Metal material stress damage intelligent scanning detection system based on weak magnetic method

Abstract

The invention belongs to the technical field of metal material nondestructive testing, and particularly relates to a metal material stress damage intelligent scanning detection system based on a weak magnetic method. According to the invention, full-automatic precise nondestructive intelligent detection can be carried out on metal stress damage under various complex working conditions, and full-automatic intelligent scanning detection can be carried out on metal equipment according to different detection environments. Based on a weak magnetic detection principle and in combination with intelligent control of a single-chip microcomputer on electronic chips such as a magnetic sensor and an infrared sensor, the metal material stress damage intelligent scanning detection system based on the weak magnetic method is designed.

Description

Technical Field

[0001] The invention belongs to the technical field of nondestructive testing of metal materials, and in particular relates to an intelligent scanning detection system for stress damage of metal materials based on a weak magnetic method. Background Art

[0002] Metal materials have been widely used in various fields of production and life due to their good plasticity and structural properties. Under long-term external loads, high temperature and high pressure, the internal crystal structure of metal components will change, and then form stress damage, resulting in shortened life and safety hazards of bridges, tracks, pipelines, etc. made of metal materials. Therefore, accurate and convenient stress damage detection of metal materials has gradually become the focus of social attention. Commonly used non-destructive testing technology for metal materials is only applicable to the detection of macroscopic volume defects, and cannot effectively evaluate the stress concentration area of ​​unformed volume defects caused by welding, construction, medium internal pressure, foundation settlement, thermal expansion and other factors, thus unable to avoid sudden accidents caused by unexpected fatigue stress damage to metals. The weak magnetic method performs stress detection based on the spontaneous magnetic field signal of the stress concentration area without applying any external excitation. It can quickly and effectively detect the stress concentration of metal components and support non-contact, dynamic online detection. Due to the complex mechanism of weak magnetic detection technology and many influencing factors, traditional weak magnetic detection equipment uses analog signal calculation and analysis to evaluate detection signals and locate stress concentration areas. As a result, weak magnetic detection equipment often has a complex hardware structure and a relatively large size, which makes it extremely inconvenient to carry and expensive, which is not conducive to long-term field operations. In addition, traditional weak magnetic detection systems often use manual or external environment to drive the detection system to perform system scanning, which also brings great inconvenience and errors to the system's detection in complex environments. These factors have led to the fact that weak magnetic detection systems are often limited to large-scale industrial production applications, which seriously affects the application field and scope of this technology. Summary of the invention

[0003] The present invention is aimed at the above problems, in order to be able to perform fully automatic, accurate, non-destructive and intelligent detection of metal stress damage under a variety of complex working conditions, and to be able to perform fully automatic intelligent scanning detection of metal equipment according to different detection environments. Based on the principle of weak magnetic detection, combined with the intelligent control of magnetic sensors, infrared sensors and other electronic chips by single-chip microcomputer, a metal material stress damage intelligent scanning detection system based on weak magnetic method is designed.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme, which includes a single-chip microcomputer control system, a motor system, a power wheel, a system mounting plate, a bracket assembly, a magnetic sensor, and an infrared sensor. The single-chip microcomputer control system and the motor system are installed on the upper part of the system mounting plate, and the power wheels are installed on both sides of the system mounting plate. The bracket assembly is installed on the side of the system mounting plate, and is used to fix the magnetic sensor probe and the infrared sensor probe. The bracket assembly can be moved to provide different detection positions and lift-off values ​​for the sensor probe. The single-chip microcomputer control system first uses the system call and data processing main program to control the infrared sensor to collect external infrared signals, and uses the infrared tracking subroutine, the infrared obstacle avoidance subroutine, the control motor system, and the power wheel to complete the fully automatic intelligent mobile scanning function. The single-chip microcomputer control system further uses the system call and data processing main program to control the data acquisition subroutine, the tangential weak magnetic signal Hp(x) processing subroutine, and the normal weak magnetic signal Hp(y) processing subroutine to control the magnetic sensor probe to collect weak magnetic signals, and perform stress damage detection and digital early warning analysis;

[0005] The single-chip control system includes a single-chip microcomputer, a magnetic sensor, an infrared sensor, a hardware filtering system, an analog / digital conversion system, an infrared tracking system, an infrared obstacle avoidance system, an infrared remote control system, a keyboard control system, a motor system, an external storage system, a display system, and an alarm system. The key points of the structure are that the detection signal output port of the magnetic sensor is connected to the detection signal input port of the analog / digital conversion system through the hardware filtering system, and the detection signal output port of the analog / digital conversion system is connected to the detection signal input port of the single-chip microcomputer; the signal output port of the infrared sensor is respectively connected to the input ports of the infrared tracking system and the infrared obstacle avoidance system, and the output ports of the infrared tracking system and the infrared obstacle avoidance system are connected to the input port of the single-chip microcomputer through the analog / digital conversion system; the output ports of the infrared remote control system and the keyboard control system are directly connected to the input port of the single-chip microcomputer; the output port of the single-chip microcomputer is respectively connected to the input ports of the motor system, the external storage system, the display system, and the alarm system;

[0006] The system call and data processing main program first sets the critical value as the critical value storage area in the initialization, and turns on the intelligent tracking function, enters the infrared tracking subroutine, which uses the infrared sensor to detect the scanning route, and completes the intelligent tracking scanning detection of the system on the preset path under the control of the single-chip microcomputer and the infrared tracking system. The system uses the variables Left_1_led and Right_1_led to assign values ​​to perform obstacle judgment and analysis. If an obstacle appears, the system turns on the intelligent obstacle avoidance function and enters the infrared obstacle avoidance subroutine, which completes the system detection of the obstacle avoidance function under the control of the single-chip microcomputer and the infrared obstacle avoidance system. When the tracking and obstacle avoidance functions cannot be performed due to external environment and other reasons, the system turns on the infrared remote control system and uses its manual control of the control motor system and the power wheel to complete the system scanning detection. The system realizes the intelligent mobile scanning function under the control of the single-chip microcomputer through the call analysis of the above functions under the system call and data processing main program. Then enter the data acquisition subroutine, first define ADTURN1 as the tangential data storage area and ADTURN2 as the normal data storage area, turn on the magnetic sensor to collect the tangential and normal weak magnetic signals of the metal surface, and pass the collected signals through the hardware filtering system and analog / digital conversion system, filter and analog / digital conversion, and then store the collected digital weak magnetic detection signals in the tangential data storage area ADTURN1 and the normal data storage area ADTURN2 to wait for system calls. Call the tangential component Hp(x) processing subroutine, define LINEADR0 as the extreme point data storage unit, define LINE0 as the extreme point position storage unit, calculate the extreme point data of the digital weak magnetic detection signal in the tangential data storage area ADTURN1 in the main program, and store the extreme point signal strength in the extreme point data storage unit LINEADR0, and store the extreme point storage address in the extreme point position storage unit LINE0. Call the normal component Hp(y) processing subroutine, define Zero_position as the zero point position storage unit, calculate the zero point data of the digital weak magnetic detection signal in the normal data storage area ADTURN2 through the detection and analysis program, and store the zero point storage address in the zero point position storage unit Zero_position. Based on the weak magnetic stress detection characteristics, the main program uses the calculation and analysis of the tangential extreme point position storage unit LINE0 data and the normal zero point position storage unit Zero_position data to determine the stress damage position; uses the calculation and analysis of the tangential extreme point data storage unit LINEADR0 data and the critical value storage area unit critical value data to determine the degree of stress damage, thereby realizing the digital early warning and real-time display function of metal stress damage;

[0007] The infrared tracking subroutine first defines the relevant parameters of the two infrared sensors, defines Left_1_led as the left detection module signal, and Right_1_led as the right detection module signal. The system can judge the detection module signal through a loop program, so as to use the infrared sensor, infrared tracking system, motor system and power wheel to perform intelligent tracking function. The system converts the detection signal of the infrared sensor into a digital signal through the analog / digital conversion system and stores it in the infrared tracking system. After analyzing and processing the detection signal, it transmits the analysis data to the single-chip microcomputer, and then assigns values ​​to its variables Left_1_led and Right_1_led. If the infrared sensor detects that the modules on both sides have not deviated from the preset scanning route, the variables Left_1_led and Right_1_led are both assigned 0. If one side deviates from the preset scanning route, the corresponding detection module signal variable is assigned 1, and the single-chip microcomputer controls the motor system and the power wheel to return the system to the original scanning route. Therefore, the infrared sensor, infrared tracking system, analog / digital conversion system collect and process the external infrared detection signal, and perform digital tracking calculation and analysis, so as to use the single chip microcomputer to control the motor system and the power wheel to realize the intelligent tracking scanning detection function of the system;

[0008] The infrared obstacle avoidance subroutine first defines LeftIRBZ as the left obstacle avoidance module signal and RightIRBZ as the right obstacle avoidance module signal. Through the logical output of the obstacle avoidance module signals on both sides, the obstacle avoidance function of the system is calculated and analyzed. When the infrared sensor detects an obstacle, it assigns LeftIRBZ or RightIRBZ in the microcontroller to 0 through data processing of the infrared obstacle avoidance system and the analog / digital conversion system. Then the microcontroller controls the motor system and the power wheel to complete the intelligent obstacle avoidance function of the detection system, and continues to enter the tracking mode after avoiding the obstacle. In order to realize the function of detecting whether it is a misjudgment, the system will turn on the external interrupt EX1 and initialize the address code IRCOM[2]=0X00 to determine whether the key position corresponds to IRCOM[2]! = RecvDate[0], if it corresponds, open the external interrupt EX1 = 1, if it does not correspond, judge that the detection signal is valid and there is no misjudgment, thereby collecting and processing the external infrared detection signal through the infrared sensor, infrared obstacle avoidance system, analog / digital conversion system, and digital calculation and analysis of obstacle avoidance, so as to use the single-chip microcomputer to control the motor system and the power wheel to realize the system intelligent obstacle avoidance scanning detection function;

[0009] The data acquisition subroutine first defines the relevant parameters of the weak magnetic signal storage area, the system defines a one-dimensional array ADTURN1 as the tangential data storage area of ​​the weak magnetic signal, defines a one-dimensional array ADTURN2 as the normal data storage area of ​​the weak magnetic signal, uses R0 and R1 as pointers to point to the tangential and normal data storage areas ADTURN1 and ADTURN2 of the weak magnetic signal respectively, defines R2 and R3 as large and small cycle counts respectively, and their initial values ​​are both zero, respectively starts IN0 and IN1 to start the various signal acquisition and processing functions of the magnetic sensor, hardware filtering system, and analog / digital conversion system, and after a delay, puts the acquired and processed values ​​into the areas pointed to by R0 and R1, namely the tangential and normal data storage areas of the weak magnetic signal. And the values ​​of R0 and R1 are incremented to make the pointer point to the next unit in the storage area. The for loop is used to increment the value of the small loop count R2 after each tangential and normal signal acquisition. When the small loop count R2 = 4, R2 is reset to 0 and the value of R3 is incremented, which means that a large loop is completed. When R3 = 25, 100 signal acquisitions are completed. That is, by controlling the corresponding signal port of the A / D converter, the magnetic sensor, hardware filtering system, and analog / digital conversion system are used to collect, filter, and convert the tangential and normal weak magnetic signals into analog / digital signals, and then store them in the ADTURN1 tangential data storage area and the ADTURN2 normal data storage area respectively for calling;

[0010] The tangential weakening magnetic signal Hp(x) processing subroutine first defines LINEADR0 as an extreme point data storage unit and LINE0 as an extreme point position storage unit, which are respectively used to store the data of the extreme point in the ADTURN1 tangential data storage area and its storage address. Define the pointer P1 to point to the first bit of the tangential data storage area ADTURN. In the for loop, determine the value of the unit in the storage area pointed to by the current p1 pointer and the size of the current extreme value. If it is greater, assign the current pointer value to the extreme value unit max_value, and assign the value of the current loop number i to the extreme point position unit max_index. Then point the pointer to the next unit in the storage area for the next loop. When i reaches the maximum loop number SIZE, jump out of the loop, store the current extreme value max_value in the extreme point data storage unit LINEADR0, and store the value of the extreme position max_index in the extreme point position storage unit LINE0, and then calculate the extreme point where the data is stored in the tangential data storage area ADTURN1, and store the extreme point signal strength in the extreme point data storage unit LINEADR0, and store the extreme point storage address in the extreme point position storage unit LINE0;

[0011] The normal weak magnetic signal Hp(y) processing subroutine first defines Zero_position as a zero value point position storage unit, which is used to store the zero value point storage address in the normal data storage area ADTURN2. Define the initialization loop number max_loop as 100, and point the pointer p2 to the starting address of the normal data storage area ADTURN2. Determine whether the current pointer pointing value is 0 within the maximum number of loops. If the current pointer pointing value is not zero, point the pointer to the next bit of the storage unit, and increment the loop count i. If the current pointer pointing value is zero, store the current loop count i in the zero value point position storage unit Zero_position, and then calculate the zero value point where the data is stored in the normal data storage area ADTURN2, and store the zero value point storage address in the zero value point position storage unit Zero_position;

[0012] As another preferred embodiment, the magnetic sensor described in the present invention uses an InSb magnetoresistive sensor composed of magnetoresistive elements MR1 ​​and MR2, and a magnetic sensor signal processing circuit composed of a voltage follower, a two-stage amplifier circuit, and a hysteresis comparator, and the final output signal realizes the collection of weak magnetic signals.

[0013] As another preferred solution, the hardware filtering system of the present invention uses LM324 comparator as the core element of each level of filtering and realizes four-level filtering function through parallel connection of LM324 and resistors. The multi-level use of LM324 can enhance the anti-interference ability and accuracy of the signal.

[0014] As another preferred solution, the infrared tracking system of the present invention uses infrared sensors such as RPR220 model infrared sensor and TCRT5000L sensor to detect whether there are obstacles ahead, adjusts the sensitivity through variable resistor R2, and realizes signal amplification and voltage comparison through signal comparator LM393, thereby finally realizing the infrared tracking function.

[0015] As another preferred solution, the infrared obstacle avoidance system of the present invention uses an infrared sensor, a RPR220 model infrared sensor, to detect infrared signals, and then filters and amplifies the signals through LM741 and resistors and capacitors, and amplifies the signals through a comparator LM567, and finally realizes the infrared obstacle avoidance function through the combination of various parts.

[0016] As another preferred solution, the analog / digital conversion system of the present invention uses the ADC0809 analog-to-digital converter to realize the conversion of signals from analog to digital by connecting to the single-chip microcomputer, and uses the data register 74LS373 to realize data storage and conversion by connecting in parallel with the ADC0809 and the single-chip microcomputer.

[0017] As another preferred solution, the infrared remote control system of the present invention uses an astable multivibrator composed of NE555D and R1, RP, and C1 to transmit infrared signals, and a decoder composed of an infrared receiver, an amplifier 386, and an integrated block LM567 receives and amplifies the transmitted infrared signals, and then implements the infrared remote control function of the motor drive system through a single-chip microcomputer.

[0018] As another preferred embodiment, the keyboard control system of the present invention uses a 3×3 key matrix to form a keyboard control, and uses a column key connected in series with a 47k resistor and then connected to a power supply to protect the circuit to prevent damage to the circuit due to sudden changes in current, thereby realizing the keyboard control function.

[0019] As another preferred solution, the motor system described in the present invention uses the L298N chip as the motor drive core chip, controls the corresponding actions of the motor through signal changes, realizes rectification and freewheeling through the connection protection circuit of the diode, eliminates the reverse electromotive force, and protects the motor from damage.

[0020] As another preferred solution, the external storage system of the present invention uses a latch chip 74LS373 to connect to the single-chip microcomputer via a bus to realize data latching and storage, and uses an external storage chip HM628128RAM to connect to the single-chip microcomputer and latch 74LS373 via a bus to realize external data storage.

[0021] As another preferred solution, the display system of the present invention uses an LCD1602 liquid crystal display to achieve communication through the connection between the port and the microcontroller pins, and is used to display various information of the device. The data to be displayed is transmitted to the internal register of the microcontroller through the data bus, thereby jointly realizing data transmission, storage and display.

[0022] As another preferred solution, the alarm system of the present invention uses a series connection of an LED and a resistor to connect to the pin of a single-chip microcomputer to realize the display and reminder of the equipment status, uses an NPN transistor to connect to the negative pole of the buzzer, and then connects to the pin of the single-chip microcomputer to realize the on and off of the transistor through different signals to control the buzzer.

[0023] Beneficial effects of the present invention:

[0024] 1. The present invention replaces the traditional analog signal calculation and analysis method with digital calculation and analysis to process and analyze weak magnetic signals. This improves the warning accuracy of the system while greatly reducing the number of system circuits, reducing the cost of use, and increasing the warning time.

[0025] 2. Based on the principle of weak magnetic stress detection and the signal characteristics of the detection signal at extreme values ​​and zero points, the present invention writes a digital weak magnetic signal tangential and normal signal feature processing and analysis program, thereby realizing rapid and accurate real-time warning and positioning functions for metal stress damage.

[0026] 3. The present invention realizes the fully automatic intelligent scanning function of the detection system based on the intelligent control of multiple infrared sensors, infrared obstacle shielding systems, infrared tracking systems and other chips by a single chip microcomputer, meets the needs of complex and diverse detection environments, improves the system detection range and accuracy, and further improves the system's adaptability to complex and changeable detection environments.

[0027] 4. The present invention sets up a hardware filtering system and an external storage system respectively to enhance the signal anti-interference ability and improve the early warning speed. The hardware filtering system filters the clutter of the signal, and the external storage performs data processing and storage, thereby further improving the system's signal anti-interference ability and early warning speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. The protection scope of the present invention is not limited to the following description.

[0029] Figure 1 System appearance structure diagram;

[0030] Figure 2 Single chip microcomputer control system structure diagram;

[0031] Figure 3 System call and data processing main program flow chart;

[0032] Figure 4 Infrared tracking subroutine flow chart;

[0033] Figure 5 Infrared obstacle avoidance subroutine flow chart;

[0034] Figure 6 Data collection subroutine flow chart;

[0035] Figure 7 Flow chart of the subroutine for processing the tangential weak magnetic signal Hp(x);

[0036] Figure 8 Normal weak magnetic signal Hp(y) processing subroutine flow chart;

[0037] Fig. 9 Magnetic sensor signal processing circuit diagram

[0038] Fig.10 Circuit diagram of hardware filtering system;

[0039] Fig.11 Infrared tracking system circuit diagram

[0040] Fig.12 Infrared obstacle avoidance system circuit diagram;

[0041] Fig.13 Analog / digital conversion system circuit diagram

[0042] Fig.14 Infrared remote control system circuit diagram

[0043] Fig.15 Keyboard control system circuit diagram

[0044] Fig.16 Motor system circuit diagram

[0045] Fig.17 External storage system circuit diagram

[0046] Fig.18 Display system circuit diagram

[0047] Fig.19 Alarm system circuit diagram DETAILED DESCRIPTION

[0048] like Figure 1 As shown, the design system of the present invention includes a single-chip control system 1, a motor system 2, a power wheel 3, a system mounting plate 4, a bracket assembly 5, a magnetic sensor 6, and an infrared sensor 7. The single-chip control system 1 and the motor system 2 are installed on the upper part of the system mounting plate 4, and the power wheel 3 is installed on both sides of the system mounting plate 4. The bracket assembly 5 is installed on the side of the system mounting plate 4, and is used to fix the magnetic sensor probe 6 and the infrared sensor probe 7. The bracket assembly can be moved to provide different detection positions and lift-off values ​​for the sensor probe. The single-chip control system 1 first uses the system call and data processing main program to control the infrared sensor 7 to collect external infrared signals, and uses the infrared tracking subroutine, the infrared obstacle avoidance subroutine, the control motor system 2, and the power wheel 3 to complete the fully automatic intelligent mobile scanning function. The single-chip control system 1 further uses the system call and data processing main program to control the data acquisition subroutine, the tangential weak magnetic signal Hp (x) processing subroutine, and the normal weak magnetic signal Hp (y) processing subroutine to control the magnetic sensor probe 6 to collect weak magnetic signals, and perform stress damage detection and digital early warning analysis.

[0049] like Figure 2As shown, the single-chip microcomputer control system 1 includes a single-chip microcomputer 8, a magnetic sensor 6, an infrared sensor 7, a hardware filtering system 9, an analog / digital conversion system 10, an infrared tracking system 11, an infrared obstacle avoidance system 12, an infrared remote control system 13, a keyboard control system 14, a motor system 2, an external storage system 15, a display system 16, and an alarm system 17. The key points of the structure are that the detection signal output port of the magnetic sensor 6 is connected to the detection signal input port of the analog / digital conversion system 10 through the hardware filtering system 9, and the detection signal output port of the analog / digital conversion system 10 is connected to the detection signal input port of the single-chip computer 8; the signal output port of the infrared sensor 7 is respectively connected to the input ports of the infrared tracking system 11 and the infrared obstacle avoidance system 12, and the output ports of the infrared tracking system 11 and the infrared obstacle avoidance system 12 are connected to the input port of the single-chip computer 8 through the analog / digital conversion system 10; the output ports of the infrared remote control system 13 and the keyboard control system 14 are directly connected to the input port of the single-chip computer 8; the output port of the single-chip computer 8 is respectively connected to the input ports of the motor system 2, the external storage system 15, the display system 16, and the alarm system 17;

[0050] like Figure 3As shown, the system call and data processing main program first sets the critical value as the critical value storage area in the initialization, and turns on the intelligent tracking function, enters the infrared tracking subroutine, which uses the infrared sensor 7 to detect the scanning route, and under the control of the single-chip microcomputer 8 and the infrared tracking system 11, completes the system's intelligent tracking scanning detection on the preset path. The system uses the variables Left_1_led and Right_1_led to assign values ​​to perform obstacle judgment and analysis. If an obstacle appears, the system turns on the intelligent obstacle avoidance function and enters the infrared obstacle avoidance subroutine, which completes the system detection of the obstacle avoidance function under the control of the single-chip microcomputer 8 and the infrared obstacle avoidance system. When the tracking and obstacle avoidance functions cannot be performed due to external environment and other reasons, the system turns on the infrared remote control system 13 and uses its manual control of the control motor system 2 and the power wheel 3 to complete the system scanning detection. The system realizes the intelligent mobile scanning function under the control of the single-chip microcomputer 8 through the call analysis of the above functions under the system call and data processing main program. Then enter the data acquisition subroutine, first define ADTURN1 as the tangential data storage area and ADTURN2 as the normal data storage area, turn on the magnetic sensor 6 to collect the tangential and normal weak magnetic signals of the metal surface, and pass the collected signals through the hardware filtering system 9 and the analog / digital conversion system 10, filter and convert the analog / digital signals, and then store the collected digital weak magnetic detection signals in the tangential data storage area ADTURN1 and the normal data storage area ADTURN2 to wait for the system call. Call the tangential component Hp(x) processing subroutine, define LINEADR0 as the extreme point data storage unit, define LINE0 as the extreme point position storage unit, calculate the extreme point data of the digital weak magnetic detection signal in the tangential data storage area ADTURN1 in the main program, and store the extreme point signal strength in the extreme point data storage unit LINEADR0, and store the extreme point storage address in the extreme point position storage unit LINE0. Call the normal component Hp(y) processing subroutine, define Zero_position as the zero point position storage unit, calculate the zero point data of the digital weak magnetic detection signal in the normal data storage area ADTURN2 through the detection and analysis program, and store the zero point storage address in the zero point position storage unit Zero_position. Based on the weak magnetic stress detection characteristics, the main program uses the calculation and analysis of the tangential extreme point position storage unit LINE0 data and the normal zero point position storage unit Zero_position data to determine the stress damage position; the calculation and analysis of the tangential extreme point data storage unit LINEADR0 data and the critical value storage area unit critical value data are used to determine the degree of stress damage, thereby realizing the digital early warning and real-time display function of metal stress damage.

[0051] like Figure 4As shown, the infrared tracking subroutine first defines the relevant parameters of the two infrared sensors 7, defines Left_1_led as the left detection module signal, and Right_1_led as the right detection module signal. The system can judge the detection module signal through a loop program, so as to use the infrared sensor 7, the infrared tracking system 11, the motor system 2 and the power wheel 3 to perform intelligent tracking function. The system converts the detection signal of the infrared sensor 7 into a digital signal through the analog / digital conversion system 10 and stores it in the infrared tracking system 11. After analyzing and processing the detection signal, it transmits the analysis data to the single-chip microcomputer 8, and then assigns values ​​to its variables Left_1_led and Right_1_led. If the infrared sensor 7 detects that the modules on both sides have not deviated from the preset scanning route, the variables Left_1_led and Right_1_led are both assigned 0. If one side deviates from the preset scanning route, the corresponding detection module signal variable is assigned 1, and the single-chip microcomputer 8 controls the motor system 2 and the power wheel 3 to return the system to the original scanning route. Therefore, the infrared sensor 7, the infrared tracking system 11, and the analog / digital conversion system 10 collect and process the external infrared detection signals, and perform digital tracking calculation and analysis, so that the single-chip microcomputer 8 is used to control the motor system 2 and the power wheel 3 to realize the system's intelligent tracking scanning detection function.

[0052] like Figure 5 As shown, the infrared obstacle avoidance subroutine first defines LeftIRBZ as the left obstacle avoidance module signal and RightIRBZ as the right obstacle avoidance module signal. Through the logical output of the obstacle avoidance module signals on both sides, the obstacle avoidance function of the system is calculated and analyzed. When the infrared sensor 7 detects an obstacle, it assigns LeftIRBZ or RightIRBZ in the single-chip microcomputer 8 to 0 through data processing by the infrared obstacle avoidance system 12 and the analog / digital conversion system 10. Then the single-chip microcomputer 8 controls the motor system 2 and the power wheel 3 to complete the obstacle intelligent avoidance function of the detection system, and continues to enter the tracking mode after avoiding the obstacle. In order to realize the function of detecting whether it is a misjudgment, the system will turn on the external interrupt EX1 and initialize the address code IRCOM[2]=0X00 to determine whether the key position corresponds to IRCOM[2]! = RecvDate[0], if it corresponds, the external interrupt EX1=1 is turned on, if it does not correspond, it is judged that the detection signal is valid and there is no misjudgment, thereby collecting and processing the external infrared detection signal through the infrared sensor 7, the infrared obstacle avoidance system 12, and the analog / digital conversion system 10, and performing digital calculation and analysis of obstacle avoidance, so as to use the single-chip microcomputer 8 to control the motor system 2 and the power wheel 3 to realize the system intelligent obstacle avoidance scanning detection function.

[0053] like Figure 6As shown, the data acquisition subroutine first defines the relevant parameters of the weak magnetic signal storage area, the system defines the one-dimensional array ADTURN1 as the tangential data storage area of ​​the weak magnetic signal, defines the one-dimensional array ADTURN2 as the normal data storage area of ​​the weak magnetic signal, uses R0 and R1 as pointers to point to the tangential and normal data storage areas ADTURN1 and ADTURN2 of the weak magnetic signal respectively, defines R2 and R3 as the large and small cycle counts respectively, and their initial values ​​are both zero, respectively starts IN0 and IN1 to start the various signal acquisition and processing functions of the magnetic sensor 6, the hardware filtering system 9, and the analog / digital conversion system 10, and after a delay, puts the acquired and processed values ​​into the areas pointed to by R0 and R1, that is, the tangential and normal data storage areas of the weak magnetic signal. And the values ​​of R0 and R1 are incremented to make the pointer point to the next unit in the storage area. The for loop is used to increment the value of the small loop count R2 after each tangential and normal signal acquisition. When the small loop count R2=4, R2 is reset to 0 and the value of R3 is incremented, that is, a large loop is completed. When R3=25, 100 signal acquisitions are completed. That is, by controlling the corresponding signal port of the A / D converter, the magnetic sensor 6, the hardware filtering system 9, and the analog / digital conversion system 10 are used to collect, filter, and convert the tangential and normal weak magnetic signals into analog / digital signals, and then store them in the ADTURN1 tangential data storage area and the ADTURN2 normal data storage area respectively for calling.

[0054] like Figure 7 As shown, the tangential weakening magnetic signal Hp(x) processing subroutine first defines LINEADR0 as an extreme point data storage unit and LINE0 as an extreme point position storage unit, which are respectively used to store the data of the extreme point in the ADTURN1 tangential data storage area and its storage address. Define pointer P1 to point to the first bit of the tangential data storage area ADTURN. In the for loop, determine the value of the unit in the storage area pointed to by the current p1 pointer and the size of the current extreme value. If it is greater, assign the current pointer value to the extreme value unit max_value, and assign the value of the current loop number i to the extreme point position unit max_index. Then point the pointer to the next unit in the storage area for the next loop. When i reaches the maximum loop number SIZE, jump out of the loop, store the current extreme value max_value in the extreme point data storage unit LINEADR0, and store the value of the extreme position max_index in the extreme point position storage unit LINE0, and then calculate the extreme point where the data is stored in the tangential data storage area ADTURN1, store the extreme point signal strength in the extreme point data storage unit LINEADR0, and store the extreme point storage address in the extreme point position storage unit LINE0.

[0055] like Figure 8As shown, the normal weak magnetic signal Hp(y) processing subroutine first defines Zero_position as the zero value point position storage unit, which is used to store the zero value point storage address in the normal data storage area ADTURN2. Define the initialization loop number max_loop as 100, and point the pointer p2 to the starting address of the normal data storage area ADTURN2. Within the maximum number of loops, determine whether the current pointer pointing value is 0. If the current pointer pointing value is not zero, point the pointer to the next bit of the storage unit, and increment the loop count i. If the current pointer pointing value is zero, store the current loop count i in the zero value point position storage unit Zero_position, and then calculate the zero value point where the data is stored in the normal data storage area ADTURN2, and store the zero value point storage address in the zero value point position storage unit Zero_position.

[0056] like Fig. 9 As shown, the magnetic sensor 6 uses an InSb type magnetoresistive sensor composed of magnetoresistive elements MR1 ​​and MR2, and the magnetic sensor signal processing circuit is composed of a voltage follower, a two-stage amplifier circuit, and a hysteresis comparator, and the final output signal realizes the collection of weak magnetic signals. Its specific connection is: the output port Vout1 / Vout2 of the signal processing circuit of the magnetic sensor 6 is connected to the input port Vin1 / Vin2 in the hardware filtering system 9. The magnetoresistive elements MR1 ​​and MR2 are used to collect signals, the voltage follower A1 is used to reduce interference, the two-stage amplifier circuits A2 and A3 are used to amplify signals and filter, and the voltage amplification factor is adjusted by setting the ratio of resistors R4 to R2, and R6 to R5. The hysteresis comparator A4 is used to improve the anti-interference ability of the system, which can effectively avoid electromagnetic interference and erroneous output caused by the harsh environment during the detection process, and the threshold level of the comparator is set by adjusting R9.

[0057] like Fig.10 As shown, the hardware filtering system 9 uses the LM324 comparator as the core element of each level of filtering, and realizes the four-level filtering function through the parallel connection of LM324 and resistors. The multi-level use of LM324 can enhance the anti-interference ability and accuracy of the signal. Its specific connection is: the input port Vin of the hardware filtering system 9 is connected to the output port Vout of the signal processing circuit of the magnetic sensor 6, and the output port Vout of the hardware filtering system 9 is connected to the input port IN of the analog / digital conversion system 10. The 4-level filtering uses the LM324 comparator for filtering to increase the anti-interference ability of the system detection signal. The two magnetic sensors 6 detect the tangential and normal signals respectively. The output port Vout1 of the tangential signal after filtering is connected to the analog signal input terminal IN0 of the analog / digital conversion system 10, and the normal signal is connected to the input terminal IN1 for analog-to-digital conversion after filtering.

[0058] like Fig.11As shown, the infrared tracking system 11 uses an infrared sensor 8, an RPR220 infrared sensor and a TCRT5000L sensor to detect whether there is an obstacle in front, adjusts the sensitivity through a variable resistor R2, and realizes signal amplification and voltage comparison through a signal comparator LM393, and finally realizes the infrared tracking function. The specific connection is: the output end Vout of the infrared tracking system 11 is connected to the input port IN3 of the analog / digital conversion system 10. The TCRT5000L sensor is used to detect whether there is an obstacle, and the infrared light Cath is set to a constant. When there is a preset mark in front of the sensor, it will be reflected back to the receiving light LED2. The comparator LM393 is used for signal amplification and voltage comparison, and its output end Vout is connected to the input port IN3 of the analog / digital conversion system 10, and after analog-to-digital conversion, it is connected to the P0.3 port of the single-chip computer 8. The single-chip computer 8 controls the motor to work accordingly according to the change of the signal, thereby realizing the tracking function.

[0059] like Fig.12 As shown, the infrared obstacle avoidance system 12 uses an infrared sensor 8 of the RPR220 model to detect infrared signals, and then filters and amplifies the signal through LM741 and resistors and capacitors, and amplifies the signal through the comparator LM567, and finally realizes the infrared obstacle avoidance function through the combination of various parts. Its specific connection is: the output port Vout of the infrared obstacle avoidance system 12 is connected to the input port IN2 of the analog / digital conversion system 10. The signal detected by the infrared sensor RPR220 (i.e. D2) passes through the 5 pins of the comparator LM567 through the triode, and then outputs to the infrared transmitter D1, and the adjustable resistor R3 is used to change its transmission power. The infrared receiving signal is output to LM567, and a voltage difference appears in the light-emitting diode, and the signal indicator D0 is on, indicating that there is an obstacle ahead. After the signal is converted into analog, the digital signal is transmitted to the P0.2 port of the single-chip microcomputer 8, and the single-chip microcomputer 8 controls the motor system 2 to realize the obstacle avoidance function.

[0060] like Fig.13 As shown, the analog / digital conversion system 10 uses the ADC0809 analog-to-digital converter to realize the conversion of the signal from analog to digital by connecting with the single-chip computer 8, and uses the data register 74LS373 to realize the storage and conversion of data by connecting with the ADC0809 and the single-chip computer 8 in parallel. The specific connection is: the input ports IN0-IN3 of the analog / digital conversion system 10 are respectively connected to the output ports Vout1 and Vout2 of the hardware filtering system 9 and the output port Vout of the infrared obstacle avoidance system 12 and the output port Vout of the infrared tracking system 11, and the output ports D0-D3 of the analog / digital conversion system 10 are respectively connected to the IO ports P0.0-P0.3 of the single-chip computer 8. It includes the analog-to-digital converter AD0809, which is used to digitize the analog signal. The address latch 74LS373 is used for data latch storage, and its input is connected to the data output port of the AD0809 chip.

[0061] like Fig.14 As shown, the infrared remote control system 13 uses an astable multivibrator composed of NE555D and R1, RP, and C1 to transmit infrared signals. The decoder composed of an infrared receiver, an amplifier 386, and an integrated block LM567 receives and amplifies the transmitted infrared signal, and then realizes the infrared remote control function of the motor system 2 through the single-chip microcomputer 8. The specific connection is: the output port Vout of the infrared remote control system 13 is connected to the P2.2 port of the single-chip microcomputer 8. It contains an astable multivibrator composed of NE555D and R1, RP, and C1, which is used to realize the remote control function. Pressing the AN switch emits a series of infrared light pulse waves. The current limiting resistor R2 is used to protect the infrared light-emitting tube, and the infrared transmitting tube D1 is used to transmit infrared signals. The resistance between the two poles of the infrared receiving tube D2 changes accordingly with the frequency, and the light signal is converted into an electrical signal and amplified by VT1 and IC1. R5 and C7 are used to determine the center frequency of LM567, which are connected to the 5th and 6th pins of LM386. The single-chip microcomputer 8 controls the motor system 2 through the output signal to realize the infrared remote control function.

[0062] like Fig.15 As shown, the keyboard control system 14 uses a 3×3 key matrix to form a keyboard control, and uses a column key connected in series with a 47k resistor and then connected to a power supply to protect the circuit to prevent the components from being damaged by the sudden change of current, thereby realizing the keyboard control function. The specific connection is: the matrix key rows of the keyboard control system 14 are respectively connected to the P1.2, P1.3, and P1.4 ports of the single-chip computer 8, and the columns of the keyboard control system 14 are respectively connected to the P1.5, P1.6, and P1.7 ports of the single-chip computer 8. The keyboard control system 14 of the present invention is composed of a 3×3 matrix key keyboard, and the functions of K1-K9 are: system start key, system stop key, reset / interrupt key, full-automatic intelligent scanning mode, automatic remote control mode, forward key (remote control mode), left turn key (remote control mode), right turn key (remote control mode), and back key (remote control mode).

[0063] like Fig.16As shown, the motor system 2 uses the L298N chip as the core chip for motor driving, controls the corresponding action of the motor through signal changes, realizes the effects of rectification and freewheeling through the connection protection circuit of the diode, eliminates the reverse electromotive force, and protects the motor from damage. Its specific connection is: the input ports IN1, IN2, IN3, and IN4 of the motor system 2 are respectively connected to the P3.4, P2.0, P2.1, and P3.6 ports of the single-chip microcomputer 8. The motor system 2 of the present invention includes an L298N chip for driving the motor, and performs signal judgment through the connection of the single-chip microcomputer 8 and other modules to assign values ​​to the corresponding ports, and controls the rotation of the motor through the change of the corresponding signal. Its control enable ports ENA and ENB are connected to the P3.5 and P3.7 ports of the single-chip microcomputer 8 to control the stop of the motor. There are two current feedback pins, ISEN A and ISEN B, which are connected to P3.5 and P3.7 of the single-chip microcomputer 8.

[0064] like Fig.17 As shown, the external storage system 15 uses the latch chip 74LS373 to connect to the single-chip computer 8 through the bus mode to realize the latching and storage of data, and uses the external storage chip HM628128RAM to connect to the single-chip computer 8 and the latch 74LS373 through the bus mode to realize the external storage of data. The specific connection is: the input port D0-D7 of the latch chip 74LS373 is connected to the P0 port of the single-chip computer 8, so as to realize the writing and reading operations of the data, and the HM628128RAM chip is included to specify the specific location of the data storage, and its D0-D7 data input port is connected to the P0 port of the single-chip computer 8, and its A8-A14 address port is connected to the P2 port of the single-chip computer 8. The external storage system 15 combines the latch chip 74LS373 and the external storage HM628128RAM chip to realize efficient and stable data storage and access.

[0065] like Fig.18 As shown, the display system 16 uses the LCD1602 liquid crystal display to achieve communication through the connection of the port and the pin of the single-chip microcomputer 8, which is used to display various information of the device. The data to be displayed is transmitted to the internal register of the single-chip microcomputer 8 through the data bus, and data transmission, storage and display are realized together. Its specific connection is: the RS port of the LCD1602 liquid crystal display is connected to the P1.0 of the single-chip microcomputer 8, the R / W port is connected to P1.1, the E port is connected to P2.6, and the DB0-DB7 port is connected to the P0.0-P0.7 port of the single-chip microcomputer for communication. The data to be displayed is first transmitted to the internal register of the STC89C52RC single-chip microcomputer through the data bus. The single-chip microcomputer 8 sends the stored display data to the DB0-DB8 data interface of the LCD1602 through its P0 port, thereby driving the LCD1602 to display characters.

[0066] like Fig.19 As shown, the alarm system 17 uses a series connection of an LED and a resistor to connect to the pin of the single-chip microcomputer 8 to realize the display and reminder of the device status, uses an NPN transistor to connect to the negative pole of the buzzer, and then connects to the pin of the single-chip microcomputer 8 to realize the on and off of the transistor through different signals to control the buzzer. The specific connection is: the green light end is connected to the P1.5 port of the single-chip microcomputer 8, the red light end is connected to the P1.6 port of the single-chip microcomputer 8, and the transistor is connected to the P1.7 port of the single-chip microcomputer 8. The on and off states of the green and red LED indicators are controlled by the P1.5 and P1.6 ports of the single-chip microcomputer 8, respectively, to realize accurate control of the LED light. The negative end of the buzzer is connected to an NPN transistor for control to realize the amplification and switching of the audio signal. The resistor R3 and the transistor combination are used to control the signal input.

[0067] The working process of the system of the present invention can be divided into two parts: intelligent mobile scanning and digital metal stress damage assessment and early warning.

[0068] Working process of intelligent mobile scanning: the single chip microcomputer 8 controls the infrared sensor 7 to receive external infrared signals, and uses the signal processing of the infrared tracking system 11 and the infrared obstacle avoidance system 12, and then converts the signal through the analog / digital conversion system 10 and sends it to the single chip microcomputer 8 to form a digital control signal, and then uses its control over the motor system 2 to realize intelligent detection and scanning functions such as obstacle avoidance and preset scanning path tracking. The system can also directly control the scanning direction of the detection system through the infrared remote control system 13, thereby forming a fully intelligent automatic scanning detection system.

[0069] Digital metal stress damage assessment and early warning working process: the single-chip microcomputer 8 uses the magnetic sensor 6 to collect the tangential component and normal weak magnetic signals of the metal material surface, and sends the collected detection signals to the single-chip microcomputer 8 after signal filtering and digital signal conversion through the hardware filtering system 9 and the analog / digital conversion system 10, and displays the collected detection data in real time through the display system 16. The single-chip microcomputer 8 calculates and analyzes the digital weak magnetic detection signal through the call and calculation analysis of the system program, and then uses the alarm system 17 to perform accurate early warning processing.

[0070] It can be understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that the present invention can still be modified or replaced by equivalents to achieve the same technical effects; as long as the use requirements are met, they are within the protection scope of the present invention.

Claims

1. An intelligent scanning detection system for stress damage of metal materials based on weak magnetic method. The design system of the present invention includes a single-chip microcomputer control system, a motor system, a power wheel, a system mounting plate, a bracket assembly, a magnetic sensor, and an infrared sensor; the single-chip microcomputer control system and the motor system are installed on the upper part of the system mounting plate, and the power wheel is installed on both sides of the system mounting plate; the bracket assembly is installed on the side of the system mounting plate, and is used to fix the magnetic sensor probe and the infrared sensor probe, and the bracket assembly can be moved to provide different detection positions and lift-off values ​​for the sensor probe; the single-chip microcomputer control system first uses the system call and data processing main program to control the infrared sensor to collect external infrared signals, and uses the infrared tracking subroutine, the infrared obstacle avoidance subroutine, the control motor system, and the power wheel to complete the fully automatic intelligent mobile scanning function; the single-chip microcomputer control system further uses the system call and data processing main program to control the data acquisition subroutine, the tangential weak magnetic signal Hp (x) processing subroutine, and the normal weak magnetic signal Hp (y) processing subroutine to control the magnetic sensor probe to collect weak magnetic signals, and perform stress damage detection and digital early warning analysis; The single chip microcomputer control system comprises: Single chip microcomputer, magnetic sensor, infrared sensor, hardware filtering system, analog / digital conversion system, infrared tracking system, infrared obstacle avoidance system, infrared remote control system, keyboard control system, motor system, external storage system, display system, alarm system; The key points of its structure are that the detection signal output port of the magnetic sensor is connected to the detection signal input port of the analog / digital conversion system through the hardware filtering system, and the detection signal output port of the analog / digital conversion system is connected to the detection signal input port of the single-chip microcomputer; the signal output port of the infrared sensor is respectively connected to the input ports of the infrared tracking system and the infrared obstacle avoidance system, and the output ports of the infrared tracking system and the infrared obstacle avoidance system are connected to the input port of the single-chip microcomputer through the analog / digital conversion system; the output ports of the infrared remote control system and the keyboard control system are directly connected to the input port of the single-chip microcomputer; the output port of the single-chip microcomputer is respectively connected to the input ports of the motor system, the external storage system, the display system, and the alarm system; The system call and data processing main program first sets the critical value as the critical value storage area during initialization, and turns on the intelligent tracking function and enters the infrared tracking subroutine, which uses the infrared sensor to detect the scanning route and completes the intelligent tracking scanning detection of the system on the preset path under the control of the single-chip microcomputer and the infrared tracking system; the system uses the variables Left_1_led and Right_1_led to assign values ​​to perform obstacle judgment and analysis. If an obstacle appears, the system turns on the intelligent obstacle avoidance function and enters the infrared obstacle avoidance subroutine, which completes the system detection and obstacle avoidance function under the control of the single-chip microcomputer and the infrared obstacle avoidance system; when the tracking and obstacle avoidance functions cannot be performed due to external environment and other reasons, the system turns on the infrared remote control system and uses it to control the motor system The system scans and detects the system by manually controlling the system and the power wheel; the system realizes the intelligent mobile scanning function controlled by the single-chip microcomputer through the call analysis of the above functions under the system call and the data processing main program; then enters the data acquisition subroutine, first defines ADTURN1 as the tangential data storage area and ADTURN2 as the normal data storage area, and collects the tangential and normal weak magnetic signals of the metal surface by turning on the magnetic sensor, and passes the collected signals through the hardware filtering system and the analog / digital conversion system, and after filtering and analog / digital conversion, the collected digital weak magnetic detection signals are stored in the tangential data storage area ADTURN1 and the normal data storage area ADTURN2 to wait for the system call; The tangential component Hp(x) processing subroutine is called, LINEADR0 is defined as the extreme point data storage unit, LINE0 is defined as the extreme point position storage unit, the extreme point data of the digital weak magnetic detection signal in the tangential data storage area ADTURN1 is calculated in the main program, and the extreme point signal strength is stored in the extreme point data storage unit LINEADR0, and the extreme point storage address is stored in the extreme point position storage unit LINE0; the normal component Hp(y) processing subroutine is called, Zero_position is defined as the zero point position storage unit, the zero point data of the digital weak magnetic detection signal in the normal data storage area ADTURN2 is calculated through the detection and analysis program, and the zero point storage address is stored in the zero point position storage unit Zero_position; based on the weak magnetic stress detection characteristics, the main program uses the calculation and analysis of the tangential extreme point position storage unit LINE0 data and the normal zero point position storage unit Zero_position data to determine the stress damage position; the tangential extreme point data storage unit LINEADR0 data and the critical value storage area unit critical Calculate and analyze value data to determine the degree of stress damage, thereby realizing the digital early warning and real-time display function of metal stress damage; The infrared tracking subroutine first defines the relevant parameters of the two infrared sensors, defines Left_1_led as the left detection module signal, and Right_1_led as the right detection module signal. The system can judge the detection module signal through a loop program, so as to use the infrared sensor, infrared tracking system, motor system and power wheel to perform intelligent tracking function; the system converts the detection signal of the infrared sensor into a digital signal through the analog / digital conversion system and stores it in the infrared tracking system. After analyzing and processing the detection signal, it transmits the analysis data to the single-chip microcomputer, and then converts its variables Left_1_led and Right_1_led into digital signals. _led is assigned a value. If the infrared sensor detects that the modules on the left and right sides have not deviated from the preset scanning route, the variables Left_1_led and Right_1_led are both assigned a value of 0. If one side deviates from the preset scanning route, the corresponding detection module signal variable is assigned a value of 1, and the single-chip microcomputer controls the motor system and the power wheel to return the system to the original scanning route. Thus, the infrared sensor, the infrared tracking system, and the analog / digital conversion system collect and process the external infrared detection signals, and the digital tracking calculation and analysis are performed, so that the single-chip microcomputer is used to control the motor system and the power wheel to realize the intelligent tracking scanning detection function of the system. The infrared obstacle avoidance subroutine first defines LeftIRBZ as the left obstacle avoidance module signal and RightIRBZ as the right obstacle avoidance module signal, and performs calculation and analysis of the obstacle avoidance function of the system through the logical output of the obstacle avoidance module signals on both sides; when the infrared sensor detects an obstacle, it assigns LeftIRBZ or RightIRBZ in the microcontroller to 0 through data processing of the infrared obstacle avoidance system and the analog / digital conversion system; then the microcontroller controls the motor system and the power wheel to complete the obstacle intelligent avoidance function of the detection system, and continues to enter the tracking mode after avoiding the obstacle; in order to realize the function of detecting whether it is a misjudgment, the system will turn on the external interrupt EX1 and initialize the address code IRCOM[2]=0X00 to determine whether the key position corresponds to IRCOM[2]! = RecvDate[0], if it corresponds, open the external interrupt EX1 = 1, if it does not correspond, judge that the detection signal is valid and there is no misjudgment, thereby collecting and processing the external infrared detection signal through the infrared sensor, infrared obstacle avoidance system, analog / digital conversion system, and digital calculation and analysis of obstacle avoidance, so as to use the single-chip microcomputer to control the motor system and the power wheel to realize the system intelligent obstacle avoidance scanning detection function; The data acquisition subroutine first defines the relevant parameters of the weak magnetic signal storage area. The system defines a one-dimensional array ADTURN1 as the tangential data storage area of ​​the weak magnetic signal, and defines a one-dimensional array ADTURN2 as the normal data storage area of ​​the weak magnetic signal. R0 and R1 are used as pointers to point to the tangential and normal data storage areas ADTURN1 and ADTURN2 of the weak magnetic signal respectively. R2 and R3 are defined as large and small cycle counts respectively, and their initial values ​​are both zero. IN0 and IN1 are respectively started to start the various signal acquisition and processing functions of the magnetic sensor, hardware filtering system, and analog / digital conversion system, and after a delay, the collected and processed values ​​are respectively placed in the R0 and R1 pointing areas, that is, the tangential and normal data storage areas of the weak magnetic signal. tangential and normal data storage areas; and the values ​​of R0 and R1 are incremented to make the pointer point to the next unit of the storage area. The for loop is used to increment the value of the small loop count R2 after each tangential and normal signal acquisition. When the small loop count R2=4, R2 is reset to 0 and the value of R3 is incremented, that is, a large loop is completed. When R3=25, 100 signal acquisitions are completed; that is, by controlling the corresponding signal port of the A / D converter, the tangential and normal weak magnetic signals are collected, filtered, and analog-to-digital converted by using the magnetic sensor, hardware filtering system, and analog-to-digital conversion system, and then stored in the ADTURN1 tangential data storage area ADTURN2 normal data storage area respectively to wait for calling; The tangential weak magnetic signal Hp(x) processing subroutine first defines LINEADR0 as an extreme value point data storage unit and LINE0 as an extreme value point position storage unit, which are respectively used to store the data of the extreme value point in the tangential data storage area ADTURN1 and its storage address; defines the pointer P1 to point to the first bit of the tangential data storage area ADTURN, and judges the value of the unit in the storage area pointed by the current p1 pointer and the size of the current extreme value in the for loop. If it is greater, the current pointer pointing value is assigned to the extreme value unit max_value, and the value of the current loop number i is assigned to the extreme value point position unit max_value. _index, and then point the pointer to the next unit in the storage area for the next loop, jump out of the loop when i reaches the maximum number of loops SIZE, store the current extreme value max_value in the extreme point data storage unit LINEADR0, and store the value of the extreme position max_index in the extreme point position storage unit LINE0, and then calculate the extreme point data stored in the tangential data storage area ADTURN1, and store the extreme point signal strength in the extreme point data storage unit LINEADR0, and store the extreme point storage address in the extreme point position storage unit LINE0; The normal weak magnetic signal Hp(y) processing subroutine first defines Zero_position as a zero value point position storage unit for storing the zero value point storage address in the normal data storage area ADTURN2; defines the initialization loop number max_loop as 100, and points the pointer p2 to the starting address of the normal data storage area ADTURN2; Within the maximum number of loops, determine whether the current pointer value is 0. If the current pointer value is not zero, point the pointer to the next bit of the storage unit and increment the loop count i. If the current pointer value is zero, store the current loop count i in the zero value point position storage unit Zero_position, and then calculate the zero value point in the normal data storage area ADTURN2, and store the zero value point storage address in the zero value point position storage unit Zero_position.

2. According to claim 1, a metal material stress damage intelligent scanning detection system based on weak magnetic method is characterized in that The magnetic sensor uses an InSb type magnetoresistive sensor composed of magnetoresistive elements MR1 ​​and MR2, and a magnetic sensor signal processing circuit composed of a voltage follower, a two-stage amplifier circuit, and a hysteresis comparator, and finally outputs a signal to realize the collection of weak magnetic signals.

3. According to claim 1, a metal material stress damage intelligent scanning detection system based on weak magnetic method is characterized in that The hardware filtering system uses LM324 comparators as the core components of each level of filtering and realizes a four-level filtering function through the parallel connection of LM324 and resistors. The multi-level use of LM324 can enhance the anti-interference ability and accuracy of the signal.

4. According to claim 1, a metal material stress damage intelligent scanning detection system based on weak magnetic method is characterized in that The infrared tracking system uses infrared sensors such as RPR220 infrared sensor and TCRT5000L sensor to detect whether there are obstacles ahead, adjusts the sensitivity through variable resistor R2, and realizes signal amplification and voltage comparison through signal comparator LM393, finally realizing the infrared tracking function.

5. According to claim 1, a metal material stress damage intelligent scanning detection system based on weak magnetic method is characterized in that The infrared obstacle avoidance system uses an infrared sensor, the RPR220 model infrared sensor, to detect infrared signals, and then filters and amplifies the signals through LM741 and resistors and capacitors, and amplifies the signals through comparator LM567, and finally realizes the infrared obstacle avoidance function through the combination of various parts.

6. According to claim 1, a metal material stress damage intelligent scanning detection system based on weak magnetic method is characterized in that The analog / digital conversion system uses the ADC0809 analog-to-digital converter to achieve signal conversion from analog to digital by connecting with the single-chip microcomputer, and uses the data register 74LS373 to achieve data storage and conversion by connecting with the ADC0809 and the single-chip microcomputer in parallel.

7. According to claim 1, a metal material stress damage intelligent scanning detection system based on weak magnetic method is characterized in that The infrared remote control system uses an astable multivibrator composed of NE555D and R1, RP, and C1 to transmit infrared signals. A decoder composed of an infrared receiver, an amplifier 386, and an integrated block LM567 receives and amplifies the transmitted infrared signals, and then realizes the infrared remote control function of the motor system through a single-chip microcomputer.

8. According to claim 1, a metal material stress damage intelligent scanning detection system based on weak magnetic method is characterized in that The motor system uses the L298N chip as the motor drive core chip, controls the corresponding action of the motor through signal changes, realizes the rectification and freewheeling functions through the connection protection circuit of the diode, eliminates the reverse electromotive force, and protects the motor from damage.

9. According to claim 1, a metal material stress damage intelligent scanning detection system based on weak magnetic method is characterized in that The external storage system uses a latch chip 74LS373 to connect with the single-chip microcomputer through a bus to realize data latching and storage, and uses an external storage chip HM628128RAM to connect with the single-chip microcomputer and latch 74LS373 through a bus to realize external data storage.

10. The intelligent scanning detection system for metal material stress damage based on weak magnetic method according to claim 1, characterized in that The alarm system uses a series connection of an LED and a resistor to connect to the pin of a single-chip microcomputer to display and remind the device status, uses an NPN transistor to connect to the negative pole of the buzzer, and then connects to the pin of the single-chip microcomputer to realize the on and off of the transistor through different signals to control the buzzer.

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