Strong and weak magnetism automatic scanning monitor for metal composite defects

Abstract

The invention belongs to the technical field of metal material nondestructive testing, and particularly relates to a strong and weak magnetic automatic scanning monitor for metal composite defects. In order to design a detection system capable of carrying out dual detection and full-automatic scanning on metal composite defects on defect profiles and stress concentration on the basis of strong and weak magnetic detection technologies, a single-chip microcomputer is used for controlling a strong exciting coil group, a weak exciting coil group and a magnetic detection probe; and multiple magnetic detection signals of the metal material under strong and weak excitation are generated and collected. And the system is used for digitally analyzing a detection signal, so that dual early warning analysis of the composite defect on the aspects of defect profile and stress concentration is realized. And an infrared detection probe, a trajectory tracking unit and an obstacle detection unit are utilized to realize full-automatic scanning detection functions of automatic trajectory tracking and obstacle avoidance of the detection system.

Description

Technical Field

[0001] The invention belongs to the technical field of nondestructive testing of metal materials, and in particular relates to a strong and weak magnetic automatic scanning monitor for metal composite defects. Background Art

[0002] As the service life of metal materials increases, they will inevitably encounter complex corrosion and defects inside the metal materials. These uncertain corrosion and defects are intertwined with the complex stress damage of the metal to form composite defects containing stress damage. Since the composite defect area on the metal material will experience stress concentration far higher than the average level, this high stress concentration phenomenon is like a catalyst, accelerating the expansion process of the defect, and may eventually lead to catastrophic fracture of the metal. Therefore, the dual detection of composite defects in defect contour and stress concentration has become a key factor that cannot be ignored when evaluating the safety performance of metal materials. Among the existing non-destructive testing technologies, magnetic flux leakage detection technology, with its high-intensity magnetic field excitation ability, can deeply detect and accurately quantify the defect size inside the metal material, providing strong support for the identification and location of defects. However, its strong magnetic field environment also brings certain limitations, that is, it may cover or interfere with the direct detection signal of the stress state of the metal material surface, making stress assessment complicated. Weak magnetic detection technology uses the earth's natural magnetic field as a detection medium. It can sensitively capture the weak magnetic signals generated by stress changes on the surface of metal materials without applying an additional magnetic field, but its detection signal is weak, easily disturbed by the external environment, and the signal stability is poor. The strong and weak magnetic field method combines the advantages of magnetic flux leakage detection and weak magnetic field detection. It can not only accurately obtain the defect size information of metal materials, but also effectively capture and evaluate the stress state around the defects without interfering with magnetic flux leakage detection. This comprehensive detection method not only improves the accuracy and reliability of the detection results, but also provides a more comprehensive and in-depth evaluation basis for the safe use of metal materials. Summary of the invention

[0003] In view of the above problems, the present invention designs a detection system that can perform dual detection and fully automatic scanning on metal composite defects on defect contours and stress concentration based on strong and weak magnetic detection technology. The single-chip microcomputer is used to control two groups of strong and weak excitation coils and magnetic detection probes to generate and collect multiple magnetic detection signals of metal materials under strong and weak excitation. The system uses digital analysis of the detection signals to realize dual early warning analysis of composite defects on defect contours and stress concentration. Infrared detection probes, trajectory tracking units and obstacle detection units are used to realize the fully automatic scanning detection function of the detection system for automatic tracking of trajectories and obstacle avoidance.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme, which includes an intelligent mobile scanning and digital metal stress damage assessment and early warning detection system controlled by an embedded microcontroller. The system includes an embedded microcontroller control system, a bottom motherboard, a driving wheel, a support component, a power control unit, a coil, a strong / weak magnetic probe, and a signal acquisition probe. The embedded microcontroller control system and the power control unit are installed on the upper part of the bottom motherboard, and the driving wheels are installed on both sides of the bottom motherboard. The support component is installed on the side of the bottom motherboard and is used to fix the strong / weak magnetic probe and the signal acquisition probe. The support component can be moved to provide different detection positions and lift-off values ​​for the sensor probe. The embedded microcontroller control system first uses the main program of the strong and weak magnetic automatic scanning detection system to control the signal acquisition probe to collect external infrared signals, and uses the trajectory tracking unit subroutine and the obstacle detection unit subroutine to control the power control unit and the driving wheel to complete the fully automatic intelligent scanning function. The embedded microcontroller control system further utilizes the main program of the strong and weak magnetic automatic scanning detection system to control the strong and weak magnetic data acquisition subprogram, the tangential extreme value data analysis subprogram, and the normal zero value data analysis subprogram, and controls the strong / weak magnetic probe to collect strong / weak magnetic signals, completes the system's multiple magnetic detection signal acquisition of composite defects under strong and weak excitation magnetic fields, digitally analyzes the magnetic detection signals, and realizes dual early warning on the defect contour and stress concentration of composite defects. The embedded microcontroller control system includes an embedded microcontroller, a strong / weak magnetic probe, a signal acquisition probe, a trajectory tracking unit, an obstacle detection unit, a signal filtering unit, a signal quantization and conversion unit, a signal remote control unit, a touch button unit, a power control unit, an additional storage unit, an information presentation unit, and a safety response unit. The key points of its structure are that the detection signal output port of the strong / weak magnetic probe is connected to the detection signal input port of the signal quantization and conversion unit through the signal filtering unit, and the detection signal output port of the signal quantization and conversion unit is connected to the detection signal input port of the embedded microcontroller; the signal output port of the signal acquisition probe is respectively connected to the input ports of the trajectory tracking unit and the obstacle detection unit, and the output ports of the trajectory tracking unit and the obstacle detection unit are connected to the input port of the embedded microcontroller through the signal quantization and conversion unit; the output ports of the signal remote control unit and the touch button unit are directly connected to the input port of the embedded microcontroller; the output port of the embedded microcontroller is respectively connected to the input ports of the power control unit, the additional storage unit, the information presentation unit, and the safety response unit;

[0005] The main program of the strong and weak magnetic automatic scanning and detection system first initializes the car. If the remote control mode is not entered, the trajectory tracking unit subroutine is turned on. The signal acquisition probe is used to detect the scanning route, and under the control of the embedded microcontroller and the trajectory tracking unit, the system completes the intelligent trajectory tracking scanning detection on the preset path. Otherwise, the controller is used to control the detector to perform the scanning function. If an obstacle appears, the obstacle detection unit subroutine is automatically entered to turn on the intelligent obstacle avoidance function. After the obstacle avoidance is completed, data collection is performed. First, the tangential and normal data storage areas TANdate and NORdate under strong magnetic force are defined, and the data pointers p1 and p2 are defined to point to the tangential data storage area TANdate and the normal data storage area NORdate respectively. The tangential and normal data storage areas FTANdate and FNORdate under weak excitation are defined, and the data pointers p3 and p4 are defined to point to the tangential data storage area FTANdate and the normal data storage area FNORdate under weak excitation respectively. Run the strong and weak magnetic data acquisition subroutine, turn on the strong / weak magnetic probe to collect the tangential and normal magnetic signals of the metal surface under strong and weak magnetic fields, and pass the collected signals through the signal filtering unit and the signal quantization and conversion unit. After filtering and analog / digital conversion, the collected magnetic detection signals are stored in the corresponding data storage area and wait for system calls. Define the storage units related to tangential data processing under strong magnetic field, the extreme value comparison unit Maxdate, the extreme value address comparison unit Maxadd, the temporary extreme value unit LINE, the temporary extreme value position unit LINEADD, and run the extreme value data analysis subroutine. Define the tangential data extreme value unit maxdate under weak magnetic field, define the pointer p6 and point it to the tangential data storage area FTANdate under weak magnetic field, and run the extreme value data analysis subroutine. Define the normal data extreme value address unit Zeroadd under strong magnetic field, define the pointer p7 and point it to the normal data storage area NORdate under strong magnetic field, and run the zero value data analysis subroutine. If Maxadd=Zeroadd, first determine the degree of defect damage, and judge whether the tangential extreme value Maxdate is greater than the critical value VALUE. If it is greater, it means that there is a defect, and start the safety response unit. Then the degree of stress damage is determined. If the ratio of the tangential extreme values ​​under strong and weak magnetic fields is greater than the critical value, that is, Maxdate / maxdate>value2, it means that stress damage exists, and the safety response unit is activated to realize the digital early warning and real-time display functions of metal defects and stress damage.

[0006] The track tracking unit subroutine is based on the infrared signals collected by the signal acquisition probes around the car, including the left module signal Leftled and the right module signal Rightled. When the car runs the track tracking program, it detects the left and right module signals in a loop, and uses the signal acquisition probe, track tracking unit, power control unit and drive wheel to perform intelligent track tracking. The system converts the detection signal of the signal acquisition probe into a digital signal through the signal quantization and conversion unit and stores it in the track tracking unit. After analyzing and processing the detection signal, it transmits the analysis data to the embedded microcontroller, and then assigns values ​​to its variables Leftled and Rightled. If the signal acquisition probe detects that the modules on both sides have not deviated from the preset scanning route, the variables Lefted and Rightled are both assigned 0. If one side deviates from the preset scanning route, the corresponding detection module signal variable is assigned 1, and the embedded microcontroller controls the power control unit and the drive wheel to return the system to the original scanning route. Therefore, the signal acquisition probe, trajectory tracking unit, signal quantization and conversion unit collect and process the external infrared detection signal, and perform digital calculation and analysis of trajectory tracking, so as to use the embedded microcontroller to control the power control unit and the driving wheel to realize the intelligent trajectory tracking scanning detection function;

[0007] The obstacle detection unit subroutine first initializes the obstacle detection unit, determines whether there is an obstacle, performs the logical output of the corresponding obstacle avoidance behavior, and performs calculation and analysis of the obstacle avoidance function of the system. It processes the data of the obstacle detection unit and the signal quantization and conversion unit. If there is an obstacle, the obstacle signal in the corresponding direction is recorded as 1. When the infrared sensor does not detect an obstacle, the car drives in a straight line along the trajectory tracking program. If obstacles are detected in both the left and right directions, the car retreats. If an obstacle is detected on the left, the car turns right, otherwise the car turns left. The intelligent obstacle avoidance function of the detection system is mainly completed by controlling the power control unit and the drive wheel through the embedded microcontroller, and the trajectory tracking mode is continued after avoiding the obstacle. Thus, the intelligent obstacle avoidance function of the system is realized by controlling the power control unit and the drive wheel using the embedded microcontroller;

[0008] The strong and weak magnetic data acquisition subroutine first turns on the strong excitation system, uses the For loop statement to loop and collect tangential data within the maximum loop number of 100, R2 is the loop number, starts IN0 in the loop and turns on the various signal acquisition and processing functions of the strong magnetic probe, signal filtering unit, signal quantization and conversion unit, and after a delay, puts the collected and processed values ​​into the p1 pointing area, that is, the tangential data storage area of ​​the strong excitation signal, after completing the acquisition of the tangential data, opens the IN1 channel, loops to collect the normal signal under strong excitation, and after a delay, puts the collected values ​​into the p1 pointing area, that is, the tangential data storage area of ​​the strong excitation signal, The processed values ​​are placed in the p2 pointing area, i.e. the normal data storage area of ​​the strong excitation signal. After R3 reaches the maximum number of cycles of 100, the strong excitation system is turned off and the weak excitation system is turned on. The For loop statement is used to loop within the maximum number of cycles of 100 to collect the tangential data under weak excitation. R4 is the number of cycles. In the loop, IN0 is started and the various signal acquisition and processing functions of the weak magnetic probe, signal filtering unit, signal quantization and conversion unit are turned on. After a delay, the collected and processed values ​​are placed in the p6 pointing area, i.e. the tangential data storage area of ​​the weak excitation signal. This realizes the acquisition of tangential and normal magnetic signals under strong excitation and tangential magnetic signals under weak excitation.

[0009] The extreme value data analysis subroutine performs data judgment in the For loop statement, and the pointer P1 points to the first bit of the tangential data storage area TANdate. In the for loop, the value of the unit in the storage area pointed to by the current p1 pointer and the size of the current extreme value are judged. If it is greater, the current pointer pointing value is assigned to the temporary extreme value unit LINE, and the value of the current loop number i is assigned to the extreme value point position unit LINEADD, and then the pointer points to the next unit in the storage area for the next loop. When i reaches the maximum loop number 100, the loop is jumped out. If Maxdate=0, it means that the extreme value data analysis under strong magnetism is performed, and the current extreme value LINE is stored in the extreme value data storage unit Maxdate under strong magnetism. In the extreme value data storage unit Maxadd under strong magnetic field, the value of the extreme value position LINEADD is stored in the extreme value data storage unit maxdate under weak magnetic field, and the value of the extreme value position LINEADD is stored in the extreme value point position storage unit maxadd under weak magnetic field, and then the extreme value point in the tangential data storage area TANdate is calculated and the extreme value point signal strength is stored in the extreme value point data storage unit Maxdate or maxdate, and the extreme value point address is stored in the extreme value point position storage unit Maxadd or maxadd;

[0010] The zero-value data analysis subroutine screens the data in the normal storage area of ​​the magnetic signal in the For loop, and in the loop, the pointer p2 is pointed to the normal data storage area NORdate and it is determined whether the pointer pointing value is 0. If it is not 0, the pointer is pointed to the next unit of the storage area. If it is 0, the current loop number i is stored in the zero-value point position storage unit Zeroadd, and the zero-value point storage address is stored in the zero-value point position storage unit Zeroadd;

[0011] As another preferred solution, the strong / weak magnetic probe of the present invention uses two groups of Hall sensors, model HST04 Hall sensor, pin 2 is used as the output port, a 1k resistor is connected between pin 1 and pin 2 to protect the Hall sensor, and the two groups of magnetic probes respectively detect strong magnetic signals and weak magnetic signals to achieve joint collection of strong / weak magnetic signals.

[0012] As another preferred solution, the trajectory tracking unit of the present invention uses a signal acquisition probe adopting an RPR220 model infrared sensor and a PT333 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 LM339, thereby finally realizing the path tracking function.

[0013] As another preferred solution, the obstacle detection unit of the present invention uses a signal acquisition probe to detect infrared signals. The probe model is an RPR220 infrared sensor. The signal is filtered and amplified through LM358 and resistors and capacitors. The signal is amplified through the comparator LM358. The obstacle detection function is finally realized through the combination of various parts.

[0014] As another preferred solution, the signal filtering unit of the present invention uses an LM324 operational amplifier to form a three-stage filtering system. Through the series connection, each filter circuit utilizes the high performance characteristics of the LM324 to perform fine processing on the signal. The multi-stage architecture not only amplifies the target signal, but also effectively weakens noise and interference through step-by-step filtering, significantly improving the signal's anti-interference ability and accuracy.

[0015] As another preferred solution, the signal quantization and conversion unit of the present invention uses an ADS1232 analog / digital conversion chip and a MAX4620 analog multiplexer to convert analog signals into digital signals, quantize and encode the input analog quantities with high precision and high resolution, and uses two sets of coils to directly connect to an embedded microprocessor to realize the generation of digital strong and weak magnetic detection signals.

[0016] As another preferred solution, the signal remote control unit 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 LM386M-1, and an integrated block LM567CH receives and amplifies the transmitted infrared signals, and then implements the signal remote control function of the power control unit through an embedded microcontroller.

[0017] As another preferred solution, the touch key unit of the present invention uses 4 touch keys to form a touch key control, and uses a BS814A-2 chip to detect the change in capacitance to determine whether the key is pressed. When the key is pressed, the capacitance value will change, and the chip detects this change through an internal circuit and converts it into corresponding key status information, thereby realizing the touch key function.

[0018] As another preferred solution, the power control unit of the present invention uses the L9110 chip as the power control core chip, which regulates the corresponding movement of the motor through signal changes, and simultaneously uses a double set of resistors to achieve effective circuit protection, rectification and freewheeling.

[0019] As another preferred solution, the additional storage unit of the present invention uses a latch chip 74LS373 to connect to an embedded microcontroller via a bus to achieve data latching and storage, and uses an external storage chip 6264 to connect to an embedded microcontroller and latch 74LS373 via a bus to achieve additional data storage.

[0020] As another preferred solution, the information presentation unit of the present invention uses an LCD1602 liquid crystal display to communicate with the pins of an embedded microcontroller through a port, and is used to display various information of the device. The data to be displayed is transmitted to the internal register of the embedded microcontroller through a data bus, thereby jointly realizing data transmission and storage of data display.

[0021] As another preferred solution, the safety response unit of the present invention uses a LED and a buzzer in series to connect to the pins of an embedded microcontroller to display and remind the device status, uses an NPN8050 transistor to control the switch circuit, and then connects to the pins of the embedded microcontroller to turn the transistor on and off through different signals to control the buzzer to realize the early warning function.

[0022] Beneficial effects of the present invention:

[0023] 1. The present invention utilizes system hardware to realize the generation of multiple magnetic detection signals of metal composite defects under strong and weak dual excitation magnetic fields, and utilizes system software to perform digital analysis and processing of the detection signals to realize dual evaluation of metal composite defects in terms of defect contour and stress concentration, which not only solves the detection problem of composite defect damage, but also greatly simplifies the circuit structure and improves cost-effectiveness.

[0024] 2. The present invention constructs a fully automatic intelligent scanning system by integrating an embedded microcontroller and intelligently controlling chips such as the trajectory tracking unit, the trajectory tracking unit, and the signal remote control unit, which greatly enhances the flexibility and adaptability of the system to cope with complex and changeable detection environments.

[0025] 3. In order to further enhance the robustness of the system, the present invention introduces an independent signal filtering unit and an additional storage unit, which not only effectively improves the anti-interference ability of the signal, but also accelerates the early warning response speed, ensuring the rapid and accurate completion of the detection task. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 System structure diagram;

[0028] Figure 2 Main program flow chart of strong and weak magnetic automatic scanning detection system;

[0029] Figure 3 Trajectory tracking unit subroutine flow chart;

[0030] Figure 4 Obstacle detection unit subroutine flow chart;

[0031] Figure 5 Strong and weak magnetic data acquisition subroutine flow chart;

[0032] Figure 6 Extreme value data analysis subroutine flow chart;

[0033] Figure 7 Zero value data analysis subroutine flow chart;

[0034] Figure 8 Strong / weak magnetic probe circuit diagram

[0035] Fig. 9 Circuit diagram of trajectory tracking unit;

[0036] Fig.10 Obstacle detection unit circuit diagram;

[0037] Fig.11 Signal filter unit circuit diagram

[0038] Fig.12 Signal quantization and conversion unit circuit diagram

[0039] Fig.13 Signal remote control unit circuit diagram

[0040] Fig.14 Touch button unit circuit diagram

[0041] Fig.15 Power control unit circuit diagram

[0042] Fig.16 Additional storage unit circuit diagram

[0043] Fig.17 Information presentation unit circuit diagram

[0044] Fig.18 Safety response unit circuit diagram DETAILED DESCRIPTION

[0045] like Figure 1As shown, the design system of the present invention includes an embedded microcontroller control system 1, a bottom motherboard 2, a driving wheel 3, a support component 4, a power control unit 5, a coil 6, a strong / weak magnetic probe 7, and a signal acquisition probe 8. The embedded microcontroller control system 1 and the power control unit 5 are installed on the upper part of the bottom motherboard 2, and the driving wheels 3 are installed on both sides of the bottom motherboard 2. The support component 4 is installed on the side of the bottom motherboard 2, and is used to fix the strong / weak magnetic probe 7 and the signal acquisition probe 8. The support component can be moved to provide different detection positions and lift-off values ​​for the sensor probe. The embedded microcontroller control system 1 first uses the main program of the strong and weak magnetic automatic scanning detection system to control the signal acquisition probe 8 to collect external infrared signals, and uses the trajectory tracking unit subroutine and the obstacle detection unit subroutine to control the power control unit 5 and the driving wheel 3 to complete the fully automatic intelligent scanning function. The embedded microcontroller control system 1 further utilizes the main program of the strong and weak magnetic automatic scanning detection system to control the strong and weak magnetic data acquisition subprogram, the tangential extreme value data analysis subprogram, and the normal zero value data analysis subprogram, and controls the strong / weak magnetic probe 7 to collect strong / weak magnetic signals, completes the system's multiple magnetic detection signal acquisition of composite defects under strong and weak excitation magnetic fields, digitally analyzes the magnetic detection signals, and realizes dual early warning of composite defects in defect contours and stress concentration. The embedded microcontroller control system 1 includes an embedded microcontroller 9, a strong / weak magnetic probe 7, a signal acquisition probe 8, a trajectory tracking unit 10, an obstacle detection unit 11, a signal filtering unit 12, a signal quantization and conversion unit 13, a signal remote control unit 14, a touch button unit 15, a power control unit 5, an additional storage unit 16, an information presentation unit 17, and a safety response unit 18. The key points of its structure are that the detection signal output port of the strong / weak magnetic probe 7 is connected to the detection signal input port of the signal quantization and conversion unit 13 through the signal filtering unit 12, and the detection signal output port of the signal quantization and conversion unit 13 is connected to the detection signal input port of the embedded microcontroller 9; the signal output port of the signal acquisition probe 8 is respectively connected to the input ports of the trajectory tracking unit 10 and the obstacle detection unit 11, and the output ports of the trajectory tracking unit 10 and the obstacle detection unit 11 are connected to the input port of the embedded microcontroller 9 through the signal quantization and conversion unit 13; the output ports of the signal remote control unit 14 and the touch button unit 15 are directly connected to the input port of the embedded microcontroller 9; the output port of the embedded microcontroller 9 is respectively connected to the input ports of the power control unit 5, the additional storage unit 16, the information presentation unit 17, and the safety response unit 18;

[0046] like Figure 2As shown, the main program of the strong and weak magnetic automatic scanning detection system first initializes the car. If the remote control mode is not entered, the trajectory tracking unit subroutine is started. The signal acquisition probe 8 is used to detect the scanning route, and under the control of the embedded microcontroller 9 and the trajectory tracking unit 10, the system completes the intelligent trajectory tracking scanning detection on the preset path. Otherwise, the controller is used to control the detector to perform the scanning function. If an obstacle appears, the obstacle detection unit subroutine is automatically entered to start the intelligent obstacle avoidance function. After the obstacle avoidance is completed, data collection is performed. First, the tangential and normal data storage areas TANdate and NORdate under strong magnetic force are defined, and the data pointers p1 and p2 are defined to point to the tangential data storage area TANdate and the normal data storage area NORdate respectively. And the tangential and normal data storage areas FTANdate and FNORdate under weak excitation are defined, and the data pointers p3 and p4 are defined to point to the tangential data storage area FTANdate and the normal data storage area FNORdate under weak excitation respectively. Run the strong and weak magnetic data acquisition subroutine, turn on the strong / weak magnetic probe 7 to collect the tangential and normal magnetic signals of the metal surface under strong and weak magnetic fields, and pass the collected signals through the signal filtering unit 12 and the signal quantization and conversion unit 13. After filtering and analog / digital conversion, the collected magnetic detection signals are stored in the corresponding data storage area and wait for system calls. Define the storage units related to tangential data processing under strong magnetism, the extreme value comparison unit Maxdate, the extreme value address comparison unit Maxadd, the temporary extreme value unit LINE, the temporary extreme value position unit LINEADD, and run the extreme value data analysis subroutine. Define the extreme value unit maxdate of the tangential data under weak magnetism, define the pointer p6 and point it to the tangential data storage area FTANdate under weak magnetism, and run the extreme value data analysis subroutine. Define the extreme value address unit Zeroadd of the normal data under strong magnetism, define the pointer p7 and point it to the normal data storage area NORdate under strong magnetism, and run the zero value data analysis subroutine. If Maxadd=Zeroadd, the degree of defect damage is first determined to determine whether the tangential extreme value Maxdate is greater than the critical value VALUE. If so, it indicates that there is a defect, and the safety response unit 18 is activated. Then the degree of stress damage is determined. If the ratio of the tangential extreme values ​​under strong and weak magnetic fields is greater than the critical value, that is, Maxdate / maxdate>value2, it indicates that there is stress damage, and the safety response unit 18 is activated, thereby realizing the digital early warning and real-time display functions of metal defects and stress damage.

[0047] like Figure 3As shown, the trajectory tracking unit subroutine is based on the infrared signals collected by the signal acquisition probes 8 around the car, including the left module signal Leftled and the right module signal Rightled. When the car runs the trajectory tracking program, it detects the left and right module signals in a loop, and uses the signal acquisition probe 8, the trajectory tracking unit 10, the power control unit 5 and the driving wheel 3 to perform the intelligent trajectory tracking function. The system converts the detection signal of the signal acquisition probe 8 into a digital signal through the signal quantization and conversion unit 13 and stores it in the trajectory tracking unit 10. After analyzing and processing the detection signal, it transmits the analysis data to the embedded microcontroller 9, and then assigns values ​​to its variables Leftled and Rightled. If the signal acquisition probe 8 detects that the modules on both sides of the left and right sides have not deviated from the preset scanning route, the variables Lefted and Rightled are both assigned to 0. If one side deviates from the preset scanning route, the corresponding detection module signal variable is assigned to 1, and the embedded microcontroller 9 controls the power control unit 5 and the driving wheel 3 to return the system to the original scanning route. Therefore, the signal acquisition probe 8, the trajectory tracking unit 10, and the signal quantization and conversion unit 13 are used to collect and process the external infrared detection signal, and the trajectory tracking is digitized and calculated and analyzed, so that the embedded microcontroller 9 is used to control the power control unit 5 and the driving wheel 3 to realize the intelligent trajectory tracking scanning detection function.

[0048] like Figure 4 As shown, the obstacle detection unit subroutine first initializes the obstacle detection unit 11, and performs the logic output of the corresponding obstacle avoidance behavior by judging whether there is an obstacle, and performs the calculation and analysis of the obstacle avoidance function of the system. Through the data processing of the obstacle detection unit 11 and the signal quantization and conversion unit 13, if there is an obstacle, the obstacle signal in the corresponding direction is recorded as 1. When the infrared sensor does not detect an obstacle, the car drives straight along the trajectory tracking program. If obstacles are detected in both the left and right directions, the car retreats. If an obstacle is detected on the left, the car turns right, otherwise the car turns left. The obstacle intelligent avoidance function of the detection system is mainly completed by controlling the power control unit 5 and the drive wheel 3 through the embedded microcontroller 9, and the trajectory tracking mode is continued after avoiding the obstacle. Thus, the system intelligent obstacle avoidance function is realized by controlling the power control unit 5 and the drive wheel 3 using the embedded microcontroller 9.

[0049] like Figure 5As shown, the strong and weak magnetic data acquisition subroutine first opens the strong excitation system, uses the For loop statement to loop to collect tangential data within the maximum loop number of 100, R2 is the loop number, starts IN0 in the loop and turns on the various signal acquisition and processing functions of the strong magnetic probe 7, the signal filtering unit 12, and the signal quantization and conversion unit 13, and after a delay, the collected and processed values ​​are respectively placed in the p1 pointing area, that is, the tangential data storage area of ​​the strong excitation signal. After completing the acquisition of the tangential data, open the IN1 channel, loop to collect the normal signal under strong excitation, and after a delay, put the collected values ​​into the p1 pointing area, that is, the tangential data storage area of ​​the strong excitation signal. The processed values ​​are placed in the p2 pointing area, i.e., the normal data storage area of ​​the strong excitation signal. After R3 reaches the maximum number of cycles of 100, the strong excitation system is turned off and the weak excitation system is turned on. The For loop statement is used to loop and collect the tangential data under weak excitation within the maximum number of cycles of 100. R4 is the number of cycles. In the loop, IN0 is started and the various signal acquisition and processing functions of the weak magnetic probe 7, the signal filtering unit 12, and the signal quantization and conversion unit 13 are turned on. After a delay, the collected and processed values ​​are placed in the p6 pointing area, i.e., the tangential data storage area of ​​the weak excitation signal. Thus, the acquisition of tangential and normal magnetic signals under strong excitation and tangential magnetic signals under weak excitation is realized.

[0050] like Figure 6 As shown, the extreme value data analysis subroutine performs data judgment in the For loop statement, and the pointer P1 points to the first bit of the tangential data storage area TANdate. In the for loop, the value of the unit in the storage area pointed to by the current p1 pointer and the size of the current extreme value are judged. If it is greater, the current pointer value is assigned to the temporary extreme value unit LINE, and the value of the current loop number i is assigned to the extreme point position unit LINEADD, and then the pointer points to the next unit in the storage area for the next loop. When i reaches the maximum loop number 100, the loop is jumped out. If Maxdate=0, it means that the extreme value data analysis under strong magnetism is performed, and the current extreme value LINE is stored in the extreme value data storage unit Maxdat under strong magnetism. e, and store the value of the extreme position LINEADD in the extreme point position storage unit Maxadd under strong magnetism. If Maxdate is not 0, it means that extreme data analysis under weak magnetism is performed, and the current extreme value LINE is stored in the extreme value data storage unit maxdate under weak magnetism, and the value of the extreme position LINEADD is stored in the extreme point position storage unit maxadd under weak magnetism, and then the extreme point data is calculated and stored in the tangential data storage area TANdate, so that the extreme point signal strength is stored in the extreme point data storage unit Maxdate or maxdate, and the extreme point address is stored in the extreme point position storage unit Maxadd or maxadd.

[0051] like Figure 7As shown, the zero-value data analysis subroutine screens the data in the normal storage area of ​​the magnetic signal in the For loop. In the loop, the pointer p2 is pointed to the normal data storage area NORdate and it is determined whether the pointer value is 0. If it is not 0, the pointer is pointed to the next unit of the storage area. If it is 0, the current loop number i is stored in the zero-value point position storage unit Zeroadd, and the zero-value point storage address is stored in the zero-value point position storage unit Zeroadd.

[0052] like Figure 8 As shown, the strong / weak magnetic probe 7 uses two sets of Hall sensors, model HST04 Hall sensor, pin 2 is used as the output port, and a 1k resistor is connected between pin 1 and pin 2 to protect the Hall sensor. The two sets of magnetic probes detect strong magnetic signals and weak magnetic signals respectively, realizing the joint collection of strong / weak magnetic signals. Its specific connection is: the output port Vo of the strong / weak magnetic probe 7 is connected to the input port Vin1 / Vin2 in the signal filtering unit 12. The Hall sensor is a contactless electronic switch that uses a permanent magnet or a magnetic conductor as a trigger medium. It receives the signal of the magnetic line through the Hall effect element, and controls the on and off of the output state after amplification and shaping. This system has two strong magnetic probes and weak magnetic probes, which detect strong magnetic signals and weak magnetic signals respectively.

[0053] like Fig. 9 As shown, the trajectory tracking unit 10 uses the signal acquisition probe 8 to use the RPR220 infrared sensor and the PT333 sensor to detect whether there is an obstacle in front, adjusts the sensitivity through the variable resistor R2, and realizes signal amplification and voltage comparison through the signal comparator LM339, and finally realizes the path tracking function. Its specific connection is: the output end Vout of the trajectory tracking unit 10 is connected to the ADS1232 input port IN of the signal quantization and conversion unit 13. Among them, D1 uses the RPR220 infrared sensor to collect infrared signals, and the PT333 sensor is used to detect whether there is an obstacle. The sensor has strong adaptability to ambient light. When the detection direction encounters an obstacle (reflective surface), the infrared light is reflected back and received by the receiving tube. After being processed by the comparator LM393 circuit, the green indicator light will light up, and the signal output interface will output a digital signal (a low-level signal). The detection distance can be adjusted by the potentiometer knob. Adjusting the potentiometer clockwise increases the detection distance; adjusting the potentiometer counterclockwise reduces the detection distance. The comparator LM393 is used for signal amplification and voltage comparison, and its output terminal Vout is connected to the ADS1232 input port IN of the signal quantization and conversion unit 13, and is connected to the P2.0 port of the embedded microcontroller 9 after analog-to-digital conversion. The embedded microcontroller 9 controls the motor to work accordingly according to the change of the signal, thereby realizing the path tracking function.

[0054] like Fig.10As shown, the obstacle detection unit 11 uses the signal acquisition probe 8 to detect the infrared signal. The probe model is the RPR220 infrared sensor. Then the signal is filtered and amplified through the LM358 and the resistor and capacitor. The signal is amplified by the comparator LM358. The obstacle detection function is finally realized by the combination of various parts. The specific connection is: the output port Vout of the obstacle detection unit 11 is connected to the input port IN of the signal quantization and conversion unit 13. The signal captured by the signal detection unit RPR220 is threshold-matched through the 1 pin of the comparison circuit core LM358, and then the signal is amplified and converted through the transistor VT9012, and finally the infrared emission device is driven. When a significant voltage difference is detected between the front and rear signals, the difference is converted into a clear indication signal, and the light-emitting diode lights up, thereby intuitively showing that there is an obstacle in front. After the signal is converted into digital, the digital signal is transmitted to the P2.1 port of the embedded microcontroller 9, and the embedded microcontroller 9 controls the power control unit 5 to realize the obstacle avoidance function.

[0055] like Fig.11 As shown, the signal filtering unit 12 uses the LM324 operational amplifier to form a three-stage filtering system. Through the series connection, each level of the filtering circuit uses the high performance characteristics of the LM324 to finely process the signal. The multi-level architecture not only amplifies the target signal, but also effectively weakens the noise and interference through step-by-step filtering, significantly improving the anti-interference ability and accuracy of the signal. The specific connection is: the input port Vin of the signal filtering unit 12 is connected to the output port Vo of the strong / weak magnetic probe 7, and the output port Vout of the signal filtering unit 12 is connected to the input port IN of the signal quantization and conversion unit 13. The three-stage filtering uses the LM324 operational amplifier for filtering to increase the anti-interference ability of the system detection signal. The strong / weak magnetic sensor 7 detects the signal respectively and the output port Vout after filtering is connected to the analog signal input terminal IN of the signal quantization and conversion unit 13 for analog-to-digital conversion.

[0056] like Fig.12As shown, the signal quantization and conversion unit 13 uses an ADS1232 analog / digital conversion chip and a MAX4620 analog multiplexer to convert analog signals into digital signals, quantize and encode the input analog quantities with high precision and high resolution, and uses two sets of coils 6 to directly connect with an embedded microprocessor 9 to realize the generation of digital strong and weak magnetic detection signals. The specific connection method is as follows: two groups of coils 6 are connected to the P1.3 and P1.4 ports of the embedded microprocessor 9, the INT0 port of the embedded microprocessor 9 is connected to the INT port of the ADS1232 chip, the P2.0, P2.1, and P2.2 ports are respectively connected to the LBEN, HBEN, and CE ports of the ADS1232 chip, and the P1.0, P1.1, and P1.2 ports are respectively connected to the SDI, SDN, and CS ports of the MAX4620 analog multiplexer; the IN port of the ADS1232 chip is connected to the COM port of the MAX4620 analog multiplexer; the clock module is connected to the XTAL1 and XTAL2 pins of the embedded microcontroller 9; the PC is connected to the P3.0 and P3.1 pins of the embedded microcontroller 9 through a 232C\422A converter; the CEIE and RST pins of the power-off protection device are correspondingly connected to the P3.2 and RST pins of the embedded microcontroller 9. The clock module provides synchronization signals for the system, and finally the PC displays the abnormal value and position, and the power-off protection device is always in protection state; the MAX4620 analog multi-way switch is used to realize the switching and routing of different analog signal sources; the clock module is used to provide synchronization signals for the digital system, and is also used for timing and controlling data transmission; the PC is used to display the value and position of the final abnormal data.

[0057] like Fig.13As shown, the signal remote control unit 14 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 LM386M-1, and an integrated block LM567CH receives and amplifies the transmitted infrared signal, and then implements the signal remote control function for the power control unit 15 through the embedded microcontroller 9. The specific connection is: the output port Vout of the signal remote control unit 14 is connected to the P2.2 port of the embedded microcontroller 9. After the power is turned on, the red indicator light is on. The sensor module has a strong ability to adapt to ambient light. It has a pair of infrared transmitting and receiving tubes. The transmitting tube emits infrared rays of a certain frequency. It contains an astable multivibrator composed of NE555D and R1, R2, C1, and C2, which is used to realize the signal control function, 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 corresponding to the frequency, and the optical signal is converted into an electrical signal and amplified by VT1 and IC1. R8 and C9 are used to determine the center frequency of LM567CH, which are connected to the 5th and 6th pins of LM38M-1. The embedded microcontroller 9 controls the power control unit 5 through the output signal to realize the signal remote control function.

[0058] like Fig.14 As shown, the touch key unit 15 uses 4 touch keys to form a touch key control, and uses a BS814A-2 chip to detect changes in capacitance to determine whether the key is pressed. When the key is pressed, the capacitance value will change, and the chip detects this change through an internal circuit and converts it into corresponding key state information, thereby realizing the touch key function. Its specific connection is: the four touch keys of the touch key unit 15 are respectively connected to KEY1-4 of the BS241A-2 chip, and the data transmission port DAT and clock port CLK of BS241A-2 are respectively connected to the P1.2 and P1.3 ports of the embedded microcontroller 9. The touch key unit 15 of the present invention is composed of a capacitive touch key chip detected by a BS814A-2 key. It supports multiple touch key inputs and has the characteristics of automatic calibration, low standby current, and high power supply voltage rejection ratio. In the key application, BS814A-2 can communicate with the embedded microcontroller 9 through its serial interface to realize the reading of the key state and the corresponding control logic.

[0059] like Fig.15As shown, the power control unit 5 uses the L9110 chip as the power control core chip, and regulates the corresponding movement of the motor through the change of the signal. At the same time, the connection of the double group of resistors is used to realize the effective protection, rectification and freewheeling of the circuit. The specific connection is: the input ports IA1, IB1, IA2, and IB2 of the power control unit 5 are respectively connected to the P3.4, P2.0, P2.1, and P3.6 ports of the embedded microcontroller 9. The power control unit 5 of the present invention includes the L9110 chip for driving the motor, and the signal judgment is performed through the connection between the embedded microcontroller 9 and other modules to assign values ​​to the corresponding ports, and the rotation of the motor is controlled by the change of the corresponding signal. L9110 is a DC motor drive circuit, which adopts an H-bridge drive circuit structure, has a large current drive capability and an efficient power management capability. It is suitable for battery-powered toys, low-voltage or battery-powered control applications.

[0060] like Fig.16 As shown, the additional storage unit 16 uses a latch chip 74LS373 to connect to the embedded microcontroller 9 through a bus to realize data latching and storage, and uses an external storage chip 6264 to connect to the embedded microcontroller 9 and the latch 74LS373 through a bus to realize additional data storage. The specific connection is: the latch chip 74LS373 input port D0-D7 is connected to the P0 port of the embedded microcontroller 9, so as to realize the writing and reading operations of the data, and the 6264 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 embedded microcontroller 9, and its A0-A7 address port is connected to the Q0-Q7 port of the 74LS373. The additional storage unit 16 combines the latch chip 74LS373 and the external storage 6264 chip, and is used to realize efficient and stable data storage and access with its high-speed reading and writing, low power consumption and strong reliability.

[0061] like Fig.17As shown, the information presentation unit 17 uses the LCD1602 liquid crystal display to communicate with the pins of the embedded microcontroller 9 through the port, and is used to display various information of the device. The data to be displayed is transmitted to the internal register of the embedded microcontroller 9 through the data bus, and data transmission and storage data display are realized together. The specific connection is: the RS (register selection) pin of the LCD1602 liquid crystal display is connected to the P1.0 port of the embedded microcontroller 9, which is responsible for indicating whether the data is written into the instruction register or the data register. The R / W (read-write control) pin is connected to the P1.1 port of the embedded microcontroller 9 to control the reading or writing operation of the data. The E (enable) pin is connected to the P2.6 port of the embedded microcontroller 9 as a trigger signal for data transmission to ensure the synchronization and accuracy of data transmission. For data transmission, the DB0 to DB7 data ports of the LCD1602 are mapped to the P0.0-P0.7 ports of the embedded microcontroller 9 to form an eight-bit parallel data channel. When the data to be displayed is ready, the embedded microcontroller 9 temporarily stores the data in its internal register. The data will be transmitted to the data interface of LCD1602 in parallel at high speed through the P0 port. Each DB port corresponds to a data bit, realizing accurate data transmission.

[0062] like Fig.18 As shown, the safety response unit 18 uses the LED and buzzer in series to connect to the pins of the embedded microcontroller 9 to display and remind the device status, uses the NPN8050 transistor to realize the switch circuit control, and then connects to the pins of the embedded microcontroller 9 to realize the on and off of the transistor through different signals to control the buzzer to realize the early warning function. The specific connection is: the blue light end is connected to the P1.6 port of the embedded microcontroller 9, the red light end is connected to the P1.7 port of the embedded microcontroller 9, and the transistor is connected to the P2.4 port of the embedded microcontroller 9. The blue LED light is on, indicating that the strong magnetic detection probe has detected the defect damage of the metal material, and the red LED indicator light is on, indicating that the weak magnetic detection probe has detected the stress concentration damage on the surface of the metal material.

[0063] The overall working process of the system is as follows: the embedded microcontroller 9 controls the strong / weak magnetic probe 7 to collect the magnetic detection signal of the metal under the strong and weak dual excitation magnetic field by calling the strong and weak magnetic data acquisition subroutine, and the signal is filtered and converted by the signal filtering unit 12 and the signal quantization and conversion unit 13, and the system completes the multiple magnetic detection signal acquisition of the composite defect under the strong and weak excitation magnetic field. Then, by calling the extreme value data analysis subroutine and the zero value data analysis subroutine, the collected signals are compared, analyzed and calculated, the detection data is displayed in real time through the information presentation unit 17, and the safety response unit 18 is called for accurate damage warning, the system completes the digital analysis of the magnetic detection signal, and realizes double warning on the defect contour and stress concentration of the composite defect. The system receives external infrared signals through the signal acquisition probe 8, and the trajectory tracking unit 10 and the obstacle detection unit 11 jointly process the signals, which enter the embedded microcontroller 9 after passing through the signal quantization and conversion unit 13. The embedded microcontroller 9 then calls the trajectory tracking unit subroutine and the obstacle detection unit subroutine to perform trajectory judgment and obstacle judgment to ensure the accuracy and safety of the scanning path. Finally, the embedded microcontroller 9 controls the power control unit 5 to achieve autonomous obstacle avoidance and path scanning and following. At the same time, the system can directly control the scanning direction through the signal remote control unit 14 to complete the fully automated intelligent scanning of the detection system.

[0064] 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. A strong and weak magnetic automatic scanning monitor for metal composite defects. The design system of the present invention includes an embedded microcontroller control system, a bottom motherboard, a driving wheel, a support component, a power control unit, a coil, a strong / weak magnetic probe, and a signal acquisition probe; the embedded microcontroller control system and the power control unit are installed on the upper part of the bottom motherboard, and the driving wheels are installed on both sides of the bottom motherboard; the support component is installed on the side of the bottom motherboard for fixing the strong / weak magnetic probe and the signal acquisition probe, and the support component can be moved to provide different detection positions and lift-off values ​​for the sensor probe; the embedded microcontroller control system first uses the main program of the strong and weak magnetic automatic scanning detection system to control The signal acquisition probe collects external infrared signals, and uses the trajectory tracking unit subroutine and the obstacle detection unit subroutine to control the power control unit and the drive wheel to complete the fully automatic intelligent scanning function; the embedded microcontroller control system further uses the strong and weak magnetic automatic scanning detection system main program to control the strong and weak magnetic data acquisition subroutine, the tangential extreme value data analysis subroutine, and the normal zero value data analysis subroutine to control the strong / weak magnetic probe to collect strong / weak magnetic signals, complete the system's multiple magnetic detection signal acquisition of composite defects under strong and weak excitation magnetic fields, digitally analyze the magnetic detection signals, and realize dual early warning of composite defects in defect contours and stress concentration; The embedded microcontroller control system includes an embedded microcontroller, a strong / weak magnetic probe, a signal acquisition probe, a trajectory tracking unit, an obstacle detection unit, a signal filtering unit, a signal quantization and conversion unit, a signal remote control unit, a touch button unit, a power control unit, an additional storage unit, an information presentation unit, and a safety response unit; The key points of its structure are that the detection signal output port of the strong / weak magnetic probe is connected to the detection signal input port of the signal quantization and conversion unit through the signal filtering unit, and the detection signal output port of the signal quantization and conversion unit is connected to the detection signal input port of the embedded microcontroller; the signal output port of the signal acquisition probe is respectively connected to the input ports of the trajectory tracking unit and the obstacle detection unit, and the output ports of the trajectory tracking unit and the obstacle detection unit are connected to the input port of the embedded microcontroller through the signal quantization and conversion unit; the output ports of the signal remote control unit and the touch button unit are directly connected to the input port of the embedded microcontroller; the output port of the embedded microcontroller is respectively connected to the input ports of the power control unit, the additional storage unit, the information presentation unit, and the safety response unit; The main program of the strong and weak magnetic automatic scanning and detection system first initializes the car. If the remote control mode is not entered, the trajectory tracking unit subroutine is started. The signal acquisition probe is used to detect the scanning route, and under the control of the embedded microcontroller and the trajectory tracking unit, the system completes the intelligent trajectory tracking scanning detection on the preset path; otherwise, the controller is used to control the detector to perform the scanning function; if an obstacle appears, the obstacle detection unit subroutine is automatically entered to start the intelligent obstacle avoidance function; after the obstacle avoidance is completed, data collection is performed, firstly, the tangential and normal data storage areas TANdate and NORdate under strong magnetic field are defined, and the data Pointers p1 and p2 point to the tangential data storage area TANdate and the normal data storage area NORdate respectively; define the tangential and normal data storage areas FTANdate and FNORdate under weak excitation, and define data pointers p3 and p4 point to the tangential data storage area FTANdate and the normal data storage area FNORdate under weak excitation respectively; run the strong and weak magnetic data acquisition subroutine, turn on the strong / weak magnetic probe to collect the tangential and normal magnetic signals of the metal surface under strong and weak magnetic fields, and pass the collected signals through the signal filtering unit and the signal quantization and conversion unit for filtering and analog / digital conversion. After the conversion, the collected magnetic detection signal is stored in the corresponding data storage area and waits for the system call; define the storage unit related to the tangential data processing under strong magnetic field, the extreme value comparison unit Maxdate, the extreme value address comparison unit Maxadd, the temporary extreme value unit LINE, the temporary extreme value position unit LINEADD, and run the extreme value data analysis subroutine; define the tangential data extreme value unit maxdate under weak magnetic field, define the pointer p6 and point it to the tangential data storage area FTANdate under weak magnetic field, and run the extreme value data analysis subroutine; define the normal data extreme value address unit Zeroadd under strong magnetic field, define the pointer p7 and Point to the normal data storage area NORdate under strong magnetism and run the zero value data analysis subroutine; if Maxadd = Zeroadd, first determine the degree of defect damage to determine whether the tangential extreme value Maxdate is greater than the critical value VALUE. If it is greater, it means there is a defect and the safety response unit is started; then determine the degree of stress damage. If the ratio of the tangential extreme values ​​under strong and weak magnetism is greater than the critical value, that is, Maxdate / maxdate>value2, it means there is stress damage, and the safety response unit is started, thereby realizing the digital early warning and real-time display function of metal defects and stress damage; The trajectory tracking unit subroutine makes judgments based on the infrared signals collected by the signal acquisition probes around the car, including the left module signal Leftled and the right module signal Rightled. When the car runs the trajectory tracking program, it cyclically detects the left and right module signals and uses the signal acquisition probe, trajectory tracking unit, power control unit and driving wheel to perform intelligent trajectory tracking function; the system converts the detection signal of the signal acquisition probe into a digital signal through the signal quantization and conversion unit and stores it in the trajectory tracking unit, which analyzes and processes the detection signal and transmits the analysis data to the embedded microcontroller, and then converts the variables Leftled and Rightled into digital signals. ed is assigned a value. If the signal acquisition probe detects that the modules on the left and right sides have not deviated from the preset scanning route, the variables Lefed and Righled 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 embedded microcontroller controls the power control unit and the drive wheel to return the system to the original scanning route. Thus, the signal acquisition probe, the trajectory tracking unit, the signal quantization and conversion unit collect and process the external infrared detection signal, and the trajectory tracking digital calculation and analysis are performed, so that the embedded microcontroller is used to control the power control unit and the drive wheel to realize the intelligent trajectory tracking scanning detection function. The obstacle detection unit subroutine first initializes the obstacle detection unit, and performs the logic output of the corresponding obstacle avoidance behavior by judging whether there is an obstacle, and performs calculation and analysis of the obstacle avoidance function of the system; it processes the data of the obstacle detection unit and the signal quantization and conversion unit, and if there is an obstacle, the obstacle signal in the corresponding direction is recorded as 1. When the infrared sensor does not detect an obstacle, the car drives straight along the trajectory tracking program. If obstacles are detected in both the left and right directions, the car retreats. If an obstacle is detected on the left, the car turns right, otherwise the car turns left. The intelligent obstacle avoidance function of the detection system is mainly completed by controlling the power control unit and the drive wheel through the embedded microcontroller, and the trajectory tracking mode is continued after avoiding the obstacle; thereby using the embedded microcontroller to control the power control unit and the drive wheel to realize the intelligent obstacle avoidance function of the system; The strong and weak magnetic data acquisition subroutine first opens the strong excitation system, uses the For loop statement to loop to collect tangential data within the maximum loop number of 100, R2 is the loop number, starts IN0 in the loop and turns on the various signal acquisition and processing functions of the strong magnetic probe, signal filtering unit, signal quantization and conversion unit, and after a delay, the collected and processed values ​​are placed in the p1 pointing area, that is, the tangential data storage area of ​​the strong excitation signal. After completing the collection of the tangential data, open the IN1 channel, loop to collect the normal signal under strong excitation, and after a delay, place the collected and processed values ​​in the p2 pointing area, that is, The normal data storage area of ​​the strong excitation signal, after R3 reaches the maximum number of cycles 100, the strong excitation system is turned off, the weak excitation system is turned on, and the For loop statement is used to loop and collect the tangential data under weak excitation within the maximum number of cycles 100. R4 is the number of cycles. In the loop, IN0 is started and the various signal acquisition and processing functions of the weak magnetic probe, signal filtering unit, signal quantization and conversion unit are turned on, and after a delay, the collected and processed values ​​are respectively placed in the p6 pointing area, that is, the tangential data storage area of ​​the weak excitation signal; thereby realizing the acquisition of tangential and normal magnetic signals under strong excitation and tangential magnetic signals under weak excitation; The extreme value data analysis subroutine performs data judgment in the For loop statement, and the pointer P1 points to the first bit of the tangential data storage area TANdate. In the for loop, the value of the unit in the storage area pointed to by the current p1 pointer and the size of the current extreme value are judged. If it is greater, the current pointer pointing value is assigned to the temporary extreme value unit LINE, and the value of the current loop number i is assigned to the extreme value point position unit LINEADD, and then the pointer points to the next unit in the storage area for the next loop. When i reaches the maximum loop number 100, the loop is jumped out. If Maxdate=0, it means that the extreme value data analysis under strong magnetism is performed, and the current extreme value LINE is stored in the extreme value data storage unit Maxdate under strong magnetism. In the extreme value data storage unit Maxadd under strong magnetic field, the value of the extreme value position LINEADD is stored in the extreme value data storage unit maxdate under weak magnetic field, and the value of the extreme value position LINEADD is stored in the extreme value point position storage unit maxadd under weak magnetic field, and then the extreme value point in the tangential data storage area TANdate is calculated and the extreme value point signal strength is stored in the extreme value point data storage unit Maxdate or maxdate, and the extreme value point address is stored in the extreme value point position storage unit Maxadd or maxadd; The zero-value data analysis subroutine screens the data in the normal storage area of ​​the magnetic signal in the For loop. In the loop, the pointer p2 is pointed to the normal data storage area NORdate and it is determined whether the pointer value is 0. If it is not 0, the pointer is pointed to the next unit in the storage area. If it is 0, the current loop number i is stored in the zero-value point position storage unit Zeroadd, and the zero-value point storage address is stored in the zero-value point position storage unit Zeroadd.

2. According to claim 1, a strong and weak magnetic automatic scanning monitor for metal composite defects is characterized in that The strong / weak magnetic probe uses two sets of Hall sensors, model HST04 Hall sensor, pin 2 is used as the output port, a 1k resistor is connected between pin 1 and pin 2 to protect the Hall sensor, and the two sets of magnetic probes detect strong magnetic signals and weak magnetic signals respectively to achieve the joint collection of strong / weak magnetic signals.

3. According to claim 1, a strong and weak magnetic automatic scanning monitor for metal composite defects is characterized in that The trajectory tracking unit uses a signal acquisition probe with an RPR220 infrared sensor and a PT333 sensor to detect whether there is an obstacle in front, adjusts the sensitivity through a variable resistor R2, and then amplifies the signal and compares the voltage through a signal comparator LM339, thereby finally realizing the path tracking function.

4. According to claim 1, a strong and weak magnetic automatic scanning monitor for metal composite defects is characterized in that The obstacle detection unit uses a signal acquisition probe to detect infrared signals. The probe model is an RPR220 infrared sensor. The signal is filtered and amplified through LM358 and resistors and capacitors. The signal is amplified through the comparator LM358. The obstacle detection function is finally realized through the combination of various parts.

5. According to claim 1, a strong and weak magnetic automatic scanning monitor for metal composite defects is characterized in that The signal filtering unit uses the LM324 operational amplifier to form a three-stage filtering system. Through series connection, each stage of the filtering circuit utilizes the high performance characteristics of the LM324 to perform fine processing on the signal; the multi-stage architecture not only amplifies the target signal, but also effectively weakens noise and interference through step-by-step filtering, significantly improving the signal's anti-interference ability and accuracy.

6. The strong and weak magnetic automatic scanning monitor of metal composite defects according to claim 1, characterized in that The signal quantization and conversion unit uses an ADS1232 analog / digital conversion chip and a MAX4620 analog multiplexer to convert analog signals into digital signals, quantize and encode the input analog quantities with high precision and high resolution, and uses two sets of coils to directly connect with an embedded microprocessor to realize the generation of digital strong and weak magnetic detection signals.

7. The strong and weak magnetic automatic scanning monitor of metal composite defects according to claim 1 is characterized in that The signal remote control unit 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 LM386M-1, and an integrated block LM567CH receives and amplifies the transmitted infrared signals, and then realizes the signal remote control function of the power control unit through an embedded microcontroller.

8. The strong and weak magnetic automatic scanning monitor of metal composite defects according to claim 1, characterized in that The power control unit uses the L9110 chip as the power control core chip, and regulates the corresponding movement of the motor through signal changes. At the same time, the connection of two sets of resistors is used to achieve effective circuit protection, rectification and freewheeling.

9. The strong and weak magnetic automatic scanning monitor of metal composite defects according to claim 1, characterized in that The additional storage unit uses a latch chip 74LS373 to connect with the embedded microcontroller via a bus to achieve data latching and storage, and uses an external storage chip 6264 to connect with the embedded microcontroller and latch 74LS373 via a bus to achieve additional data storage.

10. The strong and weak magnetic automatic scanning monitor of metal composite defects according to claim 1, characterized in that The safety response unit uses the series connection of LED and buzzer to connect with the pin of embedded microcontroller to realize the display and reminder of equipment status, uses NPN8050 transistor to realize switch circuit control, and then connects with the pin of embedded microcontroller to realize the on and off of transistor through different signals to control the buzzer to realize early warning function.

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