. The state equation describes the change relationship of the operating status data over time. The collected original operating status data of the mine car is used as the input of the Kalman filter system. The motion state and error covariance of the mine car at the current moment are predicted through the Kalman filter system's estimation of the motion state of the mine car at the previous moment and the state equation of the system. The three-axis sensor module is used to observe the operating status data of the mine car in real time. By comparing the predicted data of the mine car motion state with the observed data, the state equation and error covariance are updated by adding the Kalman gain. By repeating the prediction and update steps, real-time tracking and estimation of the motion state of the mine car are achieved, thereby reducing the interference of noise interference on data monitoring.

[0037] Step 2: Based on the pre-processed mine car operation status data, determine the mine car braking response index, the mine car steering response index and the real-time mine car force index.

[0038] By collecting the historical working status data of the mine car within T time, the time period from when the mine car receives the braking command to when the braking command is cancelled is screened, and the mine car braking response index is determined based on the data related to the mine car braking response in this time period. The specific calculation formula of the mine car braking response index is as follows:

[0039]

[0040] Where zd represents the braking response index of the mine car, i represents the time period from when the i-th mine car receives the braking command to when the braking command is cancelled, n represents the time period from when n mine cars receive the braking command to when the braking command is cancelled within the time period T, t represents the time, T 1 (i) represents the braking delay time length from when the mine car receives the braking command to when the mine car starts braking in the i-th time period, T 2 (i) represents the total braking time from the start of braking to the cancellation of the braking command in the i-th time period, v(i) represents the initial speed of the mine car in the i-th time period, a(i, τ) represents the acceleration of the mine car changing with time in the i-th time period, k 1 Indicates the weight coefficient of the braking delay time, k 2 Indicates the weight coefficient of the braking effect.

[0041] By collecting the historical working status data of the mine car within T time, the time period from when the mine car receives the steering command to when the steering command is cancelled is screened, and the mine car steering response index is determined based on the data related to the mine car steering response in this time period. The specific calculation formula of c is as follows:

[0042]

[0043] Among them, zx represents the minecart steering response index, j represents the time period from when the jth minecart receives the steering command to when the steering command is canceled, m represents the time period from when m minecarts receive the steering command to when the steering command is canceled within the T time length, t represents time, T 3 (j) represents the turning delay time length from when the mine car receives the turning command to when the mine car starts turning in the jth time period, T 4 (j) represents the total length of the turning time from the start of the minecart turning to the cancellation of the turning command in the jth time period, w(j) represents the initial angular velocity of the minecart in the jth time period, b(j, τ) represents the angular acceleration of the minecart changing with time in the jth time period, k 3 Represents the weight coefficient of the turn delay time, k 4 Indicates the weight coefficient of the steering effect.

[0044] Based on the mine car wheel force data in the mine car running status data, the mine car force index is determined. The specific formula of the mine car force index is as follows:

[0045]

[0046] Among them, x represents the xth moment, sl(x) represents the force index of the mine car at the xth moment, represents the average pressure on the minecart wheel at the xth time point, Fr(x) represents the pressure on the right wheel of the minecart at the xth time point, Fl(x) represents the pressure on the left wheel of the minecart at the xth time point, k 5 The weight coefficient representing the pressure on the minecart.

[0047] Step 3: Establish a mine car operation data management model to manage the mine car operation data in real time.

[0048] The mine car operation data management model is established by integrating the mine car braking response index, the mine car steering response index and the mine car wheel force data. The mine car operation data management model is expressed by the following formula:

[0049] Yx(x)=v(x)*(w(x)+e)*sl(x)*zx*zd;

[0050] Among them, x represents the x-th moment, Yx(x) represents the mine car running state index at the x-th moment, v(x) represents the mine car running speed at the x-th moment, w(x) represents the angular velocity of the mine car under the running state at the x-th moment, sl(x) represents the mine car force index at the x-th moment, zd represents the mine car braking response index, zx represents the mine car steering response index, and e is a constant. In this embodiment, e=2.7 is set.

[0051] There are preset mine cart speed thresholds and mine cart angular velocity thresholds. When the mine cart speed exceeds the corresponding thresholds, the mine cart is forced to slow down by managing the running acceleration of the mine cart until the mine cart speed is less than the corresponding thresholds.

[0052] When the angular velocity of the minecart exceeds its corresponding threshold, the angular velocity of the minecart is forcibly reduced by managing the angular acceleration of the minecart until the angular velocity of the minecart is less than its corresponding threshold;

[0053] A threshold Q of the mine car operation status index is preset. When the mine car operation status index at the xth moment is less than the threshold Q, it indicates that the mine car operation status at this moment is normal. When the mine car operation status index at the xth moment is greater than or equal to the threshold Q, it indicates that the mine car operation status at this moment is abnormal. It is necessary to reduce the mine car operation speed and the angular velocity in the operation state from the current moment until the mine car operation status index is less than the threshold Q, thereby realizing the management of the mine car operation data.

[0054] Embodiment 2: A mine car operation data management system based on a three-axis sensor, specifically comprising:

[0055] The mine car operation status data acquisition module realizes real-time monitoring of the mine car operation status data through the three-axis sensor module pre-installed inside the mine car. The operation status data includes the mine car speed data, the mine car steering angle data and the mine car wheel force data;

[0056] The state equation of the Kalman filter system is established according to the motion characteristics of the mine car. The state equation describes the change relationship of the operating status data over time. The collected original operating status data of the mine car is used as the input of the Kalman filter system. The motion state and error covariance of the mine car at the current moment are predicted through the Kalman filter system's estimation of the motion state of the mine car at the previous moment and the state equation of the system. The three-axis sensor module is used to observe the operating status data of the mine car in real time. By comparing the predicted data of the mine car motion state with the observed data, the state equation and error covariance are updated by adding the Kalman gain. By repeating the prediction and update steps, real-time tracking and estimation of the motion state of the mine car are achieved, thereby reducing the interference of noise interference on data monitoring.

[0057] The mine car operation status data analysis module is used to analyze the mine car operation status data, determine the mine car braking response index, the mine car steering response index and the real-time mine car force index, and collect the mine car historical working status data within T time, filter the time period from the mine car receiving the braking command to the braking command being cancelled, and determine the mine car braking response index based on the data related to the mine car braking response within this time period. The specific calculation formula of the mine car braking response index is as follows:

[0058]

[0059] Where zd represents the braking response index of the mine car, i represents the time period from when the i-th mine car receives the braking command to when the braking command is cancelled, n represents the time period from when n mine cars receive the braking command to when the braking command is cancelled within the time period T, t represents the time, T 1 (i) represents the braking delay time length from when the mine car receives the braking command to when the mine car starts braking in the i-th time period, T 2 (i) represents the total braking time from the start of braking to the cancellation of the braking command in the i-th time period, v(i) represents the initial speed of the mine car in the i-th time period, a(i, τ) represents the acceleration of the mine car changing with time in the i-th time period, k 1 Indicates the weight coefficient of the braking delay time, k 2 Indicates the weight coefficient of the braking effect.

[0060] By collecting the historical working status data of the mine car within T time, the time period from when the mine car receives the steering command to when the steering command is cancelled is screened, and the mine car steering response index is determined based on the data related to the mine car steering response in this time period. The specific calculation formula of the mine car braking response index is as follows:

[0061]

[0062] Among them, zx represents the minecart steering response index, j represents the time period from when the jth minecart receives the steering command to when the steering command is canceled, m represents the time period from when m minecarts receive the steering command to when the steering command is canceled within the T time length, t represents time, T 3 (j) represents the turning delay time length from when the mine car receives the turning command to when the mine car starts turning in the jth time period, T 4 (j) represents the total length of the turning time from the start of the minecart turning to the cancellation of the turning command in the jth time period, w(j) represents the initial angular velocity of the minecart in the jth time period, b(j, τ) represents the angular acceleration of the minecart changing with time in the jth time period, k 3 Represents the weight coefficient of the turn delay time, k 4 Indicates the weight coefficient of the steering effect.

[0063] Based on the mine car wheel force data in the mine car running status data, the mine car force index is determined. The specific formula of the mine car force index is as follows:

[0064]

[0065] Among them, x represents the xth moment, sl(x) represents the force index of the mine car at the xth moment, represents the average pressure on the minecart wheel at the xth time point, Fr(x) represents the pressure on the right wheel of the minecart at the xth time point, Fl(x) represents the pressure on the left wheel of the minecart at the xth time point, k 5 The weight coefficient representing the pressure on the minecart.

[0066] The mine car operation status data management module is used to establish a mine car operation data management model by integrating the mine car braking response index, the mine car steering response index and the mine car wheel force data. The mine car operation data management model is expressed by the following formula:

[0067] Yx(x)=v(x)*(w(x)+e)*sl(x)*zx*zd;

[0068] Among them, x represents the x-th moment, Yx(x) represents the mine car running state index at the x-th moment, v(x) represents the mine car running speed at the x-th moment, w(x) represents the angular velocity of the mine car under the running state at the x-th moment, sl(x) represents the mine car force index at the x-th moment, zd represents the mine car braking response index, zx represents the mine car steering response index, and e is a constant. In this embodiment, e=2.7 is set.

[0069] There are preset mine cart speed thresholds and mine cart angular velocity thresholds. When the mine cart speed exceeds the corresponding thresholds, the mine cart is forced to slow down by managing the running acceleration of the mine cart until the mine cart speed is less than the corresponding thresholds.

[0070] When the angular velocity of the minecart exceeds its corresponding threshold, the angular velocity of the minecart is forcibly reduced by managing the angular acceleration of the minecart until the angular velocity of the minecart is less than its corresponding threshold;

[0071] A threshold Q of the mine car operation status index is preset. When the mine car operation status index at the xth moment is less than the threshold Q, it indicates that the mine car operation status at this moment is normal. When the mine car operation status index at the xth moment is greater than or equal to the threshold Q, it indicates that the mine car operation status at this moment is abnormal. It is necessary to reduce the mine car operation speed and the angular velocity in the operation state from the current moment until the mine car operation status index is less than the threshold Q, so as to realize the management of the mine car operation data.

[0072] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

[0073] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A mine car operation data management method based on a three-axis sensor, characterized in that: include: Step 1: Use a three-axis sensor to monitor the running status data of the mine car in real time, pre-process the running status data of the mine car, and determine the real-time motion status of the mine car; Based on the three-axis sensor module pre-installed inside the mine car, the acceleration, angular velocity and pressure of different wheels on the three axes of the mine car in three-dimensional space are measured to realize real-time monitoring of the mine car operation status data. The mine car operation status data includes mine car speed data, mine car steering angle data and mine car wheel force data; The state equation of the Kalman filter system is established according to the motion characteristics of the mine car, and the running state data of the mine car is processed through the Kalman filter system; Step 2: Based on the pre-processed mine car running status data, determine the mine car braking response index, the mine car steering response index and the real-time mine car force index; Step 3: Establish a mine car operation data management model to manage the mine car operation data in real time.

2. The mining vehicle operation data management method based on a three-axis sensor according to claim 1 is characterized in that: Based on the pre-processed mine car running status data, the mine car braking response index is determined. The specific method is as follows: By collecting the historical working status data of the mine car within T time, the time period from when the mine car receives the braking command to when the braking command is cancelled is screened, and the mine car braking response index is determined based on the data related to the mine car braking response in this time period. represents the braking response index of the mine car, where zd represents the braking response index of the mine car, i represents the time period from when the i-th mine car receives the braking command to when the braking command is canceled, n represents the time period from when n mine cars receive the braking command to when the braking command is canceled within the T time period, t represents time, T1(i) represents the braking delay time length from when the mine car receives the braking command to when the mine car starts braking within the i-th time period, T2(i) represents the total braking time length from when the mine car starts braking to when the braking command is canceled within the i-th time period, v(i) represents the initial speed of the mine car within the i-th time period, a(i, τ) represents the acceleration of the mine car that changes with time within the i-th time period, k1 represents the weight coefficient of the braking delay time, and k2 represents the weight coefficient of the braking effect.

3. The mining vehicle operation data management method based on a three-axis sensor according to claim 1 is characterized in that: Based on the preprocessed mine car running status data, the mine car steering response index is determined. The specific method is as follows: Using the formula Represents the minecart steering response index, where zx represents the minecart steering response index, j represents the time period from when the jth minecart receives the steering command to when the steering command is canceled, m represents the time period from when m minecarts receive the steering command to when the steering command is canceled within the T time period, t represents time, T3(j) represents the steering delay time length from when the minecart receives the steering command to when the minecart starts turning within the jth time period, T4(j) represents the total steering time length from when the minecart starts turning to when the steering command is canceled within the jth time period, w(j) represents the initial angular velocity of the minecart within the jth time period, b(j, τ) represents the angular acceleration of the minecart that changes with time within the jth time period, k3 represents the weight coefficient of the steering delay time, and k4 represents the weight coefficient of the steering effect.

4. The mining vehicle operation data management method based on a three-axis sensor according to claim 1 is characterized in that: Based on the pre-processed mine car operation status data, the real-time mine car force index is determined. The specific method is as follows: Using the formula represents the force index of the mine car, where x represents the xth moment, sl(x) represents the force index of the mine car at the xth moment, It represents the average pressure on the minecart wheels at the x-th time point, Fr(x) represents the pressure on the right wheel of the minecart at the x-th time point, Fl(x) represents the pressure on the left wheel of the minecart at the x-th time point, and k5 represents the weight coefficient of the pressure on the minecart.

5. The mining vehicle operation data management method based on a three-axis sensor according to claim 1 is characterized in that: Establish a mine car operation data management model to manage the mine car operation data in real time. The specific methods are as follows: The mine car operation data management model is represented by the formula Yx(x)=v(x)*(w(x)+e)*sl(x)*zx*zd, which is a comprehensive mine car braking response index, mine car steering response index and mine car wheel force data. Among them, x represents the xth moment, Yx(x) represents the mine car operation state index at the xth moment, v(x) represents the mine car operation speed at the xth moment, w(x) represents the angular velocity of the mine car under the operation state at the xth moment, sl(x) represents the mine car force index at the xth moment, zd represents the mine car braking response index, zx represents the mine car steering response index, and e is a constant. There are preset mine cart speed thresholds and mine cart angular velocity thresholds. When the mine cart speed exceeds the corresponding thresholds, the mine cart is forced to slow down by managing the running acceleration of the mine cart until the mine cart speed is less than the corresponding thresholds. When the angular velocity of the minecart exceeds its corresponding threshold, the angular velocity of the minecart is forcibly reduced by managing the angular acceleration of the minecart until the angular velocity of the minecart is less than its corresponding threshold; A threshold Q of the mine car running status index is preset. When the running status index of the mine car at the xth moment is less than the threshold Q, it indicates that the running status of the mine car at this moment is normal. When the running status index of the mine car at the xth moment is greater than or equal to the threshold Q, it indicates that the running status of the mine car at this moment is abnormal. It is necessary to reduce the running speed of the mine car and the angular velocity in the running state from the current moment until the running status index of the mine car is less than the threshold Q.

6. A mine car operation data management system based on a three-axis sensor, applied to a mine car operation data management method based on a three-axis sensor according to any one of claims 1 to 5, characterized in that: include: The mine car running status data acquisition module is used to monitor the mine car running status data, pre-process the mine car running status data, and determine the real-time movement status of the mine car; The mine car operation status data analysis module is used to analyze the pre-processed mine car operation status data to determine the mine car braking response index, the mine car steering response index and the real-time mine car force index; The mine car operation status data management module is used to integrate the mine car braking response index, the mine car steering response index and the real-time mine car force index, establish a mine car operation data management model, and realize real-time management of the mine car operation data.

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