A method and system for controlling the firing of a gas nailer

Abstract

The present application relates to the technical field of air nailer firing control, and discloses an air nailer firing control method and system. A micro-thrust is applied to the nail before main firing to make it produce millimeter-level displacement, and the motion parameters and contact pressure are collected in real time by optical displacement, acceleration and pressure sensors to reverse the distribution of sliding resistance along the channel; in combination with materials and temperature, the micro-deformation is mapped to the sliding resistance correction coefficient based on the Hertz contact theory. The main firing energy is determined by the sum of the nail mass, the target end speed, the sliding resistance work and the material resistance work; the process is controlled in millisecond-level control period, and the opening length and pressure of the aerodynamic power valve are dynamically adjusted by proportional-integral-derivative (PID) to realize closed-loop control. The nail posture angle is detected by a three-axis acceleration sensor, and is compensated according to the sine square function when exceeding the threshold value; the elastic modulus and roughness are obtained by the radio frequency identification label to identify the nail model and look up the table, and the correction coefficient is twice corrected. The nail depth consistency reaches ±0.3 mm, the floating nail rate is reduced from 8% to 0.5% or less, and the service life of the key components is prolonged by more than 30%.

Description

Technical Field

[0001] This application relates to the field of pneumatic nail gun firing control technology, and more specifically, to a pneumatic nail gun firing control method and system. Background Technology

[0002] In modern construction and decoration projects, pneumatic nail guns are widely used as efficient fixing tools in various processes such as timber structure construction and panel laying. To adapt to different materials and construction requirements, operators often need to change nails of different specifications. However, in actual use, due to slight differences between nail batches, the humidity of the construction environment, and potential residues from nail glue, the sliding resistance of the nail in the nail feed channel becomes unpredictable and unstable. For example, different batches of nails may have slight differences in surface coating thickness, nail head or tip geometry, and nail glue adhesion.

[0003] In addition, in humid environments, the adhesive on the nail strip may soften and form uneven residues on the inner wall of the nail feed channel. These factors together cause the sliding resistance experienced by the nail as it passes through the nail feed channel before being fired to exhibit characteristics that vary with the individual nail, the time of use, and environmental conditions. This resistance variation is difficult to predict and is nonlinear. Summary of the Invention

[0004] This invention discloses a firing control method and system for a pneumatic nail gun, aiming to solve the problems of unpredictable sliding resistance in the nail feeding channel caused by factors such as batch differences in nails, humid environment, and residual glue on the nail strip, which leads to mismatched firing energy, floating nails, excessive firing depth, jamming, and accelerated wear of the gun needle and sealing components.

[0005] The technical solution of the present invention includes: Firstly, a method for controlling the firing of a pneumatic nail gun is provided, comprising: applying a preset pushing force to the nail before main firing to cause the nail to undergo a millimeter-level micro-displacement within the nail feeding channel; during this displacement process, three types of sensors—optical displacement, motion state sensing, and pressure—simultaneously collect data on the nail's position, local motion, and contact pressure; obtaining the sliding resistance distribution information of the nail along the channel by inverting according to a preset correspondence table; calculating the micro-deformation depth according to Hertzian contact theory and mapping it to a first-level sliding resistance correction coefficient through a pre-stored multi-level correspondence table; identifying the nail model through an RFID tag or visual identification and obtaining the elastic modulus and surface roughness by looking up a table, and then combining the weighted values ​​from the multi-level correspondence table with the first-level correction coefficient to obtain a second-level correction coefficient; and judging accordingly. The system is designed to handle sliding resistance. Based on the pre-stored multi-dimensional correspondence table, the target end velocity level, sliding resistance work, and material resistance work are determined from the sliding resistance distribution, target firing depth, and target material type, and then summed to obtain the critical firing energy. When the attitude angle exceeds the threshold, attitude angle compensation is performed according to the pre-stored multi-level correspondence table. The opening duration and / or pneumatic pressure of the pneumatic power valve are determined from the pre-stored pneumatic parameter correspondence table as energy output parameters. The main firing process is decomposed into millisecond-level control cycles. The proportional-integral-derivative parameters are determined from the pre-stored multi-level parameter level table based on the deviation, deviation accumulation, and deviation change rate, and the energy output parameters are dynamically adjusted. When the accumulated energy output value reaches the critical firing energy, the pneumatic power valve is closed and the main firing action is executed.

[0006] Secondly, a pneumatic nail gun firing control system is provided, including an instruction acquisition module, a thrust application module, a multi-sensor synchronous acquisition module, a sliding resistance inversion and multi-level correction module, a critical firing energy determination and attitude angle compensation module, and a main firing execution and real-time feedback control module, all corresponding to the steps of the above method.

[0007] This invention achieves technical effects such as consistent nail penetration depth within ±0.3 mm, reduced floating nail rate from 8% to below 0.5%, and extended lifespan of key components by more than 30% through pre-firing micro-displacement detection, multi-sensor fusion perception, multi-level correction driven by multi-level correspondence tables, and millisecond-level closed-loop feedback control. Attached Figure Description

[0008] Figure 1 This is a schematic flowchart of a method for controlling the firing of a pneumatic nail gun according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a pneumatic nail gun firing control system provided in an embodiment of the present invention. Detailed Implementation

[0009] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0010] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0011] Traditional pneumatic nail guns typically fire based on preset energy output parameters of a standard, clean nail moving within an ideal feed path. However, in actual construction, factors such as batch variations in nails, humid environments, and residual adhesive on the nail strip can make the sliding resistance of the nail within the feed path unpredictable and unstable. This mismatch between preset parameters and actual working conditions often results in excessive or insufficient firing energy, leading to problems such as "floating nails" and "over-penetration." It can even cause mechanical interference between the gun pin and the stuck nail, resulting in jamming of the pneumatic nail gun, accelerated component wear, and shortened equipment lifespan.

[0012] In this regard, refer to Figure 1 , Figure 1 This is a flowchart illustrating a method for controlling the firing of a pneumatic nail gun according to an embodiment of the present invention. The method controls the firing process of the pneumatic nail gun and includes: S11, Obtain an instruction for initiating the firing operation of the pneumatic nail gun, the instruction carrying the target firing depth; S12, in response to the instruction, before initiating the main firing action, a preset pushing force is applied to the nail, causing the nail to produce a small displacement of a preset amplitude within the nail feeding channel; S13, during the process of the nail generating the minute displacement, multiple optical displacement sensors, multiple motion state sensing units, and multiple miniature pressure sensors arranged at intervals simultaneously collect the instantaneous position data, local motion data, and local pressure data between the nail and the inner wall of the nail feeding channel; wherein the motion parameters include the instantaneous position sequence calculated from the corrected instantaneous position data, the identified local acceleration difference, and the local contact area and local contact pressure calculated based on the local pressure data and the instantaneous position data; S14: Based on the motion parameters, the representative values ​​of the sliding resistance of the nail in different sections of the nail feeding channel are obtained. The sliding resistance distribution information of the nail in the nail feeding channel is obtained by splicing the representative values ​​of the sliding resistance of each section in the order of the sections. Based on the current elastic parameters of the nail material, the current hardness parameters of the inner wall material of the nail feeding channel, and the current temperature of the nail feeding channel, the micro-deformation depth between the nail and the inner wall of the nail feeding channel is calculated according to Hertzian contact theory, and the micro-deformation depth is mapped to a first-level sliding resistance correction coefficient. The current nail model information is identified by reading the RFID tag and / or the visual recognition device. The corresponding nail elastic modulus and surface roughness are searched in the pre-stored nail material parameter database. The deviations of the nail elastic modulus from the reference elastic modulus and the deviations of the surface roughness from the reference surface roughness are weighted according to the corresponding sensitivity coefficients and then combined with the first-level sliding resistance correction coefficient to obtain a second-level sliding resistance correction coefficient. Based on the sliding resistance distribution information and the second-level sliding resistance correction coefficient, the sliding resistance state of the nail in the nail feeding channel is determined. S15, based on the correspondence between the sliding resistance distribution information and the target firing depth, the critical firing energy required for the main firing stage is calculated from the sliding resistance distribution information during the micro-displacement stage; wherein, the critical firing energy consists of three parts: the kinetic energy required for the nail to move at the target end velocity, the work done by the nail to overcome the sliding resistance along the nail feeding channel, and the work done by the material resistance required to drive the nail into the target material to the target firing depth; the target end velocity is obtained from the target firing depth in a pre-stored target end velocity level table, the work done by the nail to overcome the sliding resistance along the nail feeding channel is obtained by summing the representative values ​​of the sliding resistance in each section according to the section length, and the work done by the target material resistance is obtained from the target firing depth and the target material type in a pre-stored table. The critical firing energy required for the main firing stage is obtained by looking up the energy-depth level table first; the kinetic energy, the work done by the sliding resistance, and the work done by the material resistance are added together; the attitude data of the nail in the nail feeding channel is collected by a triaxial accelerometer and / or an inertial measurement unit, and when the absolute value of any attitude angle exceeds the preset allowable angle threshold, the square of the sine of the attitude angle is multiplied by a preset angle sensitivity coefficient, then added by 1, and multiplied by the critical firing energy to obtain the attitude angle compensated critical firing energy; the opening time and / or pneumatic pressure acting on the pneumatic power valve are obtained from the pre-stored pneumatic parameter correspondence table based on the critical firing energy or the attitude angle compensated critical firing energy as energy output parameters; S16, the execution process of the main firing action is decomposed into multiple control cycles with equal time intervals; within each control cycle, the multiple optical displacement sensors and the multiple miniature pressure sensors collect the instantaneous position data and local pressure data of the nail in real time, and calculate the representative value of the current sliding resistance; calculate the deviation between the representative value of the current sliding resistance and the preset target resistance value, and accumulate the cumulative deviation value of the previous control cycle to obtain the current cumulative deviation value, and simultaneously calculate the difference between the current deviation and the deviation of the previous control cycle to obtain the current deviation change rate; obtain the weighted sum of the proportional coefficient, integral coefficient, and differential coefficient to obtain the current deviation rate. The energy adjustment amount for the current control cycle is determined by the energy adjustment amount and the basic energy output parameters, which together determine the opening duration and / or pneumatic pressure of the pneumatic power valve within the current control cycle. The cumulative energy output value is obtained by accumulating the energy adjustment amounts for each control cycle. When the cumulative energy output value reaches the critical firing energy, the pneumatic power valve is closed, and the main firing action is completed. The proportional coefficient, integral coefficient, and derivative coefficient are all selected from a pre-stored multi-level parameter range table according to the range where the current deviation is located. Based on the adjusted energy output parameters, the firing actuator of the pneumatic nail gun is controlled to perform the main firing action.

[0013] This application introduces a micro-displacement stage before the main firing stage to sense the sliding resistance of the nail in the nail feeding channel in real time, and dynamically adjusts the main firing energy output accordingly. This effectively solves the problem of inaccurate firing caused by resistance changes in traditional pneumatic nail guns, and significantly improves firing accuracy and equipment reliability.

[0014] To facilitate understanding of the key technical features of this application, the key terms involved are explained as follows: Micro-displacement: A small, preset amplitude movement (typically 0.5 mm to 2 mm) of the nail within the nail feed channel before the main firing action, used to detect the sliding resistance of the nail without completing the firing.

[0015] Motion parameters: Data collected during minute displacement processes that reflect the nail's motion state (instantaneous position, velocity, acceleration, contact pressure, etc.) can indirectly or directly reflect the sliding resistance of the nail in the nail feeding channel.

[0016] Sliding resistance status: The magnitude and nature of the resistance experienced by the nail in the nail feeding channel, determined by motion parameters, including "high resistance", "medium resistance" and "low resistance" levels.

[0017] Critical firing energy: The minimum energy required to accurately drive the nail into the target depth during the main firing phase. It consists of three parts: the kinetic energy corresponding to the end velocity of the nail target, the work done to overcome sliding resistance along the nail delivery channel, and the work done by the resistance to drive the nail into the target material.

[0018] The core idea of ​​this application is to sense the sliding resistance of the nail in real time during the micro-displacement stage before the main firing, and dynamically adjust the critical firing energy and the energy output parameters of the pneumatic power valve during the main firing stage accordingly, so as to achieve closed-loop control of "detection → calculation → adjustment → execution".

[0019] In practice, the system first receives a firing command carrying the target firing depth. Before the main firing, a preset pushing force is applied to the nail through a brief, small opening of a micro cylinder, electromagnetic push rod, or main pneumatic power valve, causing the nail to undergo a millimeter-level micro-displacement. During this displacement, an optical displacement sensor, a motion state sensing unit, and a pressure sensor simultaneously collect data on the nail's instantaneous position, local acceleration, and contact pressure. The corrected multi-sensor data is then converted into information on the sliding resistance distribution along the nail feeding channel according to a preset correspondence table. The target end speed level, sliding resistance work, and material resistance work are retrieved from a pre-stored multi-level correspondence table and accumulated to obtain the critical firing energy. The opening duration and / or air pressure of the pneumatic power valve are retrieved from a pre-stored pneumatic parameter correspondence table as energy output parameters. The firing actuator is then controlled according to the adjusted parameters to complete the main firing action.

[0020] The overall technical solution of the pneumatic nail gun firing control method proposed in this application will be specifically described below through a complete engineering embodiment.

[0021] Assuming an F30 pneumatic nail gun is used, along with a standard round nail of 50 mm in length (weighing approximately 1.2 grams), a target penetration depth of 20 mm, and the target material being pine wood, the pneumatic power source operates at a pressure of 0.7 MPa and has a pneumatic energy conversion efficiency of approximately 0.65.

[0022] Step 1: Parameter Initialization and Micro-Displacement Initiation: Upon receiving a firing command with a target firing depth of 20 mm, the system first queries the nail material parameter database to confirm that a standard carbon steel round nail (elastic modulus approximately 200 gigapascals, surface roughness approximately 1.6 micrometers) is being used. Simultaneously, the triaxial accelerometer begins collecting attitude data of the nail within the nail feed channel, measuring a pitch angle of approximately 0.8°, a yaw angle of approximately 0.5°, and a roll angle of approximately 0.3°, all less than the preset allowable angle threshold of 2°, therefore no attitude angle compensation is required.

[0023] Step 2, Micro-displacement stage execution: The push force application module drives the micro cylinder to apply a preset push force to the nail, causing the nail to produce a micro-displacement of about 0.8 mm in the nail feeding channel.

[0024] Step 3: Motion Parameter Acquisition: Five laser displacement sensors, spaced at intervals along the nail feeding path, synchronously acquire instantaneous position data of the nails at a sampling frequency of 10 kHz. Simultaneously, four MEMS accelerometers capture local acceleration data of the nails at their respective positions. After consistency comparison and Kalman filtering correction, the instantaneous position sequence and instantaneous velocity sequence of the nails at each sampling moment are obtained.

[0025] Step 4: Sliding Resistance Inversion and Distribution Estimation: Based on the instantaneous position sequence and local acceleration differences, the distribution of sliding resistance along the feeding channel is obtained using a sliding resistance inversion algorithm. Assuming the sliding resistance at the five sampling positions is approximately 1.8, 2.0, 2.1, 2.3, and 2.5 Newtons (positions in millimeters), a continuous sliding resistance distribution function is obtained using linear interpolation.

[0026] Step 5: Calculation of Local Contact Mechanical Parameters: Based on the local pressure data collected by 10 miniature piezoelectric pressure sensors and the instantaneous position data of the nail, the local contact area is approximately 0.5 square millimeters and the local contact pressure is approximately 10 MPa through finite element inverse calculation. Combining the hardness of the cemented carbide material on the inner wall of the nail feeding channel (Rockwell hardness HRC approximately 60) and the current nail feeding channel temperature of 25℃, the micro-deformation depth is calculated to be approximately 5 micrometers according to Hertzian contact theory.

[0027] Step Six: Multi-level Correction of Sliding Resistance: Based on the ratio of the micro-deformation depth (approximately 5 micrometers) to the reference deformation depth (approximately 4 micrometers), the first-level sliding resistance correction coefficient is calculated to be approximately 1.88 by substituting it into the first-level correction coefficient model; then, based on the nail material parameter database, the deviations between the nail's elastic modulus and the reference elastic modulus, and the deviations between the surface roughness and the reference surface roughness are corrected by weighting with sensitivity coefficients to obtain the second-level sliding resistance correction coefficient of approximately 1.92.

[0028] Step 7: Combining the three parts of critical firing energy: Based on the sum of the kinetic energy required for the nail to move at the target end velocity (approximately 21.5 meters per second), the work done to overcome sliding resistance along the nail delivery channel (approximately 0.045 joules), and the work done to overcome material resistance to drive the nail into the pine wood to a depth of 20 millimeters (approximately 0.95 joules), the critical firing energy required for the main firing stage is approximately 1.273 joules.

[0029] The determination of the critical firing energies for the above three parts is obtained by looking up a pre-stored correspondence table: the kinetic energy required for the nail to move at the target end velocity is obtained by looking up the corresponding target end velocity level in the pre-stored target end velocity level table from the target firing depth, and then calculated from the level and the nail mass; the work done to overcome the sliding resistance along the nail feeding channel is obtained by summing the representative values ​​of the sliding resistance of each section according to the section length; the work done to overcome the material resistance required to drive the nail into the target material to the target firing depth is obtained by looking up a pre-calibrated energy-depth level table from the target firing depth and the target material type; the above three are added together to obtain the critical firing energy required for the main firing stage.

[0030] Step 8: Proportional-Integral-Derivative (PID) Real-Time Feedback Control: Considering the current pressure of the pneumatic power source is approximately 0.68 MPa (slightly lower than the rated value), the system enters the real-time feedback control stage. The control parameters are set as follows: proportional coefficient approximately 1.2, integral coefficient approximately 0.1, derivative coefficient approximately 0.3, and target resistance value approximately 2.3 Newtons. The control cycle is approximately 0.5 milliseconds. During the main firing process, within each control cycle, the system calculates the current sliding resistance by real-time acquisition of the nail's instantaneous position and dynamically adjusts the energy output parameters of the current control cycle according to the proportional-integral-derivative combination. When the cumulative value of the energy output parameters reaches the critical firing energy (approximately 1.273 Joules) (considering a pneumatic energy conversion efficiency of approximately 0.65), the pneumatic power valve closes, and the main firing action is completed.

[0031] The aforementioned proportional coefficient, integral coefficient, and derivative coefficient are all selected from a pre-stored multi-level parameter range table according to the range where the current deviation falls. The system pre-stores multi-level proportional coefficient range tables, multi-level integral coefficient range tables, and multi-level derivative coefficient range tables in non-volatile memory. Each range table divides the deviation into a finite number of discrete ranges according to a predetermined range rule (for example, the first range is when the absolute value of the deviation is less than 0.5 N, the second range is when the absolute value of the deviation is 0.5 to 1.0 N, the third range is when the absolute value of the deviation is 1.0 to 2.0 N, and the fourth range is when the absolute value of the deviation is greater than 2.0 N). Each range corresponds to a set of proportional-integral-derivative parameters. During actual firing, the system looks up the proportional coefficient, integral coefficient, and derivative coefficient in the corresponding range table according to the range where the current deviation falls, and then calculates the energy adjustment amount for the current control cycle by weighted summing of the three. This specific lookup method based on the pre-stored range tables makes it possible for the real-time feedback control method of this application not to perform complex parameter tuning calculations at the moment of firing, thereby ensuring the real-time performance and reliability of firing control.

[0032] Step Nine, Firing Effect Verification: The final driving depth of the nail, measured using a laser rangefinder, was 20.1 mm, with a deviation of only 0.1 mm from the target depth of 20 mm, far superior to the ±1.2 mm deviation of the traditional fixed energy scheme. Repeating the above process 1000 times, the standard deviation of the driving depth consistency was ±0.22 mm, and the incidence rates of floating nails, penetration, and jamming were 0.3%, 0.2%, and 0.1%, respectively, verifying the effectiveness and stability of the pneumatic nail gun firing control method proposed in this application in practical engineering.

[0033] As can be seen from the above comprehensive embodiments, the pneumatic nail gun firing control method proposed in this application organically integrates multiple technical means, such as micro-deformation calculation based on Hertzian contact theory, proportional-integral-derivative combined real-time feedback control, critical firing energy synthesis, nail attitude angle compensation, and nail material adaptive compensation, to form a complete and engineerable closed-loop control scheme for pneumatic nail gun firing energy. This scheme can not only accurately calculate the critical firing energy required in the main firing stage, but also dynamically respond to the impact of complex working conditions such as nail batch differences, environmental humidity, glue residue, and nail attitude and material changes on the firing effect through real-time feedback control and multiple compensation mechanisms, thereby significantly improving the firing accuracy and equipment reliability of the pneumatic nail gun.

[0034] To objectively verify the actual technical effect of the pneumatic nail gun firing control method proposed in this application, the inventors conducted comparative tests by building an experimental platform. The F30 pneumatic nail gun was used as the test platform. Both the traditional fixed energy output scheme and the dynamic adjustment scheme described in this application were employed. Under the same conditions—the same batch of nails, the same target firing depth (20 mm standard nail driven into pine wood), the same air source pressure (0.7 MPa), and the same ambient temperature (25°C)—1000 consecutive firing tests were conducted in each case.

[0035] The test results are shown in the table below: Table 1. Comparison of firing performance between the method of this application and the traditional method. Consistency of pin penetration depth (standard deviation) Approximately ±1.2 mm Approximately ±0.25 mm Improvement of approximately 79% Floating nail occurrence rate Approximately 8.3% Approximately 0.4% Improvement of approximately 95% Penetration (over-firing) rate Approximately 5.1% Approximately 0.3% Improvement of approximately 94% Incidence of jamming Approximately 2.7% Approximately 0.1% Improvement of approximately 96% cumulative firing life of the gun needle Approximately 300,000 times Approximately 400,000 times Extended by approximately 33% Cumulative firing life of the sealing ring Approximately 250,000 times Approximately 350,000 times Extended by approximately 40% The test results above show that the pneumatic nail gun firing control method proposed in this application, by sensing the sliding resistance in the small displacement stage before the main firing in real time, and combining the three-part synthesis method of critical firing energy with the proportional-integral-derivative combination real-time feedback control law to dynamically adjust the opening time and pneumatic pressure of the pneumatic power valve, can significantly reduce the standard deviation of nail penetration depth from ±1.2 mm to ±0.25 mm, reduce the incidence of floating nails, penetration and jamming from a few percent to a few thousandths, and extend the service life of the gun needle and sealing components by more than 30%.

[0036] In another set of comparative tests, the inventors tested the robustness of the proposed method under three typical conditions: batch differences in nails, humid environments, and residual glue on the nail strip. The test results showed that when the nail batch was changed, the average nail penetration depth deviation of the conventional method increased by 0.8 mm, while that of the proposed method increased by only 0.1 mm. In a test environment where the relative humidity increased from 45% to 95%, the floating nail rate of the conventional method increased from 8% to 14%, while that of the proposed method increased only from 0.4% to 0.9%. In a test simulating the presence of sticky residue on the inner wall of the nail feeding channel, the firing energy waste rate of the conventional method reached 23%, while the proposed method, through the identification and correction of the energy absorption effect of viscoelastic materials, controlled the firing energy waste rate to below 5%.

[0037] Furthermore, the inventors verified the actual compensation effects of attitude angle compensation and material adaptive compensation under two working conditions: changes in nail attitude angle (pitch angle, yaw angle, and roll angle from 0° to 8°) and changes in nail material (three typical materials: carbon steel nail, stainless steel nail, and galvanized nail). Test results show that after adding attitude angle compensation, the maximum deviation in nail penetration depth decreased from 0.6 mm to 0.15 mm; after adding material adaptive compensation, the difference in nail penetration depth between nails of different materials decreased from 0.9 mm to 0.2 mm, and the system completed adaptive calibration on the third firing after switching nail materials.

[0038] This application further proposes that the above-mentioned pneumatic nail gun firing control method also includes: Collect instantaneous position data during the process of the nail generating the minute displacement; Calculate the instantaneous acceleration data of the nail based on the instantaneous position data; The instantaneous acceleration data was analyzed to identify the changes in the nail movement in the early stage, and combined with the preceding firing data to identify whether there was an energy absorption effect of viscoelastic material in the nail feeding channel. When the energy absorption effect of the viscoelastic material is identified, the sliding resistance state is corrected according to the amount of absorption corresponding to the energy absorption effect. The energy output parameters are adjusted based on the corrected sliding resistance state.

[0039] Specifically, during the process of the nail's minute displacement, high-precision displacement sensors or optical sensors can be used to continuously and in real time collect the nail's instantaneous position data. This instantaneous position data can form a time series, accurately recording the nail's trajectory within the nail feeding channel.

[0040] Based on the collected instantaneous position data, the instantaneous velocity of the nail can be calculated using algorithms such as numerical differentiation, and then the instantaneous acceleration data can be further calculated. The instantaneous acceleration data can more sensitively reflect the changes in the net force acting on the nail during its movement, including forces from propulsion, mechanical friction, and viscoelastic damping.

[0041] In practical applications, by deeply analyzing the changing characteristics of instantaneous acceleration data in the early stages of nail movement—for example, observing the initial slope, peak value, and decay pattern of the acceleration curve—it is possible to identify the presence of energy absorption effects from viscoelastic materials within the nail feed channel. Viscoelastic materials typically exhibit unique damping or hysteresis effects in the early stages of motion, causing the acceleration response to differ from that of pure mechanical friction. Furthermore, by combining previous firing data—that is, motion parameters and firing effect data collected under similar conditions during historical firing processes—a benchmark model or pattern library can be established to compare the acceleration characteristics during the current firing process, thereby more accurately identifying the presence of viscoelastic materials and their energy absorption effects.

[0042] Furthermore, when the energy absorption effect of viscoelastic materials is identified, the previously determined sliding resistance state needs to be corrected based on the amount of energy absorbed. The amount of energy absorbed can be estimated by analyzing the difference between acceleration data and the theoretical case without viscoelastic resistance, or by using a pre-calibrated mechanical model of the viscoelastic material. By removing or compensating for this "resistance" caused by the viscoelastic material from the total sliding resistance, a sliding resistance state closer to real mechanical friction can be obtained.

[0043] Therefore, based on the corrected sliding resistance state, the critical firing energy required for the main firing stage can be calculated more accurately, and the energy output parameters of the pneumatic power valve acting on the pneumatic nail gun can be adjusted accordingly to ensure that appropriate energy is provided in the main firing action.

[0044] The solution of the present application effectively solves the problem of inaccurate sliding resistance judgment that may exist in the conventional method under the complex environment of the nail feeding channel by introducing a recognition and correction mechanism for the energy absorption effect of viscoelastic substances.

[0045] In some preferred embodiments, the description is given below through a specific example. Assume that in a certain nailing operation of a pneumatic nail gun, a small amount of viscous grease residue has accumulated in the nail feeding channel due to long-term use. After the user issues a firing command and sets the target driving depth, the system first starts a micro-displacement phase. In this phase, the high-frequency optical displacement sensor continuously collects the instantaneous position data of the nail. These data are transmitted to the control unit, which calculates the instantaneous acceleration data of the nail based on these position data. By analyzing the curve characteristics of the instantaneous acceleration data in the initial stage of movement (for example, the first 5 milliseconds), it is found that its rising slope is significantly lower than the reference curve in the absence of viscous substances, and there is slight damped oscillation. Combining the correlation between similar acceleration features in historical firing data and actual firing effects, the system identifies that there is an energy absorption effect of viscoelastic substances in the nail feeding channel, and estimates that the absorbed amount is X joules. Subsequently, the system corrects the sliding resistance state determined based on the initial motion parameters, deducts the energy absorption amount of X joules from the total resistance, and obtains a more realistic mechanical sliding resistance state. Based on the corrected sliding resistance state and the target driving depth, the system calculates the critical firing energy required for the main firing phase, and adjusts the energy output parameters of the pneumatic power valve accordingly. For example, if the calculated energy before correction is E1, after correction, since the viscoelastic absorption is excluded, the actual required mechanical energy may be E2 (E2<E1), and the system will adjust the pneumatic power valve to make it output energy matching E2. Finally, the firing actuator of the pneumatic nail gun performs the main firing action with the adjusted energy, ensuring that the nail can accurately reach the target driving depth, and avoiding the problem of insufficient driving depth caused by the viscous grease absorbing energy.

[0046] The present application further proposes that the step of determining the sliding resistance state of the nail in the nail feeding channel according to the collected motion parameters includes: Monitoring the change of the accumulation amount of the viscous residue in the nail feeding channel with the number of firings; Predicting the physical property change trend of the viscous residue according to the change situation of the accumulation amount, and predicting the predicted value of the sliding resistance in the nail feeding channel at the next firing; Determining the sliding resistance state of the nail in the nail feeding channel according to the motion parameters, the change situation of the accumulation amount, the physical property change trend, and the predicted value of the sliding resistance.

[0047] Specifically, monitoring the accumulation of sticky residue within the nail feed channel with the number of shots involves using sensors integrated inside the pneumatic nail gun or external detection devices to acquire data on the amount of sticky substances (such as lubricating oil, nail coating wear particles, etc.) deposited on the inner wall of the nail feed channel in real time or periodically. This data can include the thickness, coverage area, or mass of the residue, and its correlation with each shot is recorded, thus forming a trend chart or database of the accumulation amount changing with the number of shots. The purpose is to quantify the dynamic changes in the internal environment of the channel, providing basic data for subsequent assessment of sliding resistance.

[0048] This process involves predicting the changing trends of the physical properties of the sticky residue based on the cumulative changes, and forecasting the sliding resistance value within the nail feed channel during the next firing. This can be understood as inferring the evolution of the sticky residue's viscosity, coefficient of friction, hardness, and other physical properties during future firings, based on historical data and a pre-defined model. For example, with increasing firing counts, some sticky residues may dry out, harden, or become more viscous. Furthermore, by combining these predicted changes in physical properties, the magnitude of the sliding resistance the nail may encounter within the nail feed channel during the next firing can be predicted. This can be achieved by establishing physical models, machine learning algorithms, or consulting pre-defined empirical curves, with the aim of providing a forward-looking reference value for sliding resistance to address dynamic changes in the channel environment.

[0049] In practical applications, the sliding resistance state of the nail within the nail delivery channel is determined based on changes in motion parameters, cumulative volume, trends in physical properties, and predicted sliding resistance values. Specifically, this involves comprehensively analyzing real-time collected nail motion parameters (e.g., velocity, acceleration) with historical cumulative volume data, predicted trends in the physical properties of the residue, and predicted sliding resistance values. For example, methods such as weighted averaging, fuzzy logic judgment, or multivariate regression analysis can be used to fuse this information, resulting in a more accurate and comprehensive assessment of the sliding resistance state. The aim is to ensure that the assessment of the sliding resistance state is not only based on instantaneous data but also fully considers the long-term evolution and future trends of the channel's internal environment, thereby improving the accuracy and robustness of the assessment.

[0050] The solution proposed in this application effectively compensates for the shortcomings of relying solely on instantaneous motion parameters to determine the sliding resistance state by introducing the monitoring and prediction of the accumulation of viscous residues and the trend of their physical properties in the nail feeding channel.

[0051] In some preferred embodiments, the inner wall of the nail feeding channel can be integrated with a miniature optical sensor or a capacitive sensor to monitor the thickness or dielectric constant change of the viscous residue in real time, thereby quantifying the accumulation. The system's internal controller can store historical firing data and corresponding residue accumulation amounts, and utilize a neural network model to learn and predict the changing trends of the residue's physical properties, such as viscosity and friction coefficient, with the number of firings. For example, when the system detects that the residue accumulation reaches a certain threshold and predicts that its viscosity will increase significantly, even if the current motion parameters show normal sliding resistance, the system will combine this predictive information to classify the sliding resistance state as "high risk," and adjust the firing energy output parameters accordingly to ensure that the nail reaches the target firing depth, avoiding insufficient firing due to residue accumulation.

[0052] This application further proposes a more accurate and comprehensive method for acquiring motion parameters to improve the reliability of firing control.

[0053] The steps for collecting the motion parameters of the nail include: placing multiple optical displacement sensors and multiple motion state sensing units at intervals along the path the nail is pushed; each optical displacement sensor independently collects instantaneous position data when the nail passes its position, and each motion state sensing unit independently captures local motion data when the nail passes its position; comparing the consistency of the instantaneous position data collected by the multiple optical displacement sensors, and correcting any data deviations; comparing the local motion data captured by each motion state sensing unit to identify the differences in the motion state of the nail at different positions on the path; and calculating the motion parameters of the nail based on the corrected instantaneous position data and the identified differences in motion state.

[0054] Specifically, the optical displacement sensor can be understood as a non-contact sensor that accurately measures the instantaneous position of the nail within the nail feeding channel by emitting and receiving light signals. By placing multiple such sensors at intervals along the path the nail is pushed, precise position sequence data of the nail at different time points and spatial locations can be obtained, thereby constructing the complete displacement trajectory of the nail. The purpose is to provide high-precision position information as the basis for subsequent motion parameter calculations.

[0055] The motion state sensing unit can be understood as a sensor used to capture the local motion characteristics of the nail, such as a miniature accelerometer or velocity sensor. These units are spaced apart along the nail's path and can independently capture local motion data, such as instantaneous velocity or instantaneous acceleration, as the nail passes its position. The purpose is to supplement the global position information provided by the optical displacement sensor, providing more detailed local motion information and helping to identify subtle changes or anomalies during the motion process.

[0056] In practical applications, consistency comparison of instantaneous position data collected by multiple optical displacement sensors refers to cross-validating position data from different sensors. For example, when a nail passes two adjacent optical displacement sensors, its position data should remain consistent within a reasonable time window. When data deviations exist, various correction methods can be used, such as weighted averaging, Kalman filtering, or prediction models based on historical data, to eliminate sensor noise or sporadic errors and ensure the accuracy and reliability of the position data.

[0057] Furthermore, by comparing the local motion data captured by each motion state sensing unit, the aim is to identify differences in the motion state of the nail at different locations along the path. For example, by comparing the instantaneous acceleration or velocity at different locations, it is possible to detect whether there are sudden changes in local friction, sticking, or jamming phenomena in the nail feeding channel. These differences are crucial for accurately assessing sliding resistance.

[0058] Therefore, based on the corrected instantaneous position data and the identified differences in motion states, the motion parameters of the nail can be comprehensively calculated. These motion parameters not only include the instantaneous velocity and acceleration of the nail, but also allow for the derivation of the sliding resistance distribution information of the nail at different positions within the nail feeding channel, thus comprehensively reflecting the sliding resistance state of the nail within the nail feeding channel.

[0059] This application's solution achieves comprehensive and high-precision acquisition of nail motion parameters by spaced multiple optical displacement sensors and motion state sensing units along the nail's pushing path. The collaborative operation of multiple optical displacement sensors provides redundant and accurate instantaneous position data, and through consistency comparison and correction processing, effectively eliminates measurement errors that may exist in a single sensor, ensuring the reliability of the position data. Simultaneously, the local motion data captured by multiple motion state sensing units provides dynamic response information of the nail at different positions, such as local acceleration or velocity changes, which is crucial for identifying subtle changes in sliding resistance within the nail feeding channel. By comprehensively utilizing these corrected instantaneous position data and identified motion state differences, more accurate and comprehensive motion parameters can be calculated, overcoming the limitations of data acquisition from single or simple sensors and providing a solid data foundation for subsequent judgment of the nail's sliding resistance state within the nail feeding channel.

[0060] In some preferred embodiments, a specific example is given below. Assume that within the nail feed channel of the pneumatic nail gun, along the path the nail is pushed, a laser displacement sensor is placed every 5 millimeters as an optical displacement sensor, for a total of 5 sensors. Simultaneously, a miniature MEMS accelerometer is placed between each laser displacement sensor as a motion sensing unit, for a total of 4 sensors. When the nail undergoes a slight displacement under a preset pushing force, all laser displacement sensors simultaneously acquire the instantaneous position data of the nail, while the accelerometers simultaneously capture the instantaneous acceleration data of the nail as it passes its position.

[0061] Specifically, laser displacement sensors 1, 2, 3, 4, and 5 collect position data of the nail at different times: P1(t), P2(t), P3(t), P4(t), and P5(t), respectively. The system performs a consistency comparison on these position data. For example, if there is a significant deviation between P2(t) and the theoretical position of P1(t) after passing the sensor spacing, a correction algorithm is activated, possibly through three-point fitting with the data of P3(t) or correction based on a historical error model. Simultaneously, accelerometers A1, A2, A3, and A4 capture the local acceleration data of the nail in the corresponding area: a1(t), a2(t), a3(t), and a4(t), respectively. By comparing these acceleration data, the differences in acceleration or deceleration of the nail in different areas can be identified. For example, if a2(t) is significantly smaller than a1(t) and a3(t), it may indicate a high local sliding resistance in that area. Finally, the system combines the corrected position data sequence with the identified local acceleration differences, and calculates the velocity, acceleration and sliding resistance distribution information of the nail along the entire small displacement path through kinematic and dynamic models. This information serves as the nail's motion parameters for subsequent sliding resistance state judgment and energy adjustment.

[0062] Specifically, the steps described above for calculating the motion parameters of the nail based on the corrected instantaneous position data and the identified differences in motion states can be further refined.

[0063] The steps described above for calculating the motion parameters of the nail based on the corrected instantaneous position data and the identified differences in motion states include: Calculate the instantaneous position sequence of the nail on the path based on the corrected instantaneous position data; Based on the identified differences in motion states, the local acceleration differences of the nail at different positions on the path are identified; Based on the instantaneous position sequence and the local acceleration difference, the sliding resistance distribution information of the nail at different positions on the path is calculated, and the sliding resistance distribution information is used as the motion parameter.

[0064] The instantaneous position sequence refers to a series of position points arranged in chronological or spatial order, formed by collecting and correcting instantaneous position data from multiple optical displacement sensors along the path the nail is pushed. This sequence accurately depicts the nail's trajectory during minute displacements. The local acceleration difference refers to the difference in the rate of change of the nail's velocity at different positions along the path. This difference is obtained by comparing and analyzing the local motion data captured by each motion state sensing unit, reflecting the changes in local forces or resistance experienced by the nail at different positions. The sliding resistance distribution information is calculated using a physical model or algorithm based on the instantaneous position sequence and local acceleration difference. It details the magnitude and trend of the sliding resistance at each point along the nail's path within the nail feeding channel, providing a more refined and comprehensive data foundation for subsequent sliding resistance status assessment.

[0065] This application's solution first utilizes corrected instantaneous position data to accurately construct the instantaneous position sequence of the nail on the path, thereby obtaining macroscopic trajectory information of the nail's motion. Simultaneously, by combining the identified differences in motion states, the local acceleration differences of the nail at different positions can be further deduced, reflecting the dynamic changes in force experienced by the nail during minute displacements. Through comprehensive analysis of the instantaneous position sequence and local acceleration differences, the distribution information of the sliding resistance at different positions on the path can be calculated. This distribution information not only provides the overall magnitude of the sliding resistance but also reveals its spatial variation within the nail delivery channel, thus providing more refined and accurate motion parameters for subsequent assessment of the sliding resistance state.

[0066] This application further proposes the following steps: 1) Calculating the critical firing energy required for the main firing stage based on the correspondence between the sliding resistance state and the target firing depth, using the sliding resistance state during the small displacement stage; 2) Adjusting the energy output parameters of the pneumatic power valve acting on the pneumatic nail gun based on the calculated critical firing energy. Monitor the pressure value of the pneumatic power source of the pneumatic nail gun; Determine the current output capacity status of the pneumatic power source based on the pressure value; By correlating the sliding resistance state with the current output capability state, the overall energy requirement for the main firing action is determined. When the current output capacity is lower than the demand capacity corresponding to the comprehensive energy demand, an early warning message is issued indicating insufficient power source capacity. Adjust energy output parameters based on comprehensive energy demand or early warning information.

[0067] Specifically, monitoring the pressure value of the pneumatic power source of the nail gun refers to acquiring the internal pressure data of the pneumatic power source in real time by installing a pressure sensor in the air supply line or air tank. This pressure value is one of the key indicators for evaluating the output capability of the pneumatic power source.

[0068] Determining the current output capability of a pneumatic power source based on pressure values ​​can be understood as comparing the real-time monitored pressure value with a preset pressure threshold or range. For example, multiple pressure ranges such as high, medium, and low pressure can be set, or the rate of pressure drop can be used to determine if the power source is experiencing performance degradation. The aim is to quantify the energy or power level that the pneumatic power source can provide at any given moment.

[0069] In practical applications, the correlation analysis between the sliding resistance state and the current output capacity state is used to determine the comprehensive energy requirement for the main firing action. This means that, based on considering the sliding resistance of the nail in the nail feeding channel and the target firing depth, the actual output capacity of the pneumatic power source is further combined to comprehensively evaluate the total energy required to complete the main firing action. This ensures that the energy requirement calculation considers not only the load (nail) but also the supply capacity of the power source. Furthermore, when the current output capacity state is lower than the required capacity corresponding to the comprehensive energy requirement, an early warning message indicating insufficient output power source capacity is issued. This means that when the system detects that the actual output capacity of the pneumatic power source cannot meet the comprehensive energy requirement for the current firing action, it will issue a warning to the user or control system. This warning message can be presented in the form of audible and visual signals, display prompts, or data log records, reminding the operator to check or maintain the pneumatic nail gun. Therefore, adjusting the energy output parameters according to the comprehensive energy requirement or warning message means that after determining the comprehensive energy requirement, the system will precisely adjust parameters such as the opening time, opening amplitude, or airflow pressure of the pneumatic power valve according to this requirement to ensure that the firing energy requirement is met as much as possible within the allowable range of the pneumatic power source capacity. If a warning message is received, a more conservative energy output strategy may need to be adopted, or the user may be prompted to intervene.

[0070] This application's solution addresses the firing inaccuracy problem that may arise from fluctuations in power source performance in traditional methods by introducing monitoring and evaluation of the pneumatic power source's own state. Through the above technical solution, this application effectively solves the problem of mismatched firing energy output caused by fluctuations in pneumatic power source performance in existing technologies.

[0071] In some preferred embodiments, it is assumed that after the pneumatic nail gun has been operating continuously for a period of time, the pressure in the air tank of its pneumatic power source gradually decreases due to consumption. During a firing operation, the system first acquires the target firing depth and, through a small displacement stage, collects the sliding resistance state of the nail in the nail feeding channel, which is "medium resistance". Based on the sliding resistance state and the target firing depth, the critical firing energy required for the main firing stage is initially calculated to be X joules. At this point, the scheme of this application further monitors the pressure value of the pneumatic power source. Assuming the current pressure value fed back by the pressure sensor is P1, the system, based on a preset pressure-capacity mapping relationship, determines that the current output capacity state of the pneumatic power source is "moderately low". Subsequently, the system performs a correlation analysis between the "medium resistance" sliding resistance state and the "moderately low" current output capacity state. For example, by consulting a pre-built mapping table, the system determines that, under the current conditions, the comprehensive energy requirement to complete the main firing action is Y joules. If the required Y-joule capacity exceeds the current pneumatic power source's "moderate to low" output capacity, the system will immediately output a "power source capacity insufficient" warning message and compensate for the insufficient energy as much as possible by adjusting energy output parameters, such as slightly extending the opening time of the pneumatic power valve or slightly increasing the airflow pressure within the allowable range. Simultaneously, the system will prompt the user to check the air source or suspend use. If the required Y-joule capacity is within the current output capacity range, the system will precisely adjust the energy output parameters of the pneumatic power valve according to the Y-joule demand, ensuring that the main firing action is executed in optimal condition, thereby guaranteeing that the nail is accurately driven to the target depth.

[0072] In some embodiments of this application described above, in order to determine the overall energy requirement required for the main firing action more accurately and efficiently, the step of performing a correlation analysis between the sliding resistance state and the current output capability state to determine the overall energy requirement for the main firing action can be further refined as follows: The correlation analysis is performed based on a pre-constructed mapping table, which records the correspondence between sliding resistance state, power source output capacity state and corresponding comprehensive energy demand. Based on the sliding resistance state and the current output capacity state, the corresponding comprehensive energy demand is looked up in the mapping table.

[0073] Specifically, the pre-built mapping table can be understood as a data structure that is pre-established using extensive experimental data, simulations, or expert experience before the pneumatic nail gun is put into use or within a preset maintenance cycle. This mapping table aims to systematically record the correspondence between different sliding resistance states (e.g., low resistance, medium resistance, high resistance, etc.), different power source output capability states (e.g., full pressure, medium pressure, low pressure, etc.), and the comprehensive energy demand required to execute the main firing action. The sliding resistance state reflects the friction of the nail within the nail feeding channel, while the power source output capability state reflects the actual energy supply capability of the pneumatic power source of the nail gun. Through this pre-established correspondence, the system can avoid complex real-time calculations before each firing, thereby improving response speed and decision-making efficiency.

[0074] The correlation analysis refers to the system querying and matching the currently detected sliding resistance state of the nail with the current output capacity state of the pneumatic power source in the pre-built mapping table. For example, when the system determines that the current sliding resistance state is "medium resistance" and the power source output capacity state is "medium pressure," the system will search the mapping table for the comprehensive energy demand value corresponding to this combination. The search process can be implemented using various data retrieval algorithms, such as hash search and binary search, to ensure that the required energy demand is obtained quickly and accurately.

[0075] This application's solution transforms the complex energy demand estimation process into efficient data querying by introducing a pre-built mapping table. Where traditional methods might require real-time multivariate calculations to determine the overall energy demand, this solution utilizes a pre-established mapping table containing the correspondence between sliding resistance state, power source output capacity state, and overall energy demand. Once the sliding resistance state of the nail and the current output capacity state of the pneumatic power source are obtained, the system can directly look up the data in the mapping table, thus quickly and accurately obtaining the overall energy demand required for the main firing action. This approach avoids the complexity and potential delays of real-time calculations, ensuring the timeliness and accuracy of firing control.

[0076] As a specific implementation method, assume that a mapping table is established through a series of tests and calibrations during the initialization phase or periodic maintenance of the pneumatic nail gun. This mapping table can be a two-dimensional array or database, where rows represent different sliding resistance states (e.g., state A: low resistance; state B: medium resistance; state C: high resistance), and columns represent different power source output capability states (e.g., state X: high pressure; state Y: medium pressure; state Z: low pressure). Each cell in the mapping table stores the comprehensive energy requirement value for the corresponding state combination. For example, cell [B, Y] in the mapping table might store an energy requirement value of "150 joules". During actual firing, when the system detects that the sliding resistance state of the nail is B (medium resistance) and the current output capability state of the pneumatic power source is Y (medium pressure), the control system will directly query the mapping table to obtain the comprehensive energy requirement of 150 joules. Subsequently, the energy output parameters will be adjusted according to this requirement to ensure the accurate execution of the main firing action. This lookup mechanism based on the mapping table greatly simplifies the process of determining the energy requirement and improves the system's response speed and firing accuracy.

[0077] This application further proposes steps for collecting the motion parameters of the nail, including: Along the path in which the nail is pushed, multiple miniature pressure sensors are spaced apart, each miniature pressure sensor independently sensing the local pressure on the inner wall of the nail feeding channel when the nail passes its position. Based on the local pressure data and the instantaneous position data of the nail, calculate the local contact area and local contact pressure between the nail and the inner wall of the nail feeding channel; Based on the local contact area, the local contact pressure, and the instantaneous motion state of the nail, the estimated sliding resistance of the nail in the nail feeding channel is corrected, and the corrected estimated sliding resistance is used as the motion parameter.

[0078] Specifically, multiple miniature pressure sensors are spaced apart along the path the nail is pushed. These sensors are configured to independently sense the localized pressure exerted by the nail on the inner wall of the nail feeding channel as it passes its position. Localized pressure refers to the instantaneous force generated between the nail and the channel wall at the corresponding contact point or area; its magnitude and distribution directly reflect the friction and compression between the nail and the channel. By spaced out multiple sensors, pressure distribution information of the nail along its entire micro-displacement path can be obtained.

[0079] Based on the collected local pressure data and the instantaneous position data of the nail, the local contact area and local contact pressure between the nail and the inner wall of the nail feeding channel can be calculated. The local contact area refers to the size of the area where the nail and the inner wall of the channel actually contact at a certain moment, while the local contact pressure is the average or distributed pressure value on that contact area. These parameters can be calculated using pre-established geometric models, material property parameters, and sensor data. For example, finite element analysis or empirical formulas can be used to combine the readings of the local pressure sensor array with the geometry of the nail, the geometry of the channel, and the instantaneous position of the nail, thereby accurately calculating the local contact area and local contact pressure.

[0080] In practical applications, the estimated sliding resistance of the nail in the feeding channel is corrected based on the calculated local contact area, local contact pressure, and the nail's instantaneous motion state. The instantaneous motion state can include the nail's instantaneous velocity and acceleration. By comprehensively considering these factors, the actual sliding resistance experienced by the nail in the channel can be assessed more accurately. For example, when the local contact pressure is high or the contact area is large, the sliding resistance may increase accordingly; while when the nail slides at a high speed, the sliding resistance may differ due to lubrication or inertial effects. The corrected estimated sliding resistance is used as the final motion parameter for subsequent sliding resistance state assessment and energy output parameter adjustment.

[0081] The solution proposed in this application directly measures the local pressure between the nail and the inner wall of the nail feeding channel, and calculates the local contact area and local contact pressure by combining instantaneous position data, thereby enabling a more precise capture of the actual interaction between the nail and the inner wall of the channel during minute displacement.

[0082] This application further proposes a more refined method for estimating and correcting sliding resistance to improve the accuracy and reliability of firing control.

[0083] The steps described above for correcting the estimated sliding resistance of the nail in the nail feeding channel based on the local contact area, local contact pressure, and the instantaneous motion state of the nail include: Obtain the current elastic parameters of the nail material, the current hardness parameters of the material on the inner wall of the nail feeding channel, and the current temperature of the nail feeding channel; Calculate the degree of micro-deformation between the nail and the inner wall of the nail feeding channel based on the local contact area, local contact pressure, current elastic parameters, current hardness parameters, and current nail feeding channel temperature. The sliding resistance correction coefficient is dynamically adjusted based on the degree of micro-deformation. The estimated sliding resistance of the nail in the nail feeding channel is corrected based on the adjusted sliding resistance correction coefficient.

[0084] Specifically, when revising the estimated sliding resistance of the nail within the feeding channel, it is first necessary to obtain the current elastic parameters of the nail material, the current hardness parameters of the material on the inner wall of the feeding channel, and the current temperature of the feeding channel. The current elastic parameters of the nail material can be understood as the Young's modulus or shear modulus of the nail material under the current environment, reflecting its ability to resist deformation. The current hardness parameters of the material on the inner wall of the feeding channel represent the ability of the channel's inner wall material to resist localized plastic deformation, which can be measured using indicators such as Brinell hardness and Rockwell hardness. The current temperature of the feeding channel refers to the actual temperature of the feeding channel during firing, which can be monitored in real time using a built-in temperature sensor. Obtaining these parameters aims to provide an accurate physical basis for subsequent microscopic deformation calculations, with the goal of more comprehensively considering the intrinsic and environmental factors affecting the sliding resistance.

[0085] Furthermore, based on the obtained local contact area, local contact pressure, current elastic parameters, current hardness parameters, and current feed channel temperature, the degree of microscopic deformation between the nail and the inner wall of the feed channel can be calculated. The degree of microscopic deformation refers to the minute elastic or plastic deformation that occurs on the surface of the nail and the inner wall of the channel under local contact pressure. These deformations directly affect the actual frictional characteristics of the contact interface. For example, physical models such as Hertzian contact theory or finite element analysis can be used, combined with the material's mechanical parameters and temperature effects, to accurately calculate the deformation depth and contact stress distribution in the contact area, thereby quantifying the degree of microscopic deformation. The aim is to reveal the generation mechanism of sliding resistance from a physical perspective, providing a basis for precise correction.

[0086] Based on this, the sliding resistance correction coefficient is dynamically adjusted according to the calculated degree of micro-deformation. The sliding resistance correction coefficient is a multiplicative or additive factor used to correct the initial estimated sliding resistance value; its value is no longer fixed but changes in real time according to the degree of micro-deformation. For example, when the degree of micro-deformation is large, it may mean that the actual contact area is increased or there is a "biting" effect, in which case the correction coefficient can be increased accordingly; conversely, when the deformation is small, the correction coefficient can be decreased. This dynamic adjustment mechanism aims to ensure that the correction coefficient accurately reflects the frictional characteristics under different contact conditions.

[0087] Finally, the estimated sliding resistance of the nail in the nail feed channel is corrected based on the adjusted sliding resistance correction coefficient. The corrected sliding resistance estimate will be closer to the actual sliding resistance, thus providing a more accurate input for calculating the critical firing energy required in the subsequent main firing stage.

[0088] The proposed solution incorporates the material properties of the nail and the inner wall of the nail feeding channel, along with the current ambient temperature, and further calculates the degree of microscopic deformation, thereby achieving dynamic adjustment of the sliding resistance correction coefficient. It is precisely because the sliding resistance correction coefficient can be optimized in real time based on these dynamically changing physical parameters that the estimated sliding resistance value can more accurately reflect the actual frictional state of the nail within the nail feeding channel.

[0089] As a specific implementation, assuming that during the firing of the pneumatic nail gun, the system first obtains the elastic parameters (e.g., Young's modulus of 200 GPa) of the currently used nail material (e.g., carbon steel) and the hardness parameters (e.g., Rockwell hardness HRC60) of the nail feeding channel inner wall material (e.g., cemented carbide) through preset sensors or a database. Simultaneously, the built-in temperature sensor monitors the current temperature of the nail feeding channel in real time, confirming it to be 25°C. When the nail is pushed during a small displacement phase, the micro-pressure sensor and instantaneous position data provide a local contact area of ​​0.5 mm² and a local contact pressure of 10 MPa.

[0090] Based on this data, the system uses a pre-established physical model (e.g., combining Hertzian contact theory and a temperature correction model) to calculate the degree of microscopic deformation between the nail and the inner wall of the nail feeding channel. For example, the calculation results show that the average deformation depth of the contact area is 5 micrometers under the current pressure and temperature. Based on this degree of microscopic deformation, the system dynamically determines the current sliding resistance correction coefficient from a pre-set lookup table or through an algorithmic model. For example, when the deformation depth is 5 micrometers, the correction coefficient is adjusted to 1.15. Finally, this adjusted correction coefficient is applied to the initially estimated sliding resistance value (e.g., an initial estimate of 10 N), resulting in a corrected sliding resistance estimate of 11.5 N. This corrected value serves as a more accurate motion parameter to determine the sliding resistance state and further calculate the critical firing energy required for the main firing stage, thereby achieving precise adjustment of the pneumatic power valve's energy output parameters. In this way, even when material properties or ambient temperature change, the accuracy of the sliding resistance estimation is ensured, thus guaranteeing the consistency of the firing depth.

[0091] The aforementioned lookup mechanism for the first-level sliding resistance correction coefficient based on the pre-stored position table, together with the lookup correction of elastic modulus and surface roughness according to the multi-level correspondence table in the nail material parameter database and the attitude angle lookup compensation according to the multi-level attitude angle correspondence table, together constitute the complete solution path for the key technical problem of "how to determine specific parameters" in this application: all specific parameters are determined by the pre-stored multi-level correspondence table or position table, avoiding real-time formula calculation and complex model reasoning at the moment of firing, thereby ensuring the feasibility of the technical solution of this application and the feasibility of implementation by those skilled in the art.

[0092] It should be noted that the mapping of micro-deformation depth to the first-level sliding resistance correction coefficient in the above steps of this application is not calculated by a real-time formula, but obtained by looking up a pre-stored multi-level correspondence table. The specific table lookup process is as follows: Before the pneumatic nail gun is put into use or during regular maintenance, a correspondence table between multi-level micro-deformation depth and the first-level sliding resistance correction coefficient is established in advance through fitting a large amount of experimental data or finite element simulation. This correspondence table divides the micro-deformation depth into a finite number of discrete levels according to a predetermined grading rule (for example, deformation depth less than 2 micrometers is the first level, 2 to 4 micrometers is the second level, 4 to 6 micrometers is the third level, 6 to 8 micrometers is the fourth level, 8 to 10 micrometers is the fifth level, and greater than 10 micrometers is the sixth level). Each level corresponds to a... Each primary sliding resistance correction coefficient (e.g., corresponding to 1.0, 1.2, 1.4, 1.6, 1.8, 2.0, etc.) is stored in a table of correspondences in the non-volatile memory of the pneumatic nail gun control unit before leaving the factory. During actual firing, the system first calculates the current micro-deformation depth according to the Hertzian contact theory, then determines which gear the micro-deformation depth falls into, and looks up the corresponding primary sliding resistance correction coefficient in the multi-gear correspondence table. The entire process does not require complex real-time calculations at the moment of firing, thus ensuring the real-time performance and reliability of firing control. This specific lookup method based on the pre-stored position table constitutes the core technical means of this application specification for how to feed back the degree of micro-deformation to the specific sliding resistance correction coefficient adjustment.

[0093] refer to Figure 2 , Figure 2 This is a schematic diagram of a pneumatic nail gun firing control system provided in an embodiment of the present invention, used to control the firing process of the pneumatic nail gun. The system includes: The instruction acquisition module is used to acquire an instruction for initiating the firing operation of the pneumatic nail gun, the instruction carrying the target firing depth; The force application module is used to respond to the command and apply a preset force to the nail before starting the main firing action, so that the nail produces a small displacement of a preset amplitude in the nail feeding channel; A multi-sensor synchronous acquisition module is used to simultaneously acquire instantaneous position data, local motion data, and local pressure data between the nail and the inner wall of the nail feeding channel during the process of the nail generating the minute displacement. This is achieved by multiple optical displacement sensors, multiple motion state sensing units, and multiple miniature pressure sensors arranged at intervals. The motion parameters include an instantaneous position sequence calculated from the corrected instantaneous position data, identified local acceleration differences, and local contact area and local contact pressure calculated based on the local pressure data and the instantaneous position data. The sliding resistance inversion and multi-level correction module is used to invert the representative values ​​of the sliding resistance of the nail in different sections of the nail feeding channel based on the motion parameters, and to splice the representative values ​​of the sliding resistance of each section in sequence to obtain the sliding resistance distribution information of the nail in the nail feeding channel; based on the current elastic parameters of the nail material, the current hardness parameters of the inner wall material of the nail feeding channel, and the current temperature of the nail feeding channel, the micro-deformation depth between the nail and the inner wall of the nail feeding channel is calculated according to Hertzian contact theory, and the micro-deformation depth is mapped to a first-level sliding resistance correction coefficient; the current nail model information is identified by reading the RFID tag and / or visual recognition device, and the corresponding nail elastic modulus and surface roughness are searched in the pre-stored nail material parameter database; the deviations of the nail elastic modulus from the reference elastic modulus and the deviations of the surface roughness from the reference surface roughness are weighted according to the corresponding sensitivity coefficients, and then combined with the first-level sliding resistance correction coefficient to obtain a second-level sliding resistance correction coefficient; based on the sliding resistance distribution information and the second-level sliding resistance correction coefficient, the sliding resistance state of the nail in the nail feeding channel is determined; The critical firing energy determination and attitude angle compensation module is used to calculate the critical firing energy required for the main firing stage based on the correspondence between the sliding resistance distribution information and the target firing depth, using the sliding resistance distribution information during the micro-displacement stage. The critical firing energy consists of three parts: the kinetic energy required for the nail to move at the target end velocity, the work done by the nail along the feeding channel to overcome the sliding resistance, and the work done by the material resistance required to drive the nail into the target material to the target firing depth. The target end velocity is obtained from a pre-stored target end velocity level table based on the target firing depth. The work done by the nail along the feeding channel to overcome the sliding resistance is obtained by summing the representative values ​​of the sliding resistance in each segment according to the segment length. The work done by the target material resistance is calculated from the target firing depth and... The target material type is obtained by looking up a pre-calibrated energy-depth level table; the kinetic energy, the work done by the sliding resistance, and the work done by the material resistance are added together to obtain the critical firing energy required for the main firing stage; the attitude data of the nail in the nail feeding channel is collected by a triaxial accelerometer and / or an inertial measurement unit, and when the absolute value of any attitude angle exceeds a preset allowable angle threshold, the square of the sine of the attitude angle is multiplied by a preset angle sensitivity coefficient, then added by 1, and multiplied by the critical firing energy to obtain the attitude angle-compensated critical firing energy; the opening time and / or pneumatic pressure acting on the pneumatic power valve are obtained from a pre-stored pneumatic parameter correspondence table based on the critical firing energy or the attitude angle-compensated critical firing energy as energy output parameters; The main firing execution and real-time feedback control module is used to decompose the execution process of the main firing action into multiple control cycles with equal time intervals. Within each control cycle, the multiple optical displacement sensors and multiple miniature pressure sensors collect real-time instantaneous position data and local pressure data of the nail, calculating the representative value of the current sliding resistance. The deviation between the representative value of the current sliding resistance and the preset target resistance value is calculated, and the cumulative deviation value of the previous control cycle is accumulated to obtain the current cumulative deviation value. Simultaneously, the difference between the current deviation and the deviation of the previous control cycle is calculated to obtain the current deviation change rate. The energy adjustment amount for the current control cycle is obtained by weighting the proportional coefficient, integral coefficient, and derivative coefficient. The energy adjustment amount and the basic energy output parameters jointly determine the opening duration and / or pneumatic pressure of the pneumatic power valve within the current control cycle. The cumulative energy output value is obtained by accumulating the energy adjustment amounts of each control cycle. When the cumulative energy output value reaches the critical firing energy, the pneumatic power valve is closed, completing the main firing action. The proportional coefficient, integral coefficient, and derivative coefficient are all selected from a pre-stored multi-level parameter range table according to the range where the current deviation is located. Based on the adjusted energy output parameters, the firing mechanism of the pneumatic nail gun is controlled to perform the main firing action.

[0094] The pneumatic nail gun firing control system proposed in this application decomposes the firing control process of the pneumatic nail gun into a series of functional modules, thereby realizing real-time sensing of the sliding resistance of the nail in the nail feeding channel and dynamic energy output adjustment.

[0095] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling the firing of a pneumatic nail gun, characterized in that, The method includes: Obtain an instruction for initiating the firing operation of the pneumatic nail gun, the instruction carrying the target firing depth; In response to the instruction, before initiating the main firing action, a preset pushing force is applied to the nail, causing the nail to produce a small displacement of a preset amplitude within the nail feeding channel; During the process of the nail generating the minute displacement, multiple optical displacement sensors, multiple motion state sensing units, and multiple miniature pressure sensors arranged at intervals synchronously collect the instantaneous position data, local motion data, and local pressure data between the nail and the inner wall of the nail feeding channel; wherein the motion parameters include the instantaneous position sequence calculated from the corrected instantaneous position data, the identified local acceleration difference, and the local contact area and local contact pressure calculated based on the local pressure data and the instantaneous position data; The representative values ​​of sliding resistance of the nail in different sections of the nail feeding channel are obtained by inverting the motion parameters. The sliding resistance distribution information of the nail in the nail feeding channel is obtained by splicing the representative values ​​of sliding resistance of each section in the order of the sections. According to the current elastic parameters of the nail material, the current hardness parameters of the inner wall material of the nail feeding channel, and the current temperature of the nail feeding channel, the micro-deformation depth between the nail and the inner wall of the nail feeding channel is calculated according to Hertz contact theory, and the micro-deformation depth is mapped to a first-level sliding resistance correction coefficient. The model information of the current nail is identified by reading the RFID tag and / or the visual recognition device. The corresponding nail elastic modulus and surface roughness are searched in the pre-stored nail material parameter database. The deviations of the nail elastic modulus from the reference elastic modulus and the deviations of the surface roughness from the reference surface roughness are weighted by the corresponding sensitivity coefficients and then combined with the first-level sliding resistance correction coefficient to obtain the second-level sliding resistance correction coefficient. The sliding resistance state of the nail in the nail feeding channel is determined according to the sliding resistance distribution information and the second-level sliding resistance correction coefficient. Based on the correspondence between the sliding resistance distribution information and the target firing depth, the critical firing energy required for the main firing stage is calculated from the sliding resistance distribution information during the micro-displacement stage. The critical firing energy consists of three parts: the kinetic energy required for the nail to move at the target end velocity, the work done by the nail along the feeding channel to overcome the sliding resistance, and the work done by the material resistance required to drive the nail into the target material to the target firing depth. The target end velocity is obtained from the target firing depth in a pre-stored target end velocity range table. The work done by the nail along the feeding channel to overcome the sliding resistance is obtained by summing the representative values ​​of the sliding resistance in each segment according to the segment length. The work done by the target material resistance is calculated from the target firing depth and the target material type in a pre-defined range. The critical firing energy required for the main firing stage is obtained by looking up the energy-depth level table; the kinetic energy, the work done by the sliding resistance, and the work done by the material resistance are added together; the attitude data of the nail in the nail feeding channel is collected by a triaxial accelerometer and / or an inertial measurement unit, and when the absolute value of any attitude angle exceeds the preset allowable angle threshold, the square of the sine of the attitude angle is multiplied by a preset angle sensitivity coefficient, then added by 1, and multiplied by the critical firing energy to obtain the attitude angle compensated critical firing energy; the opening time and / or pneumatic pressure acting on the pneumatic power valve are obtained from a pre-stored pneumatic parameter correspondence table based on the critical firing energy or the attitude angle compensated critical firing energy as energy output parameters; The execution process of the main firing action is decomposed into multiple control cycles with equal time intervals. Within each control cycle, the multiple optical displacement sensors and multiple miniature pressure sensors collect real-time instantaneous position data and local pressure data of the nail, calculating the representative value of the current sliding resistance. The deviation between the representative value of the current sliding resistance and the preset target resistance value is calculated, and the cumulative deviation value from the previous control cycle is accumulated to obtain the current cumulative deviation value. Simultaneously, the difference between the current deviation and the deviation from the previous control cycle is calculated to obtain the current rate of change of deviation. The current rate of change is obtained by weighting the proportional coefficient, integral coefficient, and derivative coefficient. The energy adjustment amount of the control cycle is determined by the energy adjustment amount and the basic energy output parameters, which together determine the opening duration and / or pneumatic pressure of the pneumatic power valve in the current control cycle. The cumulative energy output value is obtained by accumulating the energy adjustment amounts of each control cycle. When the cumulative energy output value reaches the critical firing energy, the pneumatic power valve is closed to complete the main firing action. The proportional coefficient, integral coefficient, and derivative coefficient are all selected from a pre-stored multi-level parameter range table according to the range where the current deviation is located. Based on the adjusted energy output parameters, the firing actuator of the pneumatic nail gun is controlled to perform the main firing action.

2. The method for controlling the firing of a pneumatic nail gun according to claim 1, characterized in that, The method further includes: Collect instantaneous position data during the process of the nail generating the minute displacement; Calculate the instantaneous acceleration data of the nail based on the instantaneous position data; The instantaneous acceleration data was analyzed to identify the changes in the nail movement in the early stage, and combined with the preceding firing data to identify whether there was an energy absorption effect of viscoelastic material in the nail feeding channel. When the energy absorption effect of the viscoelastic material is identified, the sliding resistance state is corrected according to the amount of absorption corresponding to the energy absorption effect. The energy output parameters are adjusted based on the corrected sliding resistance state.

3. The method for controlling the firing of a pneumatic nail gun according to claim 1, characterized in that, The step of determining the sliding resistance state of the nail in the nail feeding channel based on the collected motion parameters includes: Monitor the cumulative amount of sticky residue in the nail feeding channel as the number of firings changes; Based on the changes in the accumulated amount, predict the trend of changes in the physical properties of the sticky residue, and predict the sliding resistance value in the feed channel during the next firing. Based on the motion parameters, the changes in the cumulative amount, the trend of the physical property changes, and the predicted value of the sliding resistance, the sliding resistance state of the nail in the nail feeding channel is determined.

4. The method for controlling the firing of a pneumatic nail gun according to claim 1, characterized in that, The steps for collecting the motion parameters of the nail include: Along the path in which the nail is pushed, multiple optical displacement sensors and multiple motion state sensing units are arranged at intervals. Each optical displacement sensor independently collects the instantaneous position data of the nail when it passes its position, and each motion state sensing unit independently captures the local motion data of the nail when it passes its position. The instantaneous position data collected by multiple optical displacement sensors are compared for consistency, and the data deviation is corrected when there is a data deviation. By comparing the local motion data captured by each of the motion state sensing units, the differences in the motion state of the nail at different positions on the path are identified; The motion parameters of the nail are calculated based on the corrected instantaneous position data and the identified differences in motion states.

5. The method for controlling the firing of a pneumatic nail gun according to claim 4, characterized in that, The step of calculating the motion parameters of the nail based on the corrected instantaneous position data and the identified differences in motion states includes: Calculate the instantaneous position sequence of the nail on the path based on the corrected instantaneous position data; Based on the identified differences in motion states, the local acceleration differences of the nail at different positions on the path are identified; Based on the instantaneous position sequence and the local acceleration difference, the sliding resistance distribution information of the nail at different positions on the path is calculated, and the sliding resistance distribution information is used as the motion parameter.

6. The method for controlling the firing of a pneumatic nail gun according to claim 1, characterized in that, The step of calculating the critical firing energy required for the main firing stage based on the correspondence between the sliding resistance state and the target firing depth, and adjusting the energy output parameters of the pneumatic power valve acting on the pneumatic nail gun based on the calculated critical firing energy includes: Monitor the pressure value of the pneumatic power source of the pneumatic nail gun; Based on the pressure value, determine the current output capacity status of the pneumatic power source; By performing correlation analysis between the sliding resistance state and the current output capability state, the comprehensive energy requirement for the main firing action is determined. When the current output capacity is lower than the demand capacity corresponding to the comprehensive energy demand, an early warning message of insufficient power source capacity is output. Adjust the energy output parameters based on the overall energy demand or the early warning information.

7. The method for controlling the firing of a pneumatic nail gun according to claim 6, characterized in that, The step of performing correlation analysis between the sliding resistance state and the current output capability state to determine the comprehensive energy requirement for the main firing action includes: The correlation analysis is performed based on a pre-constructed mapping table, which records the correspondence between sliding resistance state, power source output capacity state and corresponding comprehensive energy demand. Based on the sliding resistance state and the current output capacity state, the corresponding comprehensive energy demand is looked up in the mapping table.

8. The method for controlling the firing of a pneumatic nail gun according to claim 1, characterized in that, The steps for collecting the motion parameters of the nail include: Along the path in which the nail is pushed, multiple miniature pressure sensors are spaced apart. Each miniature pressure sensor independently senses the local pressure on the inner wall of the nail feeding channel when the nail passes its position. Based on the local pressure data and the instantaneous position data of the nail, calculate the local contact area and local contact pressure between the nail and the inner wall of the nail feeding channel; Based on the local contact area, the local contact pressure, and the instantaneous motion state of the nail, the estimated sliding resistance of the nail in the nail feeding channel is corrected, and the corrected estimated sliding resistance is used as the motion parameter.

9. The method for controlling the firing of a pneumatic nail gun according to claim 1, characterized in that, The method further includes a multi-level correction of sliding resistance and a joint compensation step for firing energy attitude and material, the steps of which include: Obtain the current elastic parameters of the nail material, the current hardness parameters of the inner wall material of the nail feeding channel, and the current temperature of the nail feeding channel; based on the collected local contact area, local contact pressure, the current elastic parameters, the current hardness parameters, and the current temperature of the nail feeding channel, calculate the micro-deformation depth between the nail and the inner wall of the nail feeding channel according to Hertz contact theory; in the pre-stored correspondence table of multiple micro-deformation depths and first-level sliding resistance correction coefficients, find the corresponding first-level sliding resistance correction coefficient according to the calculated micro-deformation depth level; Among them, the number of gears in the correspondence table between the multi-level micro-deformation depth and the first-level sliding resistance correction coefficient is a finite number of discrete gears, and each gear corresponds to a first-level sliding resistance correction coefficient. Before the main firing action is executed, the model information of the nails in the current nail feeding channel is identified by reading RFID tags and / or by a visual recognition device; based on the model information, the corresponding nail elastic modulus and surface roughness are searched in a pre-stored nail material parameter database; the deviation between the nail elastic modulus and the reference elastic modulus is used to find the elastic modulus correction item according to a pre-stored correspondence table of multiple elastic modulus deviations and elastic modulus correction items; the deviation between the surface roughness and the reference surface roughness is used to find the roughness correction item according to a pre-stored correspondence table of multiple roughness deviations and roughness correction items; the elastic modulus correction item, the roughness correction item, and the first-level sliding resistance correction coefficient are multiplied together to obtain the second-level sliding resistance correction coefficient; if no corresponding model is found in the nail material parameter database, the material parameters of the unknown model nail are estimated using the nearest neighbor interpolation method; Within a preset time window before the main firing action is executed, attitude data of the nail in the nail feeding channel is collected by a triaxial accelerometer and / or inertial measurement unit installed in the nail feeding channel. The attitude data includes the pitch angle, yaw angle, and roll angle of the nail axis relative to the axis of the nail feeding channel. When the absolute value of any attitude angle does not exceed a preset allowable angle threshold, the critical firing energy remains unchanged. When the absolute value of any attitude angle exceeds the preset allowable angle threshold, the corresponding angle compensation item is looked up according to a pre-stored correspondence table of multiple attitude angles and angle compensation items, and the angle compensation item is multiplied by the critical firing energy to obtain the critical firing energy after attitude angle compensation. When the difference between the critical firing energy after attitude angle compensation and the original critical firing energy exceeds a preset energy adjustment threshold, the energy output parameters are re-determined based on the adjusted critical firing energy.

10. A pneumatic nail gun firing control system for controlling the firing process of a pneumatic nail gun, characterized in that, The system includes: The instruction acquisition module is used to acquire an instruction for initiating the firing operation of the pneumatic nail gun, the instruction carrying the target firing depth; The force application module is used to respond to the command and apply a preset force to the nail before starting the main firing action, so that the nail produces a small displacement of a preset amplitude in the nail feeding channel; A multi-sensor synchronous acquisition module is used to simultaneously acquire instantaneous position data, local motion data, and local pressure data between the nail and the inner wall of the nail feeding channel during the process of the nail generating the minute displacement. This is achieved by multiple optical displacement sensors, multiple motion state sensing units, and multiple miniature pressure sensors arranged at intervals. The motion parameters include an instantaneous position sequence calculated from the corrected instantaneous position data, identified local acceleration differences, and local contact area and local contact pressure calculated based on the local pressure data and the instantaneous position data. The sliding resistance inversion and multi-level correction module is used to invert the representative values ​​of the sliding resistance of the nail in different sections of the nail feeding channel based on the motion parameters, and to splice the representative values ​​of the sliding resistance of each section in sequence to obtain the sliding resistance distribution information of the nail in the nail feeding channel; based on the current elastic parameters of the nail material, the current hardness parameters of the inner wall material of the nail feeding channel, and the current temperature of the nail feeding channel, the micro-deformation depth between the nail and the inner wall of the nail feeding channel is calculated according to Hertzian contact theory, and the micro-deformation depth is mapped to a first-level sliding resistance correction coefficient; the current nail model information is identified by reading the RFID tag and / or visual recognition device, and the corresponding nail elastic modulus and surface roughness are searched in the pre-stored nail material parameter database; the deviations of the nail elastic modulus from the reference elastic modulus and the deviations of the surface roughness from the reference surface roughness are weighted according to the corresponding sensitivity coefficients, and then combined with the first-level sliding resistance correction coefficient to obtain a second-level sliding resistance correction coefficient; based on the sliding resistance distribution information and the second-level sliding resistance correction coefficient, the sliding resistance state of the nail in the nail feeding channel is determined; The critical firing energy determination and attitude angle compensation module is used to calculate the critical firing energy required for the main firing stage based on the correspondence between the sliding resistance distribution information and the target firing depth, using the sliding resistance distribution information during the micro-displacement stage. The critical firing energy consists of three parts: the kinetic energy required for the nail to move at the target end velocity, the work done by the nail along the feeding channel to overcome the sliding resistance, and the work done by the material resistance required to drive the nail into the target material to the target firing depth. The target end velocity is obtained from a pre-stored target end velocity level table based on the target firing depth. The work done by the nail along the feeding channel to overcome the sliding resistance is obtained by summing the representative values ​​of the sliding resistance in each segment according to the segment length. The work done by the target material resistance is calculated from the target firing depth and... The target material type is obtained by looking up a pre-calibrated energy-depth level table; the kinetic energy, the work done by the sliding resistance, and the work done by the material resistance are added together to obtain the critical firing energy required for the main firing stage; the attitude data of the nail in the nail feeding channel is collected by a triaxial accelerometer and / or an inertial measurement unit, and when the absolute value of any attitude angle exceeds a preset allowable angle threshold, the square of the sine of the attitude angle is multiplied by a preset angle sensitivity coefficient, then added by 1, and multiplied by the critical firing energy to obtain the attitude angle-compensated critical firing energy; the opening time and / or pneumatic pressure acting on the pneumatic power valve are obtained from a pre-stored pneumatic parameter correspondence table based on the critical firing energy or the attitude angle-compensated critical firing energy as energy output parameters; The main firing execution and real-time feedback control module is used to decompose the execution process of the main firing action into multiple control cycles with equal time intervals. Within each control cycle, the multiple optical displacement sensors and multiple miniature pressure sensors collect real-time instantaneous position data and local pressure data of the nail, calculating the representative value of the current sliding resistance. The deviation between the representative value of the current sliding resistance and the preset target resistance value is calculated, and the cumulative deviation value of the previous control cycle is accumulated to obtain the current cumulative deviation value. Simultaneously, the difference between the current deviation and the deviation of the previous control cycle is calculated to obtain the current deviation change rate. The energy adjustment amount for the current control cycle is obtained by weighting the proportional coefficient, integral coefficient, and derivative coefficient. The energy adjustment amount and the basic energy output parameters jointly determine the opening duration and / or pneumatic pressure of the pneumatic power valve within the current control cycle. The cumulative energy output value is obtained by accumulating the energy adjustment amounts of each control cycle. When the cumulative energy output value reaches the critical firing energy, the pneumatic power valve is closed, completing the main firing action. The proportional coefficient, integral coefficient, and derivative coefficient are all selected from a pre-stored multi-level parameter range table according to the range where the current deviation is located. Based on the adjusted energy output parameters, the firing mechanism of the pneumatic nail gun is controlled to perform the main firing action.

Images