Abstract-Residual stress takes a great effect on security and service life of components on manufacturing in industry, it occurred interior and exterior of material, such as destructive, consuming time, inaccuracy. The traditional residual stress measurement methods can not afford the demands of safty monitor and life extendibility of the components. In this paper, we proposed an ultrasonic scanning technique of measuring the 2D residual stress field with critically refracted longitudinal wave based on the acoustoelasticity theory for sheet metal parts. A scanning frame was designed to make the testing process automatically. As a kind of stress, the residual stress is also a vector with value and direction. According to the principle of mechanical synthesis, the mathematical characterization for 2D residual stress field was proposed.