A residual stress detection method, device, electronic equipment and storage medium

Abstract

The present invention discloses a residual stress detection method, device, electronic device and storage medium, the method comprising: obtaining the first acoustic time and the second acoustic time respectively corresponding to the first ultrasonic wave and the second ultrasonic wave with mutually perpendicular vibration directions when the component is in an unstressed state, and obtaining the third acoustic time and the fourth acoustic time respectively corresponding to the third ultrasonic wave and the fourth ultrasonic wave with mutually perpendicular vibration directions when the component is in a residual stress state; determining the acoustic elastic coefficient based on a preset stretching method; determining the first propagation time difference based on the time difference between the first acoustic time and the second acoustic time, and determining the second propagation time difference based on the time difference between the third acoustic time and the fourth acoustic time; determining the residual stress of the component according to the correlation between the first propagation time difference, the second propagation time difference and the acoustic elastic coefficient. The present invention solves the technical problems in the prior art that the use of traditional mechanical methods, strain gauge methods and X-ray diffraction methods to detect the residual stress of the workpiece will cause damage to the workpiece or have high requirements for the surface treatment of the workpiece.

Description

Technical Field

[0001] The present invention relates to the field of industrial measurement technology, and in particular to a residual stress detection method, device, electronic equipment and storage medium. Background Art

[0002] Residual stress is mainly generated during welding, rolling, casting, machining, surface treatment, and heat treatment. It mainly affects the fatigue life, corrosion resistance, structural stability, and brittle fracture and deformation of metal structural parts. Currently, the commonly used residual stress detection methods mainly include mechanical method and physical method. The mechanical method is to separate or cut the parts with residual stress from the components to release the stress, and measure the change of its strain to calculate the residual stress, but the mechanical method will cause certain damage or destruction to the workpiece; the commonly used physical methods include strain gauge method and X-ray diffraction method. These two physical methods will not cause damage or destruction to the workpiece when detecting residual stress, but the surface of the workpiece needs to be processed before detection. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a residual stress detection method, device, electronic device and storage medium to solve the technical problems in the prior art that the traditional mechanical method, strain gauge method and X-ray diffraction method used to detect the residual stress of the workpiece may cause damage to the workpiece or have high requirements for the surface treatment of the workpiece.

[0004] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0005] In a first aspect, the present invention provides a residual stress detection method, comprising:

[0006] Acquire the first sound time and the second sound time respectively corresponding to the first ultrasonic wave and the second ultrasonic wave whose vibration directions are perpendicular to each other when the component is in an unstressed state, and acquire the third sound time and the fourth sound time respectively corresponding to the third ultrasonic wave and the fourth ultrasonic wave whose vibration directions are perpendicular to each other when the component is in a residual stress state;

[0007] Get the acoustoelastic coefficient;

[0008] Determine a first propagation time difference based on a time difference between the first sound time and the second sound time, and determine a second propagation time difference based on a time difference between the third sound time and the fourth sound time;

[0009] The residual stress of the component is determined according to the correlation between the first propagation time difference, the second propagation time difference and the acoustic elastic coefficient.

[0010] In some embodiments, the third sound time is the propagation time of the third ultrasonic wave in the component when the vibration direction of the third ultrasonic wave is parallel to the residual stress of the component, and the first sound time is the propagation time when the vibration direction of the first ultrasonic wave is consistent with the vibration direction of the third ultrasonic wave; the fourth sound time is the propagation time of the fourth ultrasonic wave in the component when the vibration direction of the fourth ultrasonic wave is perpendicular to the residual stress of the component, and the second sound time is the propagation time when the vibration direction of the second ultrasonic wave is consistent with the vibration direction of the fourth ultrasonic wave.

[0011] In some embodiments, obtaining the acoustoelastic coefficient comprises:

[0012] Based on the preset stretching method, the experimental residual stress of the component is obtained, and the fifth sound time and the sixth sound time corresponding to the fifth ultrasonic wave and the sixth ultrasonic wave respectively when the component is under the experimental residual stress are obtained;

[0013] Determine a third propagation time difference according to the time difference between the fifth sound time and the sixth sound time;

[0014] determining the ultrasonic time difference according to the degree of influence of the experimental residual stress on the time difference between the third propagation time difference and the first propagation time difference;

[0015] The acoustoelastic coefficient is determined based on the linear relationship between the experimental residual stress and the ultrasonic time difference.

[0016] In some embodiments, before determining the acoustoelastic coefficient according to the linear relationship between the experimental residual stress and the ultrasonic time difference, the method further comprises:

[0017] The preset linear regression method was used to determine the quantitative relationship between the tension value and the ultrasonic time difference.

[0018] In some embodiments, determining the residual stress of the component according to the correlation between the first propagation time difference, the second propagation time difference and the acoustoelastic coefficient comprises:

[0019] determining a second ultrasonic time difference according to the degree of influence of the residual stress on the time difference between the second propagation time difference and the first propagation time difference;

[0020] The residual stress of the component is determined according to the linear relationship between the second ultrasonic time difference and the acoustoelastic coefficient.

[0021] In some embodiments, the first propagation time difference is:

[0022] in, When the first sound is indicated, represents the second sound, and T0 represents the round trip time of the first pulse.

[0023] In some embodiments, the linear relationship between the second ultrasonic time difference, the acoustoelastic coefficient and the residual stress is: σ=K(T σ -T0),

[0024] Where σ represents the residual stress, K represents the acoustic elastic coefficient, T σ represents the second propagation time difference, and T0 represents the first propagation time difference.

[0025] In a second aspect, the present invention further provides a residual stress detection device, comprising:

[0026] An acoustic timing acquisition module, used to acquire a first acoustic timing and a second acoustic timing of a first ultrasonic wave and a second ultrasonic wave whose vibration directions are perpendicular to each other when the component is in an unstressed state, and to acquire a third acoustic timing and a fourth acoustic timing of a third ultrasonic wave and a fourth ultrasonic wave whose vibration directions are perpendicular to each other when the component is in a stressed state;

[0027] an acoustoelastic coefficient acquisition module, used to determine the acoustoelastic coefficient based on a preset stretching method;

[0028] A propagation time difference acquisition module, used to determine a first propagation time difference based on a time difference between the first sound time and the second sound time, and to determine a second propagation time difference based on a time difference between the third sound time and the fourth sound time;

[0029] The residual stress determination module is used to determine the residual stress of the component according to the correlation between the first propagation time difference, the second propagation time difference and the acoustic elastic coefficient.

[0030] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory;

[0031] The memory stores a computer-readable program executable by the processor;

[0032] When the processor executes the computer-readable program, the steps in the residual stress detection method described above are implemented.

[0033] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the residual stress detection method as described above.

[0034] Compared with the prior art, the residual stress detection method, device, electronic device and storage medium provided by the present invention first obtain the first sound time and the second sound time of the first ultrasonic wave and the second ultrasonic wave whose vibration directions are perpendicular to each other when the component is in an unstressed state, and obtain the third sound time and the fourth sound time of the third ultrasonic wave and the fourth ultrasonic wave whose vibration directions are perpendicular to each other when the component is in a stressed state; then determine the acoustic elastic coefficient based on a preset stretching method; then determine the first propagation time difference based on the time difference between the first sound time and the second sound time, and determine the second propagation time difference based on the time difference between the third sound time and the fourth sound time; finally, determine the residual stress of the component according to the correlation between the first propagation time difference, the second propagation time difference and the acoustic elastic coefficient; the residual stress detection method provided by the present invention realizes non-destructive testing, and does not require additional surface pretreatment of the inspected component. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a flow chart of an embodiment of a residual stress detection method provided by the present invention;

[0036] Figure 2 It is a flow chart of step S102 in the residual stress detection method provided by the present invention;

[0037] Figure 3 It is a flow chart of step S104 in the residual stress detection method provided by the present invention;

[0038] Figure 4 is a schematic diagram of an embodiment of a residual stress detection device provided by the present invention;

[0039] Figure 5 It is a schematic diagram of the operating environment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] It should be noted that residual stress refers to the self-balanced internal stress that remains in an object after the external force or uneven temperature field is eliminated. Residual stress is mainly generated in the process of welding, rolling, casting, machining, surface treatment and heat treatment. It mainly affects the fatigue life, corrosion resistance and structural stability of metal structural parts, causing brittle fracture and deformation, etc. According to the principle of acoustic elasticity, ultrasonic technology can be used to measure the residual stress in the metal, which can indirectly provide production guidance for welding and heat treatment processes.

[0042] The residual stress detection method, device, equipment or computer-readable storage medium involved in the present invention can be used to detect residual stress in samples and actual welded structural parts, and can also be used to detect residual stress changes caused by welded structural parts after heat treatment and during service. The method, device, equipment or computer-readable storage medium involved in the present invention can be integrated with the above-mentioned system or can be relatively independent.

[0043] It should be noted that the present invention uses two kinds of ultrasonic waves to simultaneously emit into the component to detect residual stress, wherein the ultrasonic wave is a transverse wave, and the vibration direction of the transverse wave is perpendicular to the propagation direction, so it can ensure that the two beams of ultrasonic waves propagate in the same direction of the component, and the method of controlling variables is used to control the propagation paths of the two beams of ultrasonic waves to be equal and the vibration direction of one of the transverse waves can be controlled to be consistent with the direction of residual stress, and the vibration direction of the other transverse wave is perpendicular to the direction of residual stress, so as to ensure that one and only one of the two transverse waves is affected by the residual stress, and the magnitude of the residual stress is determined by the degree of influence of the residual stress on the propagation time of the transverse wave.

[0044] This embodiment provides a residual stress detection method. Figure 1 is a flow chart of the residual stress detection method provided by an embodiment of the present invention, please refer to Figure 1 , residual stress detection methods include:

[0045] S101, obtaining the first sound time and the second sound time respectively corresponding to the first ultrasonic wave and the second ultrasonic wave whose vibration directions are perpendicular to each other when the component is in an unstressed state, and obtaining the third sound time and the fourth sound time respectively corresponding to the third ultrasonic wave and the fourth ultrasonic wave whose vibration directions are perpendicular to each other when the component is in a residual stress state;

[0046] S102, obtaining the acoustic elastic coefficient;

[0047] S103, determining a first propagation time difference based on a time difference between the first sound time and the second sound time, and determining a second propagation time difference based on a time difference between the third sound time and the fourth sound time;

[0048] S104. Determine the residual stress of the component according to the correlation between the first propagation time difference, the second propagation time difference and the acoustoelastic coefficient.

[0049] In step S101, two ultrasonic waves with mutually perpendicular vibration directions and the same propagation direction are incident into the interior of the workpiece along the x direction. When stress exists in the y direction, the velocity of the shear wave with the vibration direction in the y direction will change, while the velocity of the shear wave with the vibration direction in the z direction remains almost unchanged. Therefore, the stress magnitude can be reflected by monitoring the change in the velocity of the two ultrasonic waves. Two ultrasonic wave propagation sound times can be measured by using two ultrasonic waves when there is no residual stress in the component, and there is a certain difference between the two sound times. When the component is subjected to residual stress, the difference between the two sound times will be greater.

[0050] In step S102, the acoustoelastic coefficient is a physical quantity related to the material. Each material has a corresponding and fixed acoustoelastic coefficient value, and its value represents the sensitivity between the acoustic time difference and the stress.

[0051] In step S103, two ultrasonic waves with mutually perpendicular vibration directions are emitted into the same component. When the component is under residual stress and under no stress, the propagation time of the two ultrasonic waves has a certain difference. When a certain direction of the component is affected by the residual stress, the propagation time of the ultrasonic wave along the vibration direction consistent with the residual stress direction will be affected. Therefore, the difference between the third sound time and the fourth sound time will be greater. In order to obtain an accurate residual stress value, it is necessary to obtain the first propagation time difference between the first sound time and the second sound time and the second propagation time difference between the third sound time and the fourth sound time.

[0052] In this embodiment, firstly, a first propagation time difference of two ultrasonic waves is obtained when the component is not affected by residual stress, and then a second propagation time difference of the two ultrasonic waves is obtained when the component is affected by residual stress. By determining the difference between the second propagation time difference and the first propagation time difference, the influence of residual stress on the ultrasonic wave propagation time is reflected, and then the magnitude of residual stress in the component is determined. Specifically, in this embodiment, the propagation speed of elastic waves is measured by measuring multiple reflections of ultrasonic signals in the material, which can make the detection result more accurate.

[0053] In some embodiments, the third sound time is the propagation time of the third ultrasonic wave in the component when the vibration direction of the third ultrasonic wave is parallel to the residual stress of the component, and the first sound time is the propagation time when the vibration direction of the first ultrasonic wave is consistent with the vibration direction of the third ultrasonic wave; the fourth sound time is the propagation time of the fourth ultrasonic wave in the component when the vibration direction of the fourth ultrasonic wave is perpendicular to the residual stress of the component, and the second sound time is the propagation time when the vibration direction of the second ultrasonic wave is consistent with the vibration direction of the fourth ultrasonic wave.

[0054] In this embodiment, in order to obtain the influence of residual stress on the propagation time of ultrasonic waves, it is necessary to arrange ultrasonic detection when the components are under stress and without stress at the same time, and the vibration direction of the ultrasonic wave must be consistent with or perpendicular to the direction of force. By obtaining the propagation sound of ultrasonic waves under four different conditions, the influence of residual stress on the propagation sound of ultrasonic waves is quantitatively analyzed.

[0055] In some embodiments, see Figure 2 , Figure 2 This is a flow chart of step S102 of an embodiment of the present invention, wherein obtaining the acoustic elastic coefficient includes:

[0056] S201, based on a preset stretching method, obtaining the experimental residual stress of the component, and obtaining the fifth sound time and the sixth sound time corresponding to the fifth ultrasonic wave and the sixth ultrasonic wave respectively when the component is under the experimental residual stress;

[0057] S202, obtaining the fifth sound timing and the sixth sound timing of the fifth ultrasonic wave and the sixth ultrasonic wave when the component is in a tension state;

[0058] S203, determining the ultrasonic time difference according to the influence degree of the experimental residual stress on the time difference between the third propagation time difference and the first propagation time difference;

[0059] S204, determining the acoustoelastic coefficient according to the linear relationship between the experimental residual stress and the ultrasonic time difference.

[0060] In this embodiment, the tensile test is an electronic universal tensile testing machine used to test the resistance of materials when subjected to loads in a static state or to slowly increasing loads. The third propagation time difference between two ultrasonic wave propagations is determined by obtaining the residual stress value in the current state and the fifth and sixth sound times of ultrasonic wave propagation in the corresponding state. The corresponding acoustic elastic coefficient of the component is determined by measuring multiple groups of residual stresses and the corresponding third propagation time differences.

[0061] In some embodiments, before determining the acoustoelastic coefficient according to the linear relationship between the experimental residual stress and the ultrasonic time difference, the method further comprises:

[0062] The preset linear regression method was used to determine the quantitative relationship between the tension value and the ultrasonic time difference.

[0063] In this embodiment, a preset linear regression method is used to perform linear regression on each discrete tension value and the third propagation time difference, and the relationship between the two can be represented by an approximate straight line. The acoustic elastic coefficient of the material is determined by obtaining the slope of the straight line.

[0064] In some embodiments, see Figure 3 , Figure 3: is a flow chart of step S104 of this embodiment, wherein the residual stress of the component is determined according to the correlation between the first propagation time difference, the second propagation time difference and the acoustoelastic coefficient, including:

[0065] S301, determining a second ultrasonic time difference according to the influence degree of the residual stress on the time difference between the second propagation time difference and the first propagation time difference;

[0066] S302: Determine the residual stress of the component according to the linear relationship between the second ultrasonic time difference and the acoustoelastic coefficient.

[0067] In this embodiment, the expression of the first propagation time difference is:

[0068] in, For the first sound, When it is the second sound, T0 represents the first propagation time difference;

[0069] The expression of the second propagation time difference is:

[0070] in When indicating the third tone, When indicating the fourth tone, T σ represents the second propagation time difference;

[0071] It should be noted that in order to eliminate the influence of the thickness of the component material on the propagation time of sound, the percentage method is used when determining the propagation time difference of two ultrasonic beams with different vibration directions, that is, the propagation time difference of ultrasonic waves per unit thickness of the component is determined by dividing the sound time difference by the sound time sum.

[0072] The linear relationship between the second ultrasonic time difference, the acoustic elastic coefficient and the residual stress is: σ = K(T σ -T0),

[0073] Where σ represents the residual stress, K represents the acoustic elastic coefficient, T σ represents the second propagation time difference, and T0 represents the first propagation time difference.

[0074] Based on the above residual stress detection method, the embodiment of the present invention also provides a residual stress detection device 400. Figure 4 The residual stress detection device 400 includes an acoustic time acquisition module 410, an acoustic elastic coefficient acquisition module 420, a propagation time difference acquisition module 430 and a residual stress determination module.

[0075] The acoustic timing acquisition module 410 is used to acquire the first acoustic timing and the second acoustic timing of the first ultrasonic wave and the second ultrasonic wave whose vibration directions are perpendicular to each other when the component is in an unstressed state, and to acquire the third acoustic timing and the fourth acoustic timing of the third ultrasonic wave and the fourth ultrasonic wave whose vibration directions are perpendicular to each other when the component is in a stressed state;

[0076] The acoustic elastic coefficient acquisition module 420 is used to determine the acoustic elastic coefficient based on a preset stretching method;

[0077] A propagation time difference acquisition module 430, configured to determine a first propagation time difference based on a time difference between the first sound time and the second sound time, and to determine a second propagation time difference based on a time difference between the third sound time and the fourth sound time;

[0078] The residual stress determination module 440 is used to determine the residual stress of the component according to the correlation between the first propagation time difference, the second propagation time difference and the acoustoelastic coefficient.

[0079] like Figure 5 As shown, based on the above residual stress detection method, the present invention also provides an electronic device, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device includes a processor 510, a memory 520, and a display 530. Figure 5 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0080] In some embodiments, the memory 520 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 520 may also be an external storage device of the electronic device, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 520 may also include both an internal storage unit of the electronic device and an external storage device. The memory 520 is used to store application software and various types of data installed in the electronic device, such as program codes installed in the electronic device. The memory 520 can also be used to temporarily store data that has been output or is to be output. In one embodiment, a residual stress detection program 540 is stored on the memory 520, and the residual stress detection program 540 can be executed by the processor 510, thereby realizing the residual stress detection method of each embodiment of the present application.

[0081] In some embodiments, the processor 510 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 520, such as executing a residual stress detection method.

[0082] In some embodiments, the display 530 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 530 is used to display information on the residual stress detection device and to display a visual user interface. The components 510-530 of the electronic device communicate with each other via a system bus.

[0083] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium, and the program can include the processes of the above-mentioned method embodiments when executed. The storage medium can be a memory, a disk, an optical disk, etc.

[0084] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A residual stress detection method, characterized in that: include: Acquire the first sound time and the second sound time respectively corresponding to the first ultrasonic wave and the second ultrasonic wave whose vibration directions are perpendicular to each other when the component is in an unstressed state, and acquire the third sound time and the fourth sound time respectively corresponding to the third ultrasonic wave and the fourth ultrasonic wave whose vibration directions are perpendicular to each other when the component is in a residual stress state; Determine a first propagation time difference based on a time difference between the first sound time and the second sound time, and determine a second propagation time difference based on a time difference between the third sound time and the fourth sound time; Based on the preset stretching method, the experimental residual stress of the component is obtained, and the fifth sound time and the sixth sound time corresponding to the fifth ultrasonic wave and the sixth ultrasonic wave respectively when the component is under the experimental residual stress are obtained; according to the time difference between the fifth sound time and the sixth sound time, the third propagation time difference is determined; according to the influence of the experimental residual stress on the time difference between the third propagation time difference and the first propagation time difference, the ultrasonic time difference is determined; using the preset linear regression method, the quantitative relationship between the tension value and the ultrasonic time difference is determined, and the acoustic elastic coefficient is determined according to the linear relationship between the experimental residual stress and the ultrasonic time difference; The second ultrasonic time difference is determined according to the influence degree of the residual stress on the time difference between the second propagation time difference and the first propagation time difference; the residual stress of the component is determined according to the linear relationship between the second ultrasonic time difference and the acoustoelastic coefficient.

2. The residual stress detection method according to claim 1, characterized in that: The third sound time is the propagation time of the third ultrasonic wave in the component when the vibration direction of the third ultrasonic wave is parallel to the residual stress of the component, and the first sound time is the propagation time when the vibration direction of the first ultrasonic wave is consistent with the vibration direction of the third ultrasonic wave; the fourth sound time is the propagation time of the fourth ultrasonic wave in the component when the vibration direction of the fourth ultrasonic wave is perpendicular to the residual stress of the component, and the second sound time is the propagation time when the vibration direction of the second ultrasonic wave is consistent with the vibration direction of the fourth ultrasonic wave.

3. The residual stress detection method according to claim 1, characterized in that: The first propagation time difference is: , in, When the first sound is indicated, When indicating the second tone, Represents the round trip time of the first pulse.

4. The residual stress detection method according to claim 1, characterized in that: The linear relationship between the second ultrasonic time difference, the acoustoelastic coefficient and the residual stress is: , in, represents the residual stress, represents the acoustic elastic coefficient, represents the second propagation time difference, Represents the first propagation time difference.

5. A residual stress detection device, characterized in that: include: An acoustic timing acquisition module is used to acquire a first acoustic timing and a second acoustic timing respectively corresponding to a first ultrasonic wave and a second ultrasonic wave whose vibration directions are perpendicular to each other when the component is in an unstressed state, and to acquire a third acoustic timing and a fourth acoustic timing respectively corresponding to a third ultrasonic wave and a fourth ultrasonic wave whose vibration directions are perpendicular to each other when the component is in a residual stress state; A propagation time difference acquisition module, used to determine a first propagation time difference based on a time difference between the first sound time and the second sound time, and to determine a second propagation time difference based on a time difference between the third sound time and the fourth sound time; The module for acquiring the acoustic elastic coefficient is used to acquire the experimental residual stress of the component based on a preset stretching method, and to acquire the fifth acoustic time and the sixth acoustic time corresponding to the fifth ultrasonic wave and the sixth ultrasonic wave respectively when the component is under the experimental residual stress; to determine the third propagation time difference according to the time difference between the fifth acoustic time and the sixth acoustic time; to determine the ultrasonic time difference according to the influence of the experimental residual stress on the time difference between the third propagation time difference and the first propagation time difference; to determine the quantitative relationship between the tension value and the ultrasonic time difference by using a preset linear regression method, and to determine the acoustic elastic coefficient according to the linear relationship between the experimental residual stress and the ultrasonic time difference; The residual stress determination module is used to determine the second ultrasonic time difference according to the influence of the residual stress on the time difference between the second propagation time difference and the first propagation time difference; and determine the residual stress of the component according to the linear relationship between the second ultrasonic time difference and the acoustic elastic coefficient.

6. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps of the residual stress detection method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the residual stress detection method according to any one of claims 1 to 4.

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