Ground friction coefficient detection device and friction coefficient detection method

Abstract

The ground friction coefficient detection device and the friction coefficient detection method are provided, the ground friction coefficient detection device comprises a detection module, the detection module comprises a movement unit, a driving unit for driving the movement unit to move and detecting the tension size, a position detection unit for detecting the position of the movement unit, a pressure sensor installed on the movement unit for detecting the pressure value of the movement unit acting on the detection surface, a positioning unit for detecting the position of the detection module, and a control unit electrically connected with the positioning unit, the driving unit, the position detection unit and the pressure sensor. The ground friction coefficient detection device of the present application can dynamically obtain the friction coefficients of each point in the area, and can be summarized and arranged, so that the user can intuitively understand the friction coefficients at different positions, and it is beneficial to maintain the positions with friction coefficients lower than the standard value.

Description

[0001] This application is a divisional application of application No. 202410776503.1, titled "Friction Coefficient Detection Device and Friction Coefficient Detection Method", filed on June 17, 2024. TECHNICAL FIELD

[0002] The present application relates to a ground friction coefficient detection device and a friction coefficient detection method. BACKGROUND

[0003] In the community, especially in old communities, the ground is often worn to varying degrees after years of use. In the same area with the same building material, the friction coefficients of the ground in different places are also different. This brings many inconveniences to subsequent maintenance, repair, etc. The existing detection of ground friction coefficient or ground slip resistance value is often targeted at a few pre-selected sampling points, so the detection result has a certain randomness and cannot complete the distribution of the overall friction coefficient in the entire area.

[0004] Therefore, it is necessary to improve the existing ground friction coefficient detection device to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a ground friction coefficient detection device to solve the problem that the existing detection device cannot complete the overall friction coefficient detection in the area.

[0006] To achieve the above purpose, the present application provides a ground friction coefficient detection device, which comprises a detection module, the detection module comprising a movement unit, a driving unit for driving the movement unit to move and detect the dynamic friction force, a position detection unit for detecting the position of the movement unit, a pressure sensor mounted on the movement unit for detecting the pressure value of the movement unit acting on the detection surface, a positioning unit for detecting the position of the detection module, a control unit and a transfer unit, the control unit being electrically connected with the positioning unit, the driving unit, the position detection unit and the pressure sensor, the positioning unit being used for positioning the detection module, the transfer unit being connected with the driving unit and the movement unit to drive the detection module to transfer to other positions, the driving unit being connected with the movement unit through a pull rope to drive the movement unit to approach or move away from the driving unit, the driving unit comprising a tension sensor for detecting the tension of the pull rope, the position detection unit comprising a distance measuring sensor and an angle sensor, the distance measuring sensor being fixed on the driving unit to detect the relative position of the movement unit and the driving unit, and the angle sensor being used for detecting the angle of the pull rope relative to a direction.

[0007] As a further improvement of the present application, the ground friction coefficient detection device further comprises a positioning baffle, which defines a detection area, and the detection module is located in the detection area.

[0008] As a further improvement of the present application, the motion unit comprises a friction plate arranged below and in contact with the detection surface, and a counterweight arranged above the friction plate to provide downward pressure.

[0009] As a further improvement of the present application, the detection module further comprises an acceleration sensor to obtain real-time motion state of the motion unit.

[0010] As a further improvement of the present application, the position detection unit is one or more of a laser displacement sensor, an angle sensor or a distance sensor.

[0011] As a further improvement of the present application, the present application further provides a friction coefficient detection method, which uses the ground friction coefficient detection device as described above and comprises the following steps:

[0012] S1: setting a detection area, placing the ground friction coefficient detection device in the detection area; establishing a boundary in the detection area, installing a positioning baffle, and taking the intersection point of the positioning baffles intersecting perpendicularly as the detection area origin o (0, 0);

[0013] S10: stretching the motion unit to the position farthest from the driving unit, and the positioning unit obtaining the initial position of the detection module (xo, yo);

[0014] S11: adjusting the weight of the counterweight, and adjusting the pressure N acting on the ground, so that the pressure during the test is within the linear region of the pressure sensor;

[0015] S2: controlling the driving unit to work to drive the motion unit to move at a constant speed by the control unit until the uniform motion trajectory of the motion unit covers the detection area; the control unit controls the driving unit to output a pulling force to drive the motion unit to move at a constant speed along a straight line in the radial direction until the motion unit contacts the driving unit, and then the unit or the person moves the driving unit and the motion unit in the circumferential direction by an angle, so that the motion trajectory of the motion unit does not have a gap with the last motion trajectory, and the process is repeated several times, so that the motion trajectory covers the detection area;

[0016] S3: the control unit detects the tension provided by the driving unit when the motion unit is moving at any time i, the pressure Ni at the position, the state of uniform motion is detected by the acceleration sensor, and the control unit judges that in the uniform motion state, the friction force Fi is equal to the tension of the driving unit, and the friction coefficient μ at the position is calculated as (xi, yi) = Fi / Ni, the relative position (xi, yi) of the motion unit relative to the center at time i in the motion process is represented as (ri*cos(αi), ri*sin(αi)), and the friction coefficient on the relative position is: μ(ri*cos(αi), ri*sin(αi)) = Fi / Ni, which is converted into the detection area coordinates: μ(xo+ri*cos(αi), yo+ri*sin(αi)) = Fi / Ni, if the same position is detected multiple times to obtain multiple friction coefficients, the average value of the multiple friction coefficients is taken;

[0017] In step S3, the control unit detects the friction coefficients at different positions, divides the different color blocks according to the friction coefficients at different positions, and forms a color block diagram.

[0018] The ground friction coefficient detection device of the present application can dynamically obtain the friction coefficients of each point in the area and arrange them for the user to intuitively understand the friction coefficients at different positions, which is beneficial to the maintenance of positions with friction coefficients lower than the standard value. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of the ground friction coefficient detection device of the present application;

[0020] Figure 2 is a structural schematic diagram of the detection module of the first embodiment of the present application;

[0021] Figure 3 is a structural schematic diagram of the detection module of the second embodiment of the present application;

[0022] Figure 4 is a structural schematic diagram of the detection module of the third embodiment of the present application;

[0023] Figure 5 is a schematic diagram of the color block diagram obtained by the friction coefficient detection method of the present application. DETAILED DESCRIPTION

[0024] The technical solutions of the present application will be described in detail below with reference to the drawings, obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0025] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0027] As shown in Figures 1 to 4 The ground friction coefficient detection device 100 of the present application comprises a detection module 2 and a positioning baffle 1.

[0028] The positioning baffle 1 defines a detection area, and the detection module 2 is located in the detection area. The positioning baffle 1 is used to position the relative position of the detection module 2 each time it is detected.

[0029] The detection module 2 comprises a movement unit 21, a driving unit 22 for driving the movement unit 21 to move and detect the dynamic friction force, a connecting piece 23 connected between the movement unit 21 and the driving unit 22, a transfer unit, a position detection unit 24 for detecting the position of the movement unit 21, a pressure sensor mounted on the movement unit 21 for detecting the pressure value of the movement unit 21 acting on the detection surface, a positioning unit 25 for detecting the position of the detection module 2, an acceleration sensor for obtaining the real-time movement state of the movement unit 21, a control unit, and an alarm unit.

[0030] The movement unit 21 comprises a friction plate arranged below and in contact with the detection surface, and a counterweight arranged above the friction plate to provide downward pressure. In this embodiment, the friction plate is made of rubber material to simulate the friction between the sole and the ground, and the counterweight is used to generate a certain pressure on the ground.

[0031] The pressure sensor is a thin film pressure sensor or a recessed circular force sensor, which is arranged at the bottom of the friction plate to detect the reaction force of the moving unit 21.

[0032] The connecting member 23 and the driving unit 22 can be adjusted according to different detection modes. The connecting member 23 can be flexible or rigid, and the driving unit 22 can provide tension or rotational power to drive the moving unit 21 to move linearly or rotate around the driving unit 22. The driving unit 22 is electrically connected to the control unit, which controls the output power of the driving unit 22 to ensure that the moving unit 21 can move at a constant speed. The constant speed here includes constant linear motion and constant rotation. In the case where the speed of the moving unit 21 is low and the friction coefficient of the general building floor does not change suddenly, the constant speed of the moving unit 21 can be achieved.

[0033] The transfer unit is connected to the driving unit 22 and the moving unit 21 to drive the detection module to move to other positions, so that the friction coefficients at different positions can be detected, making the detection more intelligent. In addition, the transfer unit can also drive the moving unit 21 to move away from the driving unit 22 to reset the moving unit 21.

[0034] In this embodiment, the transfer unit is electrically connected to the control unit, and the working of the transfer unit is controlled by the control unit to cover all positions in the detection area. In some other embodiments, if the transfer unit is not provided, the driving unit 22 and the moving unit 21 can be manually moved to measure different positions and calculate the positions.

[0035] The positioning unit 25 can position the detection module 2, that is, to determine the position coordinates of the detection module 2 in the detection area.

[0036] The position detection unit 24 is one or more of a laser displacement sensor, an angle sensor, or a distance sensor. The position detection unit 24 can detect the relative position of the moving unit 21, and in combination with the positioning unit 25, the position coordinates of the moving unit 21 in the detection area can be obtained. In this way, the friction coefficient of each position can be detected.

[0037] The control unit is electrically connected to the positioning unit 25, the position detection unit 24, the acceleration sensor, and the pressure sensor.

[0038] The control unit can determine coordinate information of the motion unit 21 in combination with the positioning unit 25 and the position detection unit 24. The control unit can determine whether the motion unit 21 is in a uniform motion state according to an acceleration sensor arranged on the motion unit 21. The control unit can determine the pressure of the motion unit 21 on the detection surface according to information of a pressure sensor. The control unit can measure the force value of the driving unit 21 in uniform motion according to a sensor in the driving unit 22. The friction coefficient at any position can be calculated according to the above information.

[0039] The control unit is also electrically connected with an alarm unit. When some detection surface appears concave, the pressure of the motion unit 21 at the position is 0, at this time, the control unit can control the alarm unit to issue an alarm and record the position. When some area appears convex, the driving unit 22 cannot drive the motion unit 21 to pass through the position, then the control unit can control the alarm unit to issue an alarm and record the position, and manual intervention is carried out.

[0040] According to different forms of the detection module 2 and corresponding friction coefficient detection methods, the present application provides the following three embodiments.

[0041] Embodiment one:

[0042] In this embodiment, the connecting piece 23 is a flexible pull rope, the driving unit 22 is connected with the motion unit 21 through the pull rope to drive the motion unit 21 to approach or move away from the driving unit 22.

[0043] The driving unit 22 includes a tension sensor for detecting the tension of the pull rope, when the motion unit 21 is in uniform motion, the detected tension is equal to the kinetic friction, the position detection unit 24 is a distance measuring sensor, which is fixed on the driving unit 22 to detect the relative position of the motion unit 21 and the driving unit 22. In this embodiment, the pull rope extends along the y direction, the distance measuring sensor can determine the coordinate of the motion unit 21 on the y axis in combination with the positioning unit, the position detection unit 24 can also include a scale for detecting the position of the motion unit 21 perpendicular to the direction of the pull rope, in combination with the positioning unit to determine the coordinate of the motion unit 21 on the x axis. In some embodiments, the scale is not arranged, and other ways to detect the coordinate on the x axis, or the detection module 2 has only a unique motion track on the x axis.

[0044] The corresponding friction coefficient detection method of this embodiment includes the following steps:

[0045] S1: Set the detection area, place the ground friction coefficient detection device 100 in the detection area; establish a boundary in the detection area range, install the positioning baffle 1, and make one intersection point of the vertically intersecting positioning baffles intersect the detection area origin o (0, 0);

[0046] S10: Stretch the motion unit 21 to the position farthest from the driving unit 22, and the positioning unit 25 obtains the initial position of the detection module 2 as (x o , y o );

[0047] S11: Adjust the weight of the counterweight to adjust the pressure N acting on the ground, so that the pressure during the test is within the linear region of the pressure sensor;

[0048] S2: Control the driving unit 22 to work to drive the motion unit 21 to move at a constant speed until the uniform motion trajectory of the motion unit 21 covers the detection area; in this embodiment, the control unit controls the driving unit 22 to output a pulling force to drive the motion unit 21 to move at a constant speed in the y direction, until the motion unit 21 contacts the driving unit 22, then the unit or manually moves the driving unit 22 and the motion unit 21 along the x axis direction by a distance, so that the motion trajectory of the motion unit 21 next time does not overlap with the last motion trajectory and does not produce a gap. Repeat several times, so that the motion trajectory covers the detection area.

[0049] S3: The control unit obtains the pulling force value of the motion unit 21 moving at a constant speed through the driving unit 22, and the constant speed moving state is detected by the acceleration sensor and judged by the control unit. In the uniform motion state, the friction force Fi is equal to the pulling force of the driving unit 22, the friction force Fi at any time i, the pressure Ni at the position, and the friction coefficient μ (xi, yi) at the position is calculated. The friction coefficient relative to the position (xi, yi) is: μ (xi, yi) = Fi / Ni, and the friction coefficient converted into the detection area coordinates is: μ (xo+xi, yo+yi) = Fi / Ni. If the same position is measured multiple times, the average value of multiple measurements can be used to represent the friction coefficient of the position.

[0050] In step S3, the control unit calculates the friction coefficients of different positions, divides different color blocks according to the friction coefficients of different positions, and forms a color block diagram.

[0051] In this embodiment, the detection range of the detection module 2 is a rectangle, the driving unit 22 is arranged on one side of the rectangle, the positioning unit 25 is located at one corner of the rectangle, and the coordinates of the position are defined as (xo, yo). The driving unit 22 drives the motion unit 21 to move at a constant speed in the rectangular range.

[0052] Embodiment two:

[0053] In this embodiment, the connecting member is a flexible pull rope 33 and a rigid sheath 34, the driving unit 32 is connected with the moving unit 31 through the pull rope to drive the moving unit 31 to move close to or away from the driving unit 32. The rigid sheath is arranged on both sides of the moving unit 31, so as to prevent the moving unit 31 from swinging when moving, limit the position of the moving unit 31, and the sheath 34 is fixedly connected with the driving unit 32, so that when the transfer unit drives the driving unit 32 to move, the sheath and the moving unit 31 can be moved at the same time.

[0054] The driving unit 32 includes a tension sensor for detecting the tension of the pull rope, when the moving unit 31 moves at a constant speed, the detected tension is equal to the kinetic friction, the position detection unit is a distance sensor and an angle sensor, the distance sensor is fixed on the driving unit 32 to detect the relative position of the moving unit 31 and the driving unit 32, and the angle sensor is used to detect the angle of the pull rope relative to a direction, which is the x-axis direction in this embodiment, and the detected angle is the angle α between the pull rope and the x-axis. The positioning unit is arranged on the driving unit 32 to detect the coordinates of the driving unit 32 in the entire detection area.

[0055] In this embodiment, the position of the driving unit 32 is relatively fixed, by rotating the angle of the driving unit 32, according to the data detected by the distance sensor and the angle sensor, the coordinates of the moving unit 31 at any position can be judged.

[0056] The corresponding friction coefficient detection method of this embodiment includes the following steps:

[0057] S1: setting a detection area, placing the ground friction coefficient detection device 100 in the detection area; establishing a boundary in the detection area, and installing a positioning baffle 1, taking one intersection point of the vertically intersecting positioning baffles as the detection area origin o (0, 0);

[0058] S10: stretch the moving unit 31 to the position farthest from the driving unit 32, and the positioning unit obtains the initial position of the detection module 2 (xo, yo);

[0059] S11: adjust the weight of the counterweight, adjust the pressure N acting on the ground, so that the pressure during the test is in the linear region of the pressure sensor;

[0060] S2: the control unit controls the driving unit 32 to work to drive the moving unit 31 to move at a constant speed until the moving track of the moving unit 31 covers the detection area; in this embodiment, the control unit controls the driving unit 32 to output a pulling force to drive the moving unit 31 to move at a constant speed along a straight line in the radial direction until the moving unit 31 contacts the driving unit 32, and then the transfer unit or a person moves the driving unit 32 and the moving unit 31 in the circumferential direction by an angle so that the moving track of the moving unit 31 in the next movement is as little overlapped as possible with the moving track in the last movement and no gap is generated. The above process is repeated for several times so that the moving track covers the detection area.

[0061] S3: the control unit detects the pulling force provided by the driving unit 32 when the moving unit 31 moves at any time i and the pressure Ni at the position. The constant speed movement state is detected by the acceleration sensor and determined by the control unit. In the constant speed movement state, the friction force Fi is equal to the pulling force of the driving unit 32. The friction coefficient μ (xi, yi) at the position is calculated as Fi / Ni. The relative position (xi, yi) of the moving unit 31 relative to the center at time i in the movement process can also be expressed as (ri·cos(αi), ri·sin(αi)), and the friction coefficient on the relative position is μ(ri·cos(αi), ri·sin(αi)) = Fi / Ni, which is converted into the detection area coordinates as μ(xo+ri·cos(αi), yo+ri·sin(αi)) = Fi / Ni. If multiple friction coefficients are obtained by detecting the same position for multiple times, the average value of the multiple friction coefficients is taken.

[0062] In step S3, the control unit detects the friction coefficients at different positions, divides the different positions into different color blocks according to the friction coefficients at the different positions, and forms a color block diagram.

[0063] Embodiment Three:

[0064] In this embodiment, the connecting member is a rigid length-adjustable rotary arm 43, the driving unit 42 is connected with the moving unit 41 through the rotary arm to drive the moving unit 41 to rotate, the position detection unit is an angle sensor for detecting the angle of the rotary arm relative to the x-axis direction, and the driving unit 42 includes a torque sensor for detecting the torque of the rotary arm. In this embodiment, the angle α between the rotary arm 43 and the x-axis is detected. Since the rotary arm 43 is telescopic, a sensor is needed to detect the distance between the driving unit 42 and the moving unit 41, and the sensor is part of the driving unit 42. The acceleration sensor in the moving unit 41 is used to detect the movement state of the moving unit, and cooperates with the torque sensor to adjust the torque output of the driving unit 42, so that the moving unit 41 can rotate at a constant speed, and the size of the kinetic friction force in this state can be calculated.

[0065] The friction coefficient detection method corresponding to the embodiment comprises the following steps:

[0066] S1: setting a detection area, placing the ground friction coefficient detection device 100 in the detection area; establishing a boundary in the detection area range, installing a positioning baffle 1, and taking one intersection point of the vertically intersecting positioning baffles as a detection area origin o (0, 0);

[0067] S10: stretching the rotating arm to the longest length r, and the positioning unit obtaining the initial position of the detection module 2 (xo, yo);

[0068] S11: adjusting the weight of the counterweight, adjusting the pressure N acting on the ground, so that the pressure during the test is in the linear region of the pressure sensor;

[0069] S2: controlling the driving unit 42 to work to drive the motion unit 41 to move at a constant speed by the control unit, until the uniform motion track of the motion unit 41 covers the detection area; in this embodiment, the control unit controls the driving unit 42 to output a torsion force, drives the rotating arm 43 and the motion unit 41 to rotate at a constant speed in the circumferential direction, until the motion unit 41 rotates more than 360 degrees, then shortens the length of the rotating arm 43, so that the motion track of the motion unit 41 next time overlaps with the last motion track as much as possible, and no gap is generated. Repeat several times, detect the area with the driving unit 42 as the center and r as the radius, move the driving unit 42 to the next position, and repeat the detection steps until the motion track covers the detection area.

[0070] S3: the control unit detects the torsion force provided by the driving unit 42 when the motion unit 41 moves at any time i, and the pressure Ni at the position. The uniform motion state is detected by the acceleration sensor and judged by the control unit. Under the condition of uniform rotation, the friction force Fi value is equal to the torsion force Mi / ri of the driving unit 42, where Mi refers to the torsion of the driving unit 42 at any time i, and ri refers to the length of the rotating arm at any time i. The friction coefficient μ (xi, yi) at the position is calculated as Fi / Ni. At time i in the motion process, the relative position (xi, yi) of the motion unit 41 relative to the center can also be expressed as (ri·cos(αi), ri·sin(αi)), and the friction coefficient on the relative position is: μ(ri·cos(αi), ri·sin(αi))=Mi / ri / Ni, which is converted to the detection area coordinates: μ(xo+ri·cos(αi), yo+ri·sin(αi))=Mi / ri / Ni. If the same position is detected multiple times to obtain multiple friction coefficients, the average value of the multiple friction coefficients is taken.

[0071] Some corners in the whole detection area cannot be reached by the circumferential movement, so that the detection module 4 rotating arm 43 can slide in the area to realize the minimum area of the undetected area, or the detection module 4 is partially outside the detection area for the detection of the corner position.

[0072] In step S3, the control unit detects the friction coefficients at different positions, divides the different color blocks according to the friction coefficients at different positions, and forms a color block diagram.

[0073] As shown in Figure 5 The friction coefficient gradually changes from low to high to form a friction coefficient color block diagram, and the convex surface alarm position is represented by black. In addition, the size of each color block can be the same as the size of the friction plate of the motion unit 21. The specific color is not shown in the figure, and it is only a grayscale diagram. In actual use, different colors can be selected to display more intuitively according to needs.

[0074] The motion unit can have various shapes and sizes, and the detection size of the motion unit is recommended to be between 1 square centimeter and 5 square centimeters. The motion unit forms a set of friction coefficients associated with the position of the detection area for each test. The whole detection process will be tested multiple times at the same position or its vicinity, and multiple friction coefficients will appear. In the whole detection area, a granularity side length Δ is set according to the actual situation. In the granularity square area with Δ as the side length, the friction coefficients of each test are averaged, and the average friction coefficient is used to represent the friction coefficient of the granularity interval. The friction coefficient gradually changes from low to high to form a friction coefficient color block diagram, and the friction coefficient color block diagram is formed.

[0075] The color block diagram can display the friction coefficients at different positions in the whole area. Using the color block diagram, the positions with friction coefficients lower than the standard value can be repaired. The color block diagram is calculated and output by the control unit.

[0076] The ground friction coefficient detection device 100 and the friction coefficient detection method can dynamically obtain the friction coefficients of each point in the area, and can be summarized and arranged, so that the user can intuitively understand the friction coefficients at different positions, and the positions with friction coefficients lower than the standard value can be repaired.

[0077] The technical features of the above-described embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present disclosure.

[0078] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A ground friction coefficient detection device, characterized by: The ground friction coefficient detection device comprises a detection module, the detection module comprises a moving unit, a driving unit for driving the moving unit to move and detecting the dynamic friction force, a position detection unit for detecting the position of the moving unit, a pressure sensor mounted on the moving unit for detecting the pressure value of the moving unit acting on the detection surface, a positioning unit for detecting the position of the detection module, a control unit and a transfer unit, the control unit is electrically connected with the positioning unit, the driving unit, the position detection unit and the pressure sensor, the positioning unit is used for positioning the detection module, the transfer unit is connected with the driving unit and the moving unit to drive the detection module to transfer to other positions, the transfer unit is used for moving the driving unit and the moving unit by an angle in the circumferential direction, so that the next movement track of the moving unit does not have a gap with the last movement track, the driving unit is connected with the moving unit through a pull rope to drive the moving unit to approach or move away from the driving unit, the driving unit comprises a tension sensor for detecting the tension of the pull rope, the position detection unit is a distance sensor and an angle sensor, the distance sensor is fixed on the driving unit to detect the relative position of the moving unit and the driving unit, the angle sensor is used to detect the angle of the pull rope relative to a direction, the control unit is divided into different color blocks according to the friction coefficient of different positions, and a color block diagram is formed.

2. The ground friction coefficient detection device according to claim 1, characterized by: The ground friction coefficient detection device further comprises a positioning baffle, the positioning baffle defines a detection area, and the detection module is located in the detection area.

3. The ground friction coefficient detection device of claim 1, wherein: The moving unit comprises a friction plate arranged below and in contact with the detection surface and a counterweight arranged above the friction plate to provide downward pressure.

4. The coefficient of friction detection device of claim 1, wherein: The detection module further comprises an acceleration sensor for obtaining the real-time motion state of the moving unit.

5. The coefficient of friction detection device of claim 1, wherein: The position detection unit is one or more of a laser displacement sensor, an angle sensor or a distance sensor.

6. A method of detecting a coefficient of friction, characterized by: The friction coefficient detection method adopts the ground friction coefficient detection device according to any one of claims 1-5, and comprises the following steps: S1: setting a detection area, placing the ground friction coefficient detection device in the detection area; establishing a boundary in the detection area range, installing a positioning baffle, and taking the intersection point of the positioning baffle perpendicular to each other as the detection area origin o (0, 0); S10: stretch the moving unit to the position farthest from the driving unit, and the positioning unit obtains the initial position of the detection module (xo, yo); S11: adjust the weight of the counterweight, adjust the pressure N acting on the ground, so that the pressure during the test is in the linear region of the pressure sensor test; S2: the control unit controls the driving unit to work to drive the moving unit to move at a constant speed until the constant speed movement track of the moving unit covers the detection area; the control unit controls the driving unit to output a pulling force to drive the moving unit to move at a constant speed along a straight line in the radial direction until the moving unit contacts the driving unit, and then the transfer unit or a person moves the driving unit and the moving unit in the circumferential direction by an angle, so that the movement track of the moving unit next time does not have a gap with the last movement track, and the movement track covers the detection area after repeating several times; S3: the control unit detects the pulling force provided by the driving unit at any time i of the moving unit during movement, the pressure Ni at the position, the constant speed movement state is detected by the acceleration sensor, and the control unit judges that in the constant speed movement state, the friction force Fi is equal to the pulling force of the driving unit, and the friction coefficient μ of the position is calculated (xi, yi) = Fi / Ni, the relative position (xi, yi) of the moving unit relative to the center at time i in the movement process is represented as (ri*cos(ai), ri*sin(ai)), the friction coefficient on the relative position is: μ(ri*cos(ai), ri*sin(ai)) = Fi / Ni, and the detection area coordinate is converted as: μ(xo+ri*cos(ai), yo+ri*sin(ai)) = Fi / Ni, if a plurality of friction coefficients are obtained by detecting the same position for multiple times, the average value of the plurality of friction coefficients is taken; In step S3, the control unit detects the friction coefficients at different positions, divides the different color blocks according to the friction coefficients at different positions, and forms a color block diagram.

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