Automatic rivet management method and system

Abstract

The invention relates to the field of mechanical automation, in particular to an automatic rivet management method and system, and the system comprises a rivet adding device which is used for obtaining the posture and model of a rivet in each rivet box, taking the posture and model of the rivet as rivet box information of the rivet box, and writing the rivet box information into an information storage unit of each rivet box; the nail feeding equipment is used for generating a nail box identifier for each nail box, reading corresponding nail box information, sending the nail box information to the control equipment, and conveying the nail boxes to the nail using equipment according to the nail box identifiers sent by the control equipment; and the control equipment is used for receiving a nail using request of the nail using equipment, generating a nail box scheduling sequence according to all the nail box information, and sequentially sending nail box identifiers to the nail feeding equipment according to the nail box scheduling sequence. According to the invention, each staple box is equipped with a readable and writable information storage unit, an intelligent scheduling algorithm is introduced into the control equipment, and the optimal staple box scheduling sequence is dynamically generated, so that the response speed and the scheduling flexibility of the system to the change of the production task are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation, and specifically to an automatic rivet management method and system. Background Technology

[0002] In high-end equipment fields such as modern aerospace and automobile manufacturing, automated riveting technology has become a core means to improve the connection strength, assembly accuracy, and production efficiency of structural components. As a key connecting component, the level of automation in the supply and management of rivets directly determines the working efficiency of automated riveting systems. The rivet box is the core logistics carrier unit of the automated riveting system, used to hold rivets of specific types, specifications, and quantities, and to circulate and schedule them on the automated production line. Automated management of the rivet box enables precise traceability of rivet information during production, seamless connection of the supply process, and optimal allocation of resources.

[0003] Existing methods rely on manual picking and delivery of rivets, which is not only inefficient but also requires operators to manually update data in the management system, making real-time, dynamic data interaction and task response impossible. This lag makes it difficult for the production system to adapt to frequent order insertions and model changes, becoming a bottleneck for improving overall production efficiency. Summary of the Invention

[0004] To address the above problems, this invention provides an automatic rivet management method and system.

[0005] The first aspect of this invention discloses an automatic rivet management system, comprising: A rivet-adding device is used to obtain the posture and model of the rivets in each rivet box and write them into the information storage unit of each rivet box as the rivet box information. The staple feeding device is used to generate a staple box identifier for each staple box, read the corresponding staple box information, send it to the control device, and deliver the staple box to the staple-using device according to the staple box identifier sent by the control device. The control device is used to receive the nailing request from the nailing device, generate the nail box scheduling order based on all the nail box information, and send the nail box identifier to the nail delivery device in sequence according to the nail box scheduling order.

[0006] Furthermore, the nail-adding equipment includes: The information recognition module is used to identify the posture and model of the rivets in each rivet box through an image recognition algorithm, as the rivet box information of the rivet box; The information writing module is used to write each piece of information from a nail box to the information storage unit of the corresponding nail box.

[0007] Preferably, the information storage unit is an RFID chip.

[0008] Furthermore, the staple feeding device includes: The information reading module is used to read the nail box information from the information storage unit of each nail box, generate a nail box identifier for each nail box, and send the nail box information and nail box identifier of each nail box to the control device; The staple box delivery module is used to deliver staple boxes to the staple-using equipment based on the staple box identifier sent by the control device. A second aspect of this invention discloses an automatic rivet management method, comprising: The rivet-adding device acquires the posture and model of the rivets in each rivet box and writes them into the information storage unit of each rivet box as the rivet box information. The staple feeding device generates a staple box identifier for each staple box, reads the corresponding staple box information, and sends it to the control device; The control device receives the nail-using request from the nail-using device and generates a nail box scheduling order based on all the nail box information; The control equipment sends the nail box identifiers to the nail feeding equipment in sequence according to the nail box scheduling order; The nail feeding device delivers the nail box to the nail using device according to the nail box markings.

[0009] Furthermore, the steps for generating the stapler scheduling order based on all stapler information include: Multiple nail box scheduling sequences are randomly generated, and the nail box scheduling sequence includes multiple nail box identifiers; Calculate the fitness of each pinbox scheduling sequence based on a predefined fitness function; Based on a preset threshold, data is selected from all nail box scheduling sequences according to the fitness to obtain a pre-selected scheduling sequence; The pre-selected scheduling sequence is subjected to data crossover and random mutation operations to obtain the updated sequence; Iteratively perform data selection, data crossover, and random mutation operations until the preset convergence condition is met; Select the sequence with the highest fitness from the last update sequence as the pinbox scheduling order.

[0010] Furthermore, the steps for calculating the fitness of each pinbox scheduling sequence based on a predefined fitness function include: The time consumption for each rivet scheduling sequence is calculated based on the number of remaining rivets in each rivet box, the types of rivets requested, the length of the rivet delivery path, and the historical changeover time; the time consumption includes the rivet box movement time and the rivet box replacement time. The reciprocal of the time consumed is calculated as the fitness.

[0011] Furthermore, the pin request includes a priority, and the method further includes: Determine whether the priority of the received pending pin request is higher than the priority of the currently executing pin request; If so, record the execution status in the nail box scheduling sequence; Based on the nail box information, filter out the nail boxes that match the model of the nail request to be executed from all nail boxes, and select the nail box that is in an idle state and has the shortest selection path as the target nail box. Send the nail box identifier of the target nail box to the nail feeding device; Send the nail box identifier to the nail delivery device according to the execution status of the nail box scheduling sequence.

[0012] Furthermore, the steps for generating the stapler scheduling order based on all stapler information include: Map the slots of each nail box in the nail feeding device to path nodes, and initialize the path pheromone concentration between each node; Multiple path-building individuals participate in path search in parallel. Each path-building individual constructs a nail box access path from the starting node to the target node through a probabilistic selection method based on the current pheromone concentration and path length. The starting node is the currently selected slot, and the target node is the slot that needs to be accessed to complete the nail request. Based on each path, construct the total length of the individual generated pinbox access path, and update the pheromone concentration between nodes on the pinbox access path; The execution path construction and pheromone concentration update steps are iterated until the preset number of iterations is reached; The access sequence of the nail box corresponding to the nail box access path with the highest pheromone concentration is used as the nail box scheduling order.

[0013] Furthermore, the pheromone concentration is updated according to the following formula: ; in, Indicates the first In the next iteration, the node To the node pheromone concentration along the path For a predefined volatility coefficient, Representative at the In the nth iteration, the 1st In the path construction of an individual, the selected nail box access path is constructed from the node. To the node The increased pheromone concentration along the path, This indicates the number of individuals constructed along the path.

[0014] This invention equips each nail box with a readable and writable information storage unit and introduces an intelligent scheduling algorithm into the control device, enabling the control device to make decisions based on global real-time data at all times. When a new nail request is received, the control device can immediately generate the optimal nail box scheduling order based on the latest nail box inventory information and equipment status, thereby greatly improving the system's response speed and scheduling flexibility to changes in production tasks. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of an automatic rivet management system disclosed in an embodiment of the present invention; Figure 2 This is a flowchart illustrating an automatic rivet management method disclosed in an embodiment of the present invention. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, or product comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, apparatus, or products.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] Please see Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of an automatic rivet management system disclosed in an embodiment of the present invention. Figure 1 As shown, the automatic rivet management system includes: The rivet-adding device 101 is used to obtain the posture and model of the rivets in each rivet box and write them into the information storage unit of each rivet box as the rivet box information. In an optional embodiment, the nail-adding device includes: The information recognition module is used to identify the posture and model of the rivets in each rivet box through an image recognition algorithm, as the rivet box information of the rivet box; The information writing module is used to write each piece of information from a nail box to the information storage unit of the corresponding nail box.

[0021] In this optional embodiment, the information recognition module may consist of a high-speed industrial camera, a matching light source system, and an image processing unit. The information recognition module acquires clear images of the rivets inside the rivet box using the high-speed industrial camera, and then uses image processing algorithms to accurately identify the rivet type and orientation. Type recognition is mainly based on the rivet's physical dimensions, head shape, color, and other characteristics, achieved through feature matching with a pre-set rivet code database. Orientation recognition aims to determine whether the rivet head orientation meets the requirements for subsequent automated grasping and use, ensuring that only rivets with qualified orientations are conveyed, thereby guaranteeing a smooth and efficient production process. Orientation judgment can be calculated by analyzing the rivet's contour symmetry, the position of key points, and its angle with the horizontal plane.

[0022] In this optional embodiment, the image recognition algorithm can use DenseNet network, YOLO network, Faster R-CNN network, etc., and the embodiments of the present invention are not limited thereto.

[0023] As can be seen, this optional embodiment, by adding a dedicated information identification module and an information writing module, and by using an image recognition algorithm to automatically obtain the rivet posture and model, achieves complete automation of the rivet box information collection process. This avoids the subjective errors and efficiency bottlenecks that may be caused by manual input, and ensures that the rivet information carried by each rivet box can be quickly, accurately and consistently extracted and solidified into its information storage unit. This lays a reliable data foundation for subsequent precise scheduling and traceability, and improves the automation level and data accuracy of the system from the source.

[0024] In an optional embodiment, the information storage unit is an RFID chip.

[0025] RFID (Radio Frequency Identification) is a wireless communication technology that uses radio waves to automatically identify target objects and obtain relevant data without contact. It mainly consists of an electronic tag (RFID chip) attached to the object, a reader for reading and writing tag information, and a central system for processing the data. In this optional embodiment, after acquiring the nail box information, the integrated RFID reader transmits a specific frequency radio frequency signal to the passive RFID chip on the nail box via an antenna. The electromagnetic field energy generated by this signal provides power to the chip, activating it and putting it into a read / write state. Subsequently, the reader encodes the nail box information and modulates it onto a carrier signal, which is then transmitted through the antenna. Upon receiving this signal, the RFID chip's storage unit demodulates and decodes it, writing the new information into its internal storage area, thus completing the information binding. When the nail box is fed into the slot of the nail feeding device, the RFID reader on the device also emits a radio frequency signal to activate the RFID chip within range. The RFID chip uses the energy it receives to reflect the nail box information it stores back to the reader. After receiving this feedback signal, the reader antenna demodulates and decodes it to accurately obtain the nail box information and upload it to the control device. This achieves seamless, efficient and reliable automatic identification and data collection of the nail box's identity and content.

[0026] As can be seen, this optional embodiment utilizes the characteristics of RFID chips, such as non-contact reading and writing, reliable data storage, rewritable and re-erasable capabilities, and strong resistance to harsh industrial environments. This enables the nail boxes to be quickly, batch-wise, and reliably identified and updated during the circulation process, significantly improving the efficiency and reliability of information interaction and ensuring the real-time performance and accuracy of data acquisition under high-speed production conditions.

[0027] The staple feeding device 102 is used to generate a staple box identifier for each staple box, read the corresponding staple box information, send it to the control device, and deliver the staple box to the staple-using device according to the staple box identifier sent by the control device. In an optional embodiment, the staple feeding device includes: The information reading module is used to read the nail box information from the information storage unit of each nail box, generate a nail box identifier for each nail box, and send the nail box information and nail box identifier of each nail box to the control device; The nail box delivery module is used to deliver nail boxes to the nail-using equipment based on the nail box identifier sent by the control device.

[0028] As can be seen, this optional embodiment obtains nail box information in real time through the information reading module and generates a unique identifier for the nail box. Combined with the nail box transportation module receiving instructions and executing transportation actions, it realizes a closed loop of information flow and instruction flow between the nail delivery device and the control device, enabling the entire system to operate collaboratively and be precisely controlled based on real-time and accurate nail box inventory and status information.

[0029] The control device 103 is used to receive the nailing request from the nailing device, generate the nail box scheduling order based on all the nail box information, and send the nail box identifier to the nail delivery device in sequence according to the nail box scheduling order.

[0030] In an optional embodiment, the nail box information may also include the number of rivets in the nail box.

[0031] Please see Figure 2 As shown, Figure 2 This is a flowchart illustrating an automatic rivet management method disclosed in an embodiment of the present invention, comprising: S201. The rivet-adding device acquires the posture and model of the rivets in each rivet box and writes them into the information storage unit of each rivet box as the rivet box information. In this optional embodiment, for the specific definition of nail box information, how to obtain nail box information, and how to store and transmit nail box information, please refer to the relevant descriptions in the embodiments of the automatic rivet management system. The embodiments of the present invention will not repeat them.

[0032] S202. The staple feeding device generates a staple box identifier for each staple box, reads the corresponding staple box information, and sends it to the control device; S203. The control device receives the nail-using request from the nail-using device and generates a nail box scheduling order based on all the nail box information. In an optional embodiment, the step of generating the stapler scheduling order based on all stapler information includes: Multiple nail box scheduling sequences are randomly generated, and the nail box scheduling sequence includes multiple nail box identifiers; Calculate the fitness of each pinbox scheduling sequence based on a predefined fitness function; Based on a preset threshold, data is selected from all nail box scheduling sequences according to the fitness to obtain a pre-selected scheduling sequence; The pre-selected scheduling sequence is subjected to data crossover and random mutation operations to obtain the updated sequence; Iteratively perform data selection, data crossover, and random mutation operations until the preset convergence condition is met; Select the sequence with the highest fitness from the last update sequence as the pinbox scheduling order.

[0033] In this optional embodiment, a certain number of initial nail box scheduling sequences are randomly generated. Each sequence represents an individual and a possible nail box delivery order, with each gene in the sequence corresponding to a specific nail box identifier. Then, an iterative optimization phase begins. First, the fitness of each individual is evaluated according to a predefined fitness function, and the fitness score of each individual is calculated. After evaluation, individuals with fitness scores exceeding a preset threshold are retained, while individuals with fitness scores below the preset threshold are eliminated, resulting in a pre-selected scheduling sequence. Then, through a crossover operation, several pinbox identifiers between different individuals are exchanged. For example, each pre-selected scheduling sequence includes 6 pinbox identifiers. There are two pre-selected scheduling sequences, 1-2-5-6-4-3 and 4-2-3-1-6-5. The last two pinbox identifiers of the two pre-selected scheduling sequences are exchanged, resulting in 1-2-5-6-6-5 and 4-2-3-1-4-3. Finally, through a mutation operation, the pinbox identifier at a certain position in an individual is randomly changed with a certain probability, thereby introducing new genetic characteristics and maintaining population diversity. For example, the mutation operation, given two pre-selected scheduling sequences after crossover operations (1-2-5-6-6-5 and 4-2-3-1-4-3), involves randomly changing the third pin identifier, resulting in 1-2-4-6-6-5 and 4-2-6-1-4-3. This data selection, crossover, and random mutation process is iterated until a preset convergence condition is met. The final output is the pin scheduling sequence represented by the individual with the highest fitness in the current population, serving as the optimal instruction for the pin delivery device to perform automated delivery operations. The convergence condition here can be reaching the maximum number of iterations or the change in fitness score after iteration being less than a preset fitness change threshold.

[0034] As can be seen, this optional embodiment employs a genetic algorithm framework to generate the nail box scheduling order, addressing this complex combinatorial optimization problem by simulating natural selection and genetic evolution mechanisms. By randomly generating an initial population, calculating fitness to evaluate sequence quality, and iteratively performing selection, crossover, and mutation operations, the algorithm can efficiently search for near-optimal solutions within a vast space of possible sequences. This method avoids the computational burden of exhaustive search, dynamically adapts to different nail box states and production tasks, and seeks the scheduling scheme with the shortest total job time, thereby optimizing production efficiency.

[0035] In an optional embodiment, the step of calculating the fitness of each pinbox scheduling sequence according to a predefined fitness function includes: The time consumption for each rivet scheduling sequence is calculated based on the number of remaining rivets in each rivet box, the types of rivets requested, the length of the rivet delivery path, and the historical changeover time; the time consumption includes the rivet box movement time and the rivet box replacement time. The reciprocal of the time consumed is calculated as the fitness.

[0036] In this optional embodiment, for any given nail box scheduling sequence, each nail box switch in the nail box scheduling sequence is first analyzed; for each switch, the movement time of the switch is calculated by calculating the physical distance between the current nail box slot and the target nail box slot, and combining it with the rated movement speed of the nail feeding device drive mechanism; the nail box replacement time is not a fixed value, but is dynamically calculated by a prediction model trained based on historical operation data. The input of this model includes the number of remaining rivets in the current nail box, whether the rivet model in the target nail box to be switched to is consistent with the currently used model, and the historical average replacement time database record corresponding to the target nail box model; finally, the total time of the switch is the sum of the movement time and the nail box replacement time, and the total time consumption corresponding to the entire scheduling sequence is the sum of the times of all consecutive switching operations in the sequence.

[0037] As can be seen, this optional embodiment explicitly defines the fitness function as the reciprocal of the total time consumption and incorporates key factors such as the number of remaining rivets, target model, path length, and historical replacement time into the time consumption calculation model. This makes the optimization objective of the genetic algorithm closely aligned with the actual physical production process, and the high-fitness solution sought directly corresponds to the scheduling sequence with shorter replacement and movement times, thus improving the practical effectiveness of the algorithm's optimization results.

[0038] In an optional embodiment, the step of generating the stapler scheduling order based on all stapler information includes: Map the slots of each nail box in the nail feeding device to path nodes, and initialize the path pheromone concentration between each node; Multiple path-building individuals participate in path search in parallel. Each path-building individual constructs a nail box access path from the starting node to the target node through a probabilistic selection method based on the current pheromone concentration and path length. The starting node is the currently selected slot, and the target node is the slot that needs to be accessed to complete the nail request. Based on each path, construct the total length of the individual generated pinbox access path, and update the pheromone concentration between nodes on the pinbox access path; The execution path construction and pheromone concentration update steps are iterated until the preset number of iterations is reached; The access sequence of the nail box corresponding to the nail box access path with the highest pheromone concentration is used as the nail box scheduling order.

[0039] In this optional embodiment, the method for generating the nail box scheduling order employs an ant colony optimization algorithm for path optimization. First, the physical slots where each nail box is stored in the nail delivery device are mapped to path nodes in the algorithm, and the path pheromone concentration between each node is initialized to a fixed constant value. Then, multiple path-building individuals independently construct complete access paths from the starting node to the target node in parallel. Each path-building individual uses a probabilistic selection strategy when choosing the next node to visit at each step. Its selection probability is influenced by both the current pheromone concentration between nodes and the path length; edges with higher pheromone concentrations and shorter path lengths are more likely to be selected. For example, a path-building individual might start from node A, probabilistically visit node B, then choose to visit node C, and finally reach node D, thus constructing an access path A->B->C->D. After all path-building individuals have completed path construction, the pheromone concentration of each edge on the path is updated based on the total length of each constructed path. The shorter the total length of the path, the greater the pheromone increment obtained by each edge it contains. For example, if the total length of path A->B->C->D is much shorter than another path A->C->B->D, then the three connections AB, BC, and CD on the former path will all receive significant pheromone enhancement. This path construction and pheromone update process is iterated repeatedly until a preset number of iterations is reached. Finally, the node access sequence corresponding to the path with the highest pheromone concentration is selected as the final nail box scheduling order to control the efficient operation of the nail delivery device.

[0040] As can be seen, this optional embodiment uses the principle of ant colony optimization to generate the scheduling order and solves the path optimization problem by simulating a pheromone positive feedback mechanism. By mapping slots to nodes, initializing pheromones, and having multiple search individuals construct paths in parallel, the algorithm can explore multiple possible solutions simultaneously. The pheromone concentration is updated based on the total path length, making subsequent searches more inclined to select the better path. Through multiple iterations, it eventually converges to a high-performance nail box access sequence, thereby effectively reducing the idle travel time of the nail delivery device and optimizing the overall delivery efficiency.

[0041] In an optional embodiment, the pheromone concentration is updated according to the following formula: ; in, Indicates the first In the next iteration, the node To the node pheromone concentration along the path For a predefined volatility coefficient, Representative at the In the nth iteration, the 1st In the path construction of an individual, the selected nail box access path is constructed from the node. To the node The increased pheromone concentration along the path, This indicates the number of individuals constructed along the path.

[0042] As can be seen, this optional embodiment precisely defines the pheromone update rules, encompassing both the evaporation process of existing pheromones to forget outdated information and the pheromone increments released by all search individuals along their paths in the current iteration. This dynamic update mechanism, in principle, ensures that the algorithm can achieve a balance between exploring new paths and utilizing known good paths, avoiding premature entrapment in local optima, thus enabling more efficient global search and ultimately obtaining a better pin-box scheduling order.

[0043] S204. The control equipment sends the nail box identifier to the nail feeding equipment in sequence according to the nail box scheduling order; For example, if the nail box scheduling sequence is 1-2-5-6, the control device will send nail box identifier 1, nail box identifier 2, nail box identifier 5, and nail box identifier 6 to the nail delivery device in sequence according to the preset time interval. S205. The nail feeding device delivers the nail box to the nail using device according to the nail box marking.

[0044] In an optional embodiment, the pin request includes a priority, and the method further includes: Determine whether the priority of the received pending pin request is higher than the priority of the currently executing pin request; If so, record the execution status in the nail box scheduling sequence; Based on the nail box information, filter out the nail boxes that match the model of the nail request to be executed from all nail boxes, and select the nail box that is in an idle state and has the shortest selection path as the target nail box. Send the nail box identifier of the target nail box to the nail feeding device; Send the nail box identifier to the nail delivery device according to the execution status of the nail box scheduling sequence.

[0045] As can be seen, this optional embodiment, by introducing a priority-based preemptive scheduling mechanism, empowers the system to handle urgent order insertion tasks. When a high-priority request arrives, the system can pause the current task, save its state, and quickly schedule the nearest available target task box to respond first. Once completed, the original task is automatically resumed. This mechanism, based on interrupt management and resource rescheduling, breaks the rigid pattern of traditional sequential execution, greatly enhancing the flexible responsiveness of the production system and better adapting to the dynamic changes in order priorities in actual production.

[0046] In summary, the rivet automatic management method and system disclosed in this invention equips each rivet box with a readable and writable information storage unit and introduces an intelligent scheduling algorithm into the control device. This enables the control device to make decisions based on global real-time data at all times. When a new rivet request is received, the control device can immediately and dynamically generate the optimal rivet box scheduling order based on the latest rivet box inventory information and equipment status, thereby greatly improving the system's response speed and scheduling flexibility to changes in production tasks. Therefore, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0047] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. An automatic rivet management system, characterized in that, The system includes: A rivet-adding device is used to obtain the posture and model of the rivets in each rivet box and write them into the information storage unit of each rivet box as the rivet box information. The staple feeding device is used to generate a staple box identifier for each staple box, read the corresponding staple box information, send it to the control device, and deliver the staple box to the staple-using device according to the staple box identifier sent by the control device. The control device is used to receive the nailing request from the nailing device, generate the nail box scheduling order based on all the nail box information, and send the nail box identifier to the nail delivery device in sequence according to the nail box scheduling order.

2. The rivet automatic management system according to claim 1, characterized in that, The staple-adding equipment includes: The information recognition module is used to identify the posture and model of the rivets in each rivet box through an image recognition algorithm, as the rivet box information of the rivet box; The information writing module is used to write each piece of information from a nail box to the information storage unit of the corresponding nail box.

3. The automatic rivet management system according to claim 2, characterized in that, The information storage unit is an RFID chip.

4. The automatic rivet management system according to claim 1, characterized in that, The staple feeding equipment includes: The information reading module is used to read the nail box information from the information storage unit of each nail box, generate a nail box identifier for each nail box, and send the nail box information and nail box identifier of each nail box to the control device; The nail box delivery module is used to deliver nail boxes to the nail-using equipment based on the nail box identifier sent by the control device.

5. An automatic rivet management method, characterized in that, include: The rivet-adding device acquires the posture and model of the rivets in each rivet box and writes them into the information storage unit of each rivet box as the rivet box information. The staple feeding device generates a staple box identifier for each staple box, reads the corresponding staple box information, and sends it to the control device; The control device receives the nail-using request from the nail-using device and generates a nail box scheduling order based on all the nail box information; The control equipment sends the nail box identifiers to the nail feeding equipment in sequence according to the nail box scheduling order; The nail feeding device delivers the nail box to the nail using device according to the nail box markings.

6. The automatic rivet management method according to claim 5, characterized in that, The steps for generating the stapler scheduling order based on all stapler information include: Multiple nail box scheduling sequences are randomly generated, and the nail box scheduling sequence includes multiple nail box identifiers; Calculate the fitness of each pinbox scheduling sequence based on a predefined fitness function; Based on a preset threshold, data is selected from all nail box scheduling sequences according to the fitness to obtain a pre-selected scheduling sequence; The pre-selected scheduling sequence is subjected to data crossover and random mutation operations to obtain the updated sequence; Iteratively perform data selection, data crossover, and random mutation operations until the preset convergence condition is met; Select the sequence with the highest fitness from the last update sequence as the pinbox scheduling order.

7. The automatic rivet management method according to claim 6, characterized in that, The steps for calculating the fitness of each pinbox scheduling sequence based on a predefined fitness function include: The time consumption for each rivet scheduling sequence is calculated based on the number of remaining rivets in each rivet box, the types of rivets requested, the length of the rivet delivery path, and the historical changeover time; the time consumption includes the rivet box movement time and the rivet box replacement time. The reciprocal of the time consumed is calculated as the fitness.

8. The automatic rivet management method according to claim 5, characterized in that, The pin request includes a priority, and the method further includes: Determine whether the priority of the received pending pin request is higher than the priority of the currently executing pin request; If so, record the execution status in the nail box scheduling sequence; Based on the nail box information, filter out the nail boxes that match the model of the nail request to be executed from all nail boxes, and select the nail box that is in an idle state and has the shortest selection path as the target nail box. Send the nail box identifier of the target nail box to the nail feeding device; Send the nail box identifier to the nail delivery device according to the execution status of the nail box scheduling sequence.

9. The automatic rivet management method according to claim 5, characterized in that, The steps for generating the stapler scheduling order based on all stapler information include: Map the slots of each nail box in the nail feeding device to path nodes, and initialize the path pheromone concentration between each node; Multiple path-building individuals participate in path search in parallel. Each path-building individual constructs a nail box access path from the starting node to the target node through a probabilistic selection method based on the current pheromone concentration and path length. The starting node is the currently selected slot, and the target node is the slot that needs to be accessed to complete the nail request. Based on each path, construct the total length of the individual generated pinbox access path, and update the pheromone concentration between nodes on the pinbox access path; The execution path construction and pheromone concentration update steps are iterated until the preset number of iterations is reached; The access sequence of the nail box corresponding to the nail box access path with the highest pheromone concentration is used as the nail box scheduling order.

10. The automatic rivet management method according to claim 9, characterized in that, The pheromone concentration is updated according to the following formula: ； in, Indicates the first In the next iteration, the node To the node pheromone concentration along the path For a predefined volatility coefficient, Representative at the In the nth iteration, the 1st In the path construction of an individual, the selected nail box access path is constructed from the node. To the node The increased pheromone concentration along the path, This indicates the number of individuals constructed along the path.

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