Steel frame sleigh friction coefficient real-time detection device and method

Abstract

The application discloses a kind of steel frame snowmobile friction coefficient real-time detection device and method, to solve the technical problem that prior art cannot be in high speed, high acceleration, high impact working condition Real-time, accurate detection of the friction coefficient between tubular steel blade of steel frame snowmobile and ice surface.It includes 24V lithium battery, sensor acquisition module, industrial computer, 12V lithium battery, tail three-coordinate force sensor upper clamp, tail three-coordinate force sensor, tail three-coordinate force sensor lower clamp, head three-coordinate force sensor lower clamp, head three-coordinate force sensor, head three-coordinate force sensor upper clamp.Through the adoption of custom fixture, three-coordinate force sensor is installed on the connection node of tubular steel blade of steel frame snowmobile and vehicle body, without changing the original structure of snowmobile, realize the stable installation of sensor, adapt to high speed, high acceleration, high impact and other extreme working conditions.The device passes through the principle of mechanics transmission, three-coordinate force sensor real-time acquisition tangential stress and normal stress, and calculates friction coefficient.Data is processed, recorded and visualized by sensor acquisition module and industrial computer.Provide data support for athlete training and sliding path optimization.

Description

Technical Field

[0001] This invention relates to the field of friction coefficient measurement technology, specifically to a device and method for real-time friction coefficient detection of high-speed sports equipment such as skeletons. Background Technology

[0002] As a core event of the Winter Olympic Games, skeleton racing's competitiveness directly depends on the changes in the coefficient of friction between the tubular steel blades and the ice surface. The coefficient of friction not only affects the athlete's speed and stability but also their safety. Currently, methods for measuring the coefficient of friction in skeleton racing mainly fall into two categories: one is indirect measurement based on laboratory simulations, such as using a friction and wear testing machine to test blade samples in a controlled environment; however, this method cannot accurately reflect the dynamic conditions during actual skating. The other is offline calculation based on on-site data, such as tracking the skeleton's trajectory using a high-speed camera system, calculating acceleration and displacement using kinematic equations, and then inferring the coefficient of friction. However, these methods have significant limitations: firstly, indirect measurements are affected by environmental simulation errors, resulting in low accuracy and the inability to provide real-time feedback; secondly, offline calculation methods are limited by data acquisition frequency and algorithm models, making it difficult to capture transient friction changes under high-speed (up to 130 km / h) and high-acceleration (above 5g) conditions. Furthermore, ice surface conditions are complex and variable, and the coefficient of friction is affected by multiple factors such as speed, contact pressure, and gliding posture. Traditional sensors, such as uniaxial force sensors or resistive strain gauges, are prone to signal drift or failure under high-speed impacts due to insufficient bandwidth, poor installation rigidity, and weak anti-interference capabilities. Currently, there is no integrated, real-time friction coefficient detection device specifically designed for skeleton bikes, leading to reliance on experience-based gliding in training and competitions, which hinders track optimization and technological innovation. Therefore, it is necessary to develop a high-precision, high-reliability real-time friction coefficient monitoring device suitable for extreme dynamic conditions.

[0003] This invention discloses a real-time detection device and method for the friction coefficient of steel-framed bobsleighs. Based on the principle of mechanical transmission, it innovatively arranges a three-coordinate force sensor at the connection node between the tubular steel blade and the frame, combined with signal acquisition and processing software, thus overcoming the bottlenecks of existing technologies. The device design has undergone multiple rounds of experimental verification, ensuring accuracy and stability under high-speed and high-acceleration conditions. Summary of the Invention

[0004] The purpose of this invention is to design a device for detecting the friction coefficient of skeleton vehicles, so as to realize real-time and accurate monitoring of the friction coefficient of the ice surface during skeleton vehicle gliding, and provide data support for athlete training and gliding path optimization.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The friction coefficient detection device consists of a 24V lithium battery 1, a sensor acquisition module 2, an industrial control computer 3, a 12V lithium battery 4, a steel frame bobsleigh body 5, an upper clamp for a rear three-coordinate force sensor 6, a rear three-coordinate force sensor 7, a lower clamp for a rear three-coordinate force sensor 8, a tubular steel blade of the bobsleigh 9, a lower clamp for a front three-coordinate force sensor 10, a front three-coordinate force sensor 11, and an upper clamp for a front three-coordinate force sensor 12.

[0007] The 24V lithium battery 1, sensor acquisition module 2, industrial control computer 3, and 12V lithium battery 4 are attached to the bobsleigh body 5 with strong adhesive tape z. The upper clamp 6 of the rear three-coordinate force sensor and the upper clamp 12 of the front three-coordinate force sensor are tightened and fixed to the bobsleigh body 5 with bolts. The rear three-coordinate force sensor 7 and the front three-coordinate force sensor 11 are tightened and fixed to the upper clamp 6, the lower clamp 7, the upper clamp 12, and the lower clamp 10 of the front three-coordinate force sensor respectively with bolts. The tubular steel blade 9 of the bobsleigh is tightened and fixed to the lower clamp 8 of the rear three-coordinate force sensor and the lower clamp 10 of the front three-coordinate force sensor with bolts. After completing the above work, connect the 24V lithium battery 1 to the sensor acquisition module 2 for power supply, and turn on the sensor acquisition module 2 to standby; connect the 12V lithium battery 4 to the industrial control computer 3 for power supply, turn on the industrial control computer 3 and open the signal acquisition and processing software, and zero-calibrate the rear three-coordinate force sensor 7 and the front three-coordinate force sensor 11 by reading the data in real time through the software; ensure that the rear three-coordinate force sensor 7 and the front three-coordinate force sensor 11 are in a horizontal state by adjusting the fixing bolts of the upper clamp 6 of the rear three-coordinate force sensor, the lower clamp 8 of the rear three-coordinate force sensor, the lower clamp 10 of the front three-coordinate force sensor, and the upper clamp 12 of the front three-coordinate force sensor to begin detecting the coefficient of friction of the ice surface during the gliding process. During the testing process, the rear-mounted three-coordinate force sensor 7 and the front-mounted three-coordinate force sensor 11 can collect the tangential and normal forces on the tubular steel blades 9 of the skeleton in real time. The sensor acquisition module 2 records the real-time tangential and normal force data, and the coefficient of friction between the tubular steel blades 9 and the ice surface can be calculated. The relevant test data are recorded in real time by the industrial control computer 3 and saved to a local file.

[0008] The 24V lithium battery 1 is attached to the rear of the steel frame bobsleigh body 5 with strong adhesive tape and connected to the power sensor acquisition module 2 via a JST plug-in connector to power the sensor and the sensor acquisition module 2.

[0009] The sensor acquisition module 2 is attached to the rear of the steel frame bobsleigh body 5 with strong adhesive tape and is connected to the upper clamp 6, lower clamp 7, upper clamp 12, and lower clamp 10 of the rear three-coordinate force sensor, and the front three-coordinate force sensor, respectively, via a dedicated data cable for data acquisition and power supply. It is also connected to the industrial control computer 3 via a dedicated data cable for real-time transmission of the acquired data.

[0010] The industrial control computer 3 is attached to the rear of the steel frame bobsleigh body 5 with strong adhesive tape, and the data is processed, visualized, and saved locally by signal acquisition and processing software.

[0011] The 12V lithium battery 4 is attached to the rear of the steel frame bobsleigh body 5 with strong adhesive tape and connected to the industrial control computer 3 via a DC5525 adapter to ensure that the industrial control computer 3 is powered offline while on the vehicle.

[0012] The skeleton body 5 is a retired skeleton body, and its body structure and parameters are the same as those of the competition vehicle.

[0013] The clamp 6 on the rear-end three-coordinate force sensor is fixed in the same way as the skeleton car body 5 and the skeleton car tubular steel blade 9, that is, it is fixed by bolts through the bolt holes on the rear and sides of the skeleton car body 5. Its lower part is aligned with the four bolt holes of the rear-end three-coordinate force sensor 7 through four through holes and then fixed by bolts.

[0014] The rear-end three-coordinate force sensor 7 is a customized product. It is bolted to the upper clamp 6 and the lower clamp 8 of the rear-end three-coordinate force sensor through eight bolt holes on the upper and lower surfaces. It is used to measure the real-time tangential force and normal force data of the entire device during the gliding process on the ice surface.

[0015] Calculations were performed using the real-time measured three-coordinate force data:

[0016]

[0017] The real-time coefficient of friction can then be obtained.

[0018] The upper half of the lower clamp 8 of the rear three-coordinate force sensor is aligned with the four bolt holes of the rear three-coordinate force sensor 7 through four through holes and is bolted in place. The lower half is bolted in the same way as the skeleton car body 5 is bolted to the skeleton car tubular steel blade 9.

[0019] The tubular steel blade 9 of the skeleton bike is a retired tubular steel blade, and its blade structure and parameters are the same as those of the racing bike.

[0020] The upper half of the clamp 10 of the three-coordinate force sensor at the front of the vehicle is aligned with the four bolt holes of the three-coordinate force sensor 11 at the front of the vehicle through four through holes and is bolted in place. The lower half of the clamp is bolted in the same way as the clamping method of the bobsleigh body 5 to the bobsleigh tubular steel blade 9.

[0021] The vehicle front three-coordinate force sensor 11 is a customized product. It is bolted to the lower clamp 10 and the upper clamp 12 of the vehicle front three-coordinate force sensor through eight bolt holes on the upper and lower surfaces. It is used to measure the real-time tangential force and normal force data of the entire device during the gliding process on the ice surface.

[0022] The clamp 12 on the front three-coordinate force sensor is fixed in the same way as the skeleton car body 5 and the skeleton car tubular steel blade 9, that is, it is fixed by bolts through the bolt holes on the side of the skeleton car body 5. Its lower part is aligned with the four bolt holes of the front three-coordinate force sensor 11 through four through holes and fixed by bolts.

[0023] Furthermore, the real-time detection method for the friction coefficient of a steel-framed bobsleigh includes the following steps:

[0024] The upper clamp 6, the lower clamp 7, and the lower clamp 8 of the rear three-coordinate force sensor are tightened and fixed with bolts; similarly, the lower clamp 10, the upper clamp 11, and the lower clamp 12 of the front three-coordinate force sensor are tightened and fixed with bolts.

[0025] The front and rear parts of the tubular steel blade 9 of the bobsleigh are tightened and fixed to the lower clamp 8 of the three-coordinate force sensor at the rear and the lower clamp 10 of the three-coordinate force sensor at the front by bolts; the upper clamp 6 of the three-coordinate force sensor at the rear and the upper clamp 12 of the three-coordinate force sensor at the front are inserted into the square holes of the lower bottom plate of the bobsleigh body 5 and fixed by bolts through the bolt holes reserved in the bobsleigh body 5.

[0026] The 24V lithium battery 1, sensor acquisition module 2, industrial control computer 3, and 12V lithium battery 4 are attached separately to the upper rear of the steel frame bobsleigh body 5 using strong adhesive tape.

[0027] Connect the rear-end three-coordinate force sensor 7 and the front-end three-coordinate force sensor 11 to the sensor acquisition module 2 via a dedicated data cable, and secure the dedicated data cable with strong adhesive tape. Connect the sensor acquisition module 2 to the industrial control computer 3 via a dedicated data cable, and secure the dedicated data cable with strong adhesive tape. Connect the 24V lithium battery 1 to the sensor acquisition module 2 via a JST connector, and secure the power cable with strong adhesive tape. Connect the 12V lithium battery 4 to the industrial control computer 3 via a DC5525 adapter, and secure the power cable with strong adhesive tape.

[0028] After completing the above work, connect the 24V lithium battery 1 to the sensor acquisition module 2 for power supply, and turn on the sensor acquisition module 2 to standby; connect the 12V lithium battery 4 to the industrial control computer 3 for power supply, turn on the industrial control computer 3 and open the signal acquisition and processing software, and zero-calibrate the rear three-coordinate force sensor 7 and the front three-coordinate force sensor 11 by reading the data in real time through the software; ensure that the rear three-coordinate force sensor 7 and the front three-coordinate force sensor 11 are in a horizontal state by adjusting the fixing bolts of the upper clamp 6 of the rear three-coordinate force sensor, the lower clamp 8 of the rear three-coordinate force sensor, the lower clamp 10 of the front three-coordinate force sensor, and the upper clamp 12 of the front three-coordinate force sensor to begin detecting the coefficient of friction of the ice surface during the gliding process. During the testing process, the rear-mounted three-coordinate force sensor 7 and the front-mounted three-coordinate force sensor 11 can collect the tangential and normal forces on the tubular steel blades 9 of the skeleton in real time. The sensor acquisition module 2 records the real-time tangential and normal force data, and the coefficient of friction between the tubular steel blades 9 and the ice surface can be calculated. The relevant test data are recorded in real time by the industrial control computer 3 and saved to a local file.

[0029] The present invention has the following advantages due to the adoption of the above technical solutions:

[0030] This invention discloses a real-time friction coefficient detection device and method for skeleton bobsleighs. Its structure is simple and compact, easy to assemble and disassemble, and convenient for on-site maintenance, debugging, and testing. Using customized three-coordinate force sensors (rear-end force sensor 7 and front-end force sensor 11), it can detect the real-time friction coefficient between the tubular steel blade 9 of the skeleton bobsleigh and the ice surface with high precision and high acquisition rate, under extreme conditions such as high speed, high acceleration, and high impact, with minimal error. The sensor fixtures (upper fixture 6 for the rear-end force sensor, lower fixture 7 for the rear-end force sensor, upper fixture 12 for the front-end force sensor, and lower fixture 10 for the front-end force sensor) have been designed and verified to allow for the addition of sensors to the skeleton bobsleigh using its original fixing method without altering the bobsleigh structure, adapting to extreme conditions. Furthermore, due to the overall open structure of the device, it is easy to embed other test modules, exhibiting strong compatibility. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of a real-time friction coefficient detection device for steel-framed bobsleighs.

[0032] Figure 2 This is an exploded view of the structure of the real-time friction coefficient detection device for steel-framed bobsleighs.

[0033] Figure 3 A schematic diagram showing the installation details of a three-coordinate force sensor.

[0034] Figure 4This is a graph showing test data from a real-time friction coefficient detection device for steel-framed bobsleighs. Detailed Implementation

[0035] The following description uses a customized three-dimensional force sensor and its corresponding BSQ-JN-P8 sensor acquisition module, powered by a rechargeable lithium battery pack (12V and 24V) and using an N5095 industrial computer for data recording, as an example. However, the present invention is not limited to this.

[0036] The operating steps of this device for measuring the coefficient of friction are as follows:

[0037] Step 1: Tighten and fix the upper clamp 6, the lower clamp 7, and the lower clamp 8 of the rear three-coordinate force sensor using bolts; similarly, tighten and fix the lower clamp 10, the upper clamp 11, and the lower clamp 12 of the front three-coordinate force sensor using bolts.

[0038] Step 2: Tighten and fix the front and rear parts of the tubular steel blade 9 of the bobsleigh to the lower clamp 8 of the three-coordinate force sensor at the rear and the lower clamp 10 of the three-coordinate force sensor at the front using bolts; then insert the upper clamp 6 of the three-coordinate force sensor at the rear and the upper clamp 12 of the three-coordinate force sensor at the front into the square holes in the lower bottom plate of the bobsleigh body 5, and fix them with bolts through the bolt holes reserved in the bobsleigh body 5.

[0039] Step 3: Use strong adhesive tape to attach the 24V lithium battery 1, sensor acquisition module 2, industrial control computer 3, and 12V lithium battery 4 to the upper rear of the steel frame bobsleigh body 5.

[0040] Step 4: Connect the rear-end three-coordinate force sensor 7 and the front-end three-coordinate force sensor 11 to the sensor acquisition module 2 via a dedicated data cable, and secure the dedicated data cable with strong adhesive tape; connect the sensor acquisition module 2 to the industrial control computer 3 via a dedicated data cable, and secure the dedicated data cable with strong adhesive tape; connect the 24V lithium battery 1 to the sensor acquisition module 2 via a JST connector, and secure the power cable with strong adhesive tape; connect the 12V lithium battery 4 to the industrial control computer 3 via a DC5525 adapter, and secure the power cable with strong adhesive tape.

[0041] Step 5: Connect the 24V lithium battery 1 to the sensor acquisition module 2 for power supply, and turn on the sensor acquisition module 2 to standby; connect the 12V lithium battery 4 to the industrial control computer 3 for power supply, turn on the industrial control computer 3 and open the signal acquisition and processing software, and zero-calibrate the rear three-coordinate force sensor 7 and the front three-coordinate force sensor 11 by reading the data in real time through the software.

[0042] Step 6: Adjust the fixing bolts of the upper clamp 6 of the rear three-coordinate force sensor, the lower clamp 8 of the rear three-coordinate force sensor, the lower clamp 10 of the front three-coordinate force sensor, and the upper clamp 12 of the front three-coordinate force sensor to ensure that the rear three-coordinate force sensor 7 and the front three-coordinate force sensor 11 are in a horizontal state.

[0043] Step 7: Place the real-time friction coefficient detection device for the skeleton bobsleigh at the starting point of the ice slope, allowing it to automatically begin sliding downwards. The rear-mounted three-coordinate force sensor 7 and the front-mounted three-coordinate force sensor 11 can collect real-time tangential and normal forces on the tubular cutting edge 9 of the skeleton bobsleigh. The sensor acquisition module 2 records the real-time tangential and normal force data, and the real-time friction coefficient between the tubular cutting edge 9 and the ice surface can be calculated. Relevant test data is recorded in real-time by the industrial control computer 3 and saved to a local file.

[0044] Step 8: After the test, the real-time friction coefficient detection device of the steel frame bobsled is moved back to the starting point of the ice slope, and the data from the industrial control computer is exported, processed, and visualized for plotting and data analysis.

[0045] Step 9: To conduct multiple tests, repeat steps 5 through 8.

[0046] This invention discloses a real-time friction coefficient detection device and method for skeleton bobsleighs. Its structure is simple and compact, easy to assemble and disassemble, and convenient for on-site maintenance, debugging, and testing. Using a customized three-coordinate force sensor and its corresponding fixture, it can accurately detect the real-time friction coefficient between the tubular steel blade of the skeleton bobsleigh and the ice surface under extreme conditions such as high speed, high acceleration, and high impact. It is also easily integrated into other test modules and has strong compatibility. This invention is mainly applied to the real-time and accurate testing of the direct friction coefficient between the tubular steel blade and the ice surface during skeleton bobsleigh gliding. The solution is as follows: 24V lithium battery, sensor acquisition module, industrial control computer, 12V lithium battery, skeleton bobsleigh body, upper fixture of the three-coordinate force sensor at the rear of the bobsleigh, three-coordinate force sensor at the rear of the bobsleigh, lower fixture of the three-coordinate force sensor at the rear of the bobsleigh, tubular steel blade of the skeleton bobsleigh, lower fixture of the three-coordinate force sensor at the front of the bobsleigh, three-coordinate force sensor at the front of the bobsleigh, and upper fixture of the three-coordinate force sensor at the front of the bobsleigh. Connect a 24V lithium battery to the sensor acquisition module for power, and turn on the sensor acquisition module to standby. Connect a 12V lithium battery to the industrial control computer for power, turn on the industrial control computer and open the signal acquisition and processing software. Use the software to read data in real time to zero and calibrate the rear and front coordinate axis force sensors. Adjust the fixing bolts of the upper and lower clamps of the rear and front coordinate axis force sensors to ensure they are horizontal for detecting the ice surface friction coefficient during skiing. During the detection process, the rear and front coordinate axis force sensors can collect the tangential and normal forces on the tubular steel blades of the skeleton in real time. The sensor acquisition module records the real-time tangential and normal force data, and the real-time friction coefficient between the skeleton tubular steel blades and the ice surface can be calculated. Relevant test data are recorded in real time by the industrial control computer, saved to a local file, and visualized for plotting and data analysis.

[0047] In summary, the real-time friction coefficient detection device and method for skeleton bikes described in this invention can be used simply and effectively to test the real-time friction coefficient between the tubular cutting edge of a skeleton bike and the ice surface. The customized three-coordinate force sensor and its corresponding fixture can adapt to extreme conditions such as high speed, high acceleration, and high impact, enabling high-precision and high-rate detection of the real-time friction coefficient between the tubular cutting edge and the ice surface. Furthermore, it is easily integrated into other experimental modules and possesses strong compatibility. This provides significant support for athlete training and skiing path optimization.

Claims

1. A real-time detection device for the friction coefficient of a steel-framed bobsleigh, characterized in that: Includes a 24V lithium battery (1), a sensor acquisition module (2), an industrial computer (3), a 12V lithium battery (4), a steel frame bobsleigh body (5), an upper clamp for a rear-mounted three-coordinate force sensor (6), a rear-mounted three-coordinate force sensor (7), a lower clamp for a rear-mounted three-coordinate force sensor (8), a tubular steel blade for the steel frame bobsleigh (9), a lower clamp for a front-mounted three-coordinate force sensor (10), a front-mounted three-coordinate force sensor (11), and an upper clamp for a front-mounted three-coordinate force sensor (12). The 24V lithium battery (1), sensor acquisition module (2), industrial computer (3), and 12V lithium battery (4) are attached to the bobsleigh body (5) with strong adhesive tape. The upper clamp (6) of the rear three-coordinate force sensor and the upper clamp (12) of the front three-coordinate force sensor are bolted to the bobsleigh body (5). The rear three-coordinate force sensor (7) and the front three-coordinate force sensor (11) are bolted to the upper clamp (6), lower clamp (8), upper clamp (12), and lower clamp (10) of the rear three-coordinate force sensor, respectively. The tubular steel blade (9) of the bobsleigh is bolted to the lower clamp (8) of the rear three-coordinate force sensor and the lower clamp (10) of the front three-coordinate force sensor. Tightly fix; after completing the above work, connect the 24V lithium battery (1) to the sensor acquisition module (2) for power supply, and turn on the sensor acquisition module (2) to standby; connect the 12V lithium battery (4) to the industrial control computer (3) for power supply, turn on the industrial control computer (3) and open the signal acquisition and processing software, and read the data in real time through the software to zero and calibrate the rear three-coordinate force sensor (7) and the front three-coordinate force sensor (11); by adjusting the fixing bolts of the upper clamp (6) of the rear three-coordinate force sensor, the lower clamp (8) of the rear three-coordinate force sensor, the lower clamp (10) of the front three-coordinate force sensor, and the upper clamp (12) of the front three-coordinate force sensor, ensure that the rear three-coordinate force sensor (7) and the front three-coordinate force sensor (11) are in a horizontal state so as to start the detection of the ice surface friction coefficient during the sliding process.

2. The real-time friction coefficient detection device for steel-framed bobsleighs according to claim 1, characterized in that, During the testing process, the three-coordinate force sensor (7) at the rear of the vehicle and the three-coordinate force sensor (11) at the front of the vehicle can collect the tangential and normal forces of the tubular steel blade (9) of the bobsleigh in real time. The sensor acquisition module (2) records the real-time tangential and normal force data, and the actual friction coefficient between the tubular steel blade (9) of the bobsleigh and the ice surface can be obtained by calculation. The relevant test data are recorded in real time by the industrial control computer (3) and saved in a local file.

3. The real-time friction coefficient detection device for steel-framed bobsleighs according to claim 1, characterized in that, The installation positions of the rear three-coordinate force sensor (7) and the front three-coordinate force sensor (11) can accurately measure the real-time friction coefficient between the tubular steel blade of the bobsleigh and the ice surface through the principle of mechanical transmission; the material selection and structural design of the upper clamp (6) of the rear three-coordinate force sensor, the lower clamp (8) of the rear three-coordinate force sensor, the lower clamp (10) of the front three-coordinate force sensor, and the upper clamp (12) of the front three-coordinate force sensor can add sensors and adapt to extreme working conditions without changing the structure of the bobsleigh; the overall structure of the 24V lithium battery (1), the sensor acquisition module (2), the industrial control computer (3), and the 12V lithium battery (4) ensures that the data measured by the sensor is stored locally with the maximum accuracy.

4. The real-time friction coefficient detection device for steel-framed bobsleighs according to claim 1, characterized in that, By measuring the normal compressive stress and tangential stress data measured by the three-coordinate force sensor (7) at the rear of the vehicle and the three-coordinate force sensor (11) at the front of the vehicle in a test environment such as an ice slide, the friction coefficient of the tubular steel blade of the bobsled car with the ice surface is calculated over time. The data is then collected and stored locally by the sensor acquisition module (2) and the industrial control computer (3), and then visualized and analyzed.

5. The real-time friction coefficient detection device for steel-framed bobsleighs according to claim 1, characterized in that, The method for implementing this device includes the following steps: Tighten and fix the upper clamp (6), the lower clamp (7), and the lower clamp of the rear three-coordinate force sensor by bolts; tighten and fix the lower clamp (10), the upper clamp (11), and the lower clamp (12) of the front three-coordinate force sensor by bolts. The front and rear parts of the tubular steel blade (9) of the bobsleigh are tightened and fixed to the lower clamp (8) of the three-coordinate force sensor at the rear and the lower clamp (10) of the three-coordinate force sensor at the front by bolts; the upper clamp (6) of the three-coordinate force sensor at the rear and the upper clamp (12) of the three-coordinate force sensor at the front are inserted into the square holes of the bottom plate of the bobsleigh body (5) and fixed by bolts through the bolt holes reserved in the bobsleigh body (5); The 24V lithium battery (1), sensor acquisition module (2), industrial control computer (3) and 12V lithium battery (4) are attached to the upper rear of the steel frame bobsleigh body (5) using strong adhesive tape. Connect the rear-end three-coordinate force sensor (7) and the front-end three-coordinate force sensor (11) to the sensor acquisition module (2) via a dedicated data cable and secure the dedicated data cable with strong adhesive tape; connect the sensor acquisition module (2) to the industrial control computer (3) via a dedicated data cable and secure the dedicated data cable with strong adhesive tape; connect the 24V lithium battery (1) to the sensor acquisition module (2) via a JST connector and secure the power cable with strong adhesive tape; connect the 12V lithium battery (4) to the industrial control computer (3) via a DC5525 adapter and secure the power cable with strong adhesive tape. Connect the 24V lithium battery (1) to the sensor acquisition module (2) for power supply, and turn on the sensor acquisition module (2) to standby; connect the 12V lithium battery (4) to the industrial control computer (3) for power supply, turn on the industrial control computer (3) and open the signal acquisition and processing software, and zero-calibrate the rear three-coordinate force sensor (7) and the front three-coordinate force sensor (11) by reading the data in real time through the software; adjust the upper clamp (6) of the rear three-coordinate force sensor, the lower clamp (8) of the rear three-coordinate force sensor, the lower clamp (10) of the front three-coordinate force sensor, and the upper clamp (6) of the front three-coordinate force sensor (8) by adjusting the upper clamp (8) of the rear three-coordinate force sensor, the lower clamp (10) of the front three-coordinate force sensor, and the upper clamp (11) of the front three-coordinate force sensor. The fixing bolts of 12) ensure that the three-coordinate force sensor (7) at the rear of the car and the three-coordinate force sensor (11) at the front of the car are in a horizontal state to start the detection of the friction coefficient of the ice surface during the gliding process; during the detection process, the three-coordinate force sensor (7) at the rear of the car and the three-coordinate force sensor (11) at the front of the car collect the tangential and normal forces of the tubular steel blade (9) of the bobsleigh in real time, and record the real-time tangential and normal force data through the sensor acquisition module (2), and calculate the actual friction coefficient between the tubular steel blade (9) of the bobsleigh and the ice surface; the relevant test data are recorded in real time by the industrial control computer (3) and saved in a local file.

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