A portable electromagnetic pine cone harvesting gun

Abstract

This invention discloses a portable electromagnetic pine cone harvesting gun, relating to the fields of agricultural machinery and electromagnetic launch technology. It includes: an aiming module that locks onto the harvesting target; a controller module that receives the bullet's position signal and generates a discharge signal or a stop-discharge signal based on the position signal; an energy module that stores preset energy, discharges the firing module according to the discharge signal, and stops discharging the firing module according to the stop-discharge signal; the firing module automatically fills the bullet to the firing position, and when the bullet reaches a first preset position, sends a first position signal to the controller module, accelerating the bullet while the energy module discharges; when the bullet reaches a second preset position, sends a second position signal to the controller module, terminating the acceleration of the bullet after the energy module stops discharging, and then fires at the harvesting target according to the firing signal. This invention achieves efficient pine cone harvesting through electromagnetic acceleration technology, reducing safety hazards and damage to trees.

Description

Technical Field

[0001] This invention relates to the fields of agricultural machinery and electromagnetic launch technology, and in particular to a portable electromagnetic pine cone harvesting gun. Background Technology

[0002] Pine cones, also known as pine pods or pine nuts, have high medicinal and edible value and are rich in nutrients. Pine cones usually grow in clusters and are located at the tips of pine branches, generally high up and difficult to harvest.

[0003] Currently, pine cone harvesting mainly relies on manual labor, which is inefficient, labor-intensive, and prone to accidents resulting in injuries or fatalities, posing significant safety hazards. Hot air balloon harvesting has become more common in recent years, but the instability of people on the balloon leads to low harvesting efficiency, and the balloon is at risk of drifting out of control. Vibrating harvesting devices are more efficient and have fewer safety hazards, but they damage the trees and cannot be used indefinitely. Robots or drones are also used for harvesting, but their complex processes and high costs hinder widespread adoption.

[0004] Therefore, there is an urgent need for a device that can efficiently and non-destructively harvest pine cones, while also being easy to carry and operate. Summary of the Invention

[0005] The purpose of this invention is to provide a portable electromagnetic pine cone harvesting gun that can achieve efficient harvesting of pine cones through multi-stage electromagnetic acceleration technology, reduce safety hazards, and prevent physical damage to pine trees during operation.

[0006] To achieve the above objectives, the present invention provides the following solution:

[0007] A portable electromagnetic pine cone harvesting gun, comprising an energy module, a controller module, an aiming module, and a firing module;

[0008] The aiming module is used to lock onto the pine cones to be picked, thereby obtaining the picking target;

[0009] The controller module is connected to the energy module and the firing module respectively; the controller module is used to receive the first position signal and the second position signal of the bullet sent by the firing module, generate a discharge signal according to the first position signal, generate a stop discharge signal according to the second position signal, and send the discharge signal and the stop discharge signal to the energy module.

[0010] The energy module is connected to the firing module; the energy module is used to store preset energy, discharge the firing module according to the discharge signal, and stop the firing module from discharging according to the stop discharge signal.

[0011] The firing module is used to automatically fill the bullet to the firing position and detect the position of the bullet. When the position of the bullet reaches the first preset position, it sends a first position signal to the controller module. When the energy module discharges, it accelerates the bullet. When the position of the bullet reaches the second preset position, it sends a second position signal to the controller module. After the energy module stops discharging, it terminates the acceleration of the bullet. It also receives firing signals and fires at the harvesting target according to the firing signals.

[0012] Optionally, the firing module includes an automatic loading module and a firing module;

[0013] The automatic loading module is used to push the bullet to the firing position;

[0014] The launching module is connected to the automatic loading module; the launching module is used to detect the position of the bullet, send a first position signal to the controller module when the bullet reaches a first preset position, accelerate the bullet when the energy module discharges, send a second position signal to the controller module when the bullet reaches a second preset position, terminate the acceleration of the bullet after the energy module stops discharging, receive a firing signal, and fire at the target according to the firing signal.

[0015] Optionally, the launching module includes a multi-stage launching unit; each launching unit includes an electromagnetic acceleration module and a bullet detection and discharge triggering module;

[0016] The bullet detection and discharge triggering module is connected to the controller module and the automatic loading module, respectively. The bullet detection and discharge triggering module is used to detect the position of the bullet. When the position of the bullet reaches the first preset position, it sends a first position signal to the controller module and generates a discharge triggering signal. When the position of the bullet reaches the second preset position, it sends a second position signal to the controller module and generates a stop discharge triggering signal.

[0017] The electromagnetic acceleration module is connected to the energy module and the bullet detection and discharge triggering module respectively. The electromagnetic acceleration module is used to accelerate the bullet when the energy module discharges according to the discharge triggering signal, terminate the acceleration of the bullet after the energy module stops discharging according to the stop discharge triggering signal, and receive the firing signal and fire at the target according to the firing signal.

[0018] Optionally, the electromagnetic acceleration module includes a discharge coil; the bullet is accelerated by passing through the discharge coil.

[0019] Optionally, the bullet detection and discharge triggering module includes a photoelectric pair, a voltage comparator, and a switching circuit;

[0020] The phototube is used to detect the position of the bullet and output a corresponding voltage signal according to the position of the bullet;

[0021] The voltage comparator is used to compare the voltage signal with a preset voltage signal, obtain a comparison result, and send the comparison result to the controller module;

[0022] The controller module generates a discharge signal or a stop discharge signal based on the comparison result and sends it to the switching circuit.

[0023] The switching circuit controls the energy module to discharge or stop discharging based on the discharge signal or the stop discharge signal.

[0024] Optionally, the energy module includes an energy supply module and an energy storage module;

[0025] The energy supply module is connected to both the controller module and the energy storage module; the energy supply module is used to receive charging parameters sent by the controller module and provide energy to the energy storage module according to the charging parameters.

[0026] The energy storage module is connected to the controller module and the firing module respectively; the energy storage module discharges to the firing module or stops discharging according to the discharge signal or the stop discharge signal.

[0027] Optionally, the energy supply module includes a power supply module and a boost module;

[0028] The power module is used to provide power;

[0029] The boost module is connected to the power module, the controller module, and the energy storage module respectively; the boost module is used to convert the electrical charge into energy that meets the charging parameter requirements and provide it to the energy storage module.

[0030] Optionally, the energy storage module is an energy storage capacitor.

[0031] Optionally, the aiming module is a laser aiming device.

[0032] Optionally, the pine cone harvesting gun also includes a display module; the display module is an LCD screen.

[0033] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0034] This invention discloses a portable electromagnetic pine cone harvesting gun. The gun is compact in design, easy to carry and operate, and suitable for field operations. Furthermore, this invention employs electromagnetic acceleration technology, effectively improving harvesting efficiency. Pine cones are harvested by shooting at the target, ensuring no physical damage to the trees during the harvesting process. The device is also low-cost, reducing the cost of pine cone harvesting. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 Design module block diagram of a portable electromagnetic pine cone harvesting gun;

[0037] Figure 2 Circuit diagram for a portable electromagnetic pine cone harvesting gun;

[0038] Figure 3 This is a structural diagram of a portable electromagnetic pine cone harvesting gun.

[0039] Figure 4 To accelerate the module structure diagram;

[0040] Figure 5 This is a schematic diagram of coil discharge.

[0041] Figure 6 This is a diagram of the launching structure of a portable electromagnetic pine cone harvesting gun.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Cable connector; 2. Gun casing; 3. Primary acceleration module; 4. Secondary acceleration module; 5. Tertiary acceleration module; 6. Quadruple acceleration module; 7. Fifth acceleration module; 8. Sixth acceleration module; 9. Sighting module; 10. Barrel; 11. Bullet; 12. Stock; 13. Trigger; 14. Magazine; 15. Grip; 16. Optical pair; 17. Monitoring trigger board; 18. Discharge coil. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] The purpose of this invention is to provide a portable electromagnetic pine cone harvesting gun, which aims to achieve efficient harvesting of pine cones through multi-stage electromagnetic acceleration technology, without causing physical damage to the pine trees during the operation.

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Example 1

[0048] like Figure 1 As shown, the portable electromagnetic pine cone harvesting gun in this embodiment includes an energy module, a controller module, an aiming module 9, and a firing module.

[0049] The aiming module 9 is used to lock onto the pine cones to be picked, thus obtaining the picking target.

[0050] The controller module is connected to both the energy module and the firing module. The controller module receives a first position signal and a second position signal from the firing module for the bullet 11, generates a discharge signal based on the first position signal, generates a stop discharge signal based on the second position signal, and sends the discharge signal and the stop discharge signal to the energy module. Specifically, the controller module uses an STC15W408AS microcontroller, responsible for the coordination and control of the entire system, including monitoring the charging status of the capacitor and controlling the discharge timing.

[0051] The energy module is connected to the firing module; the energy module is used to store preset energy, discharge the firing module according to the discharge signal, and stop the firing module from discharging according to the stop discharge signal.

[0052] The firing module is used to automatically fill the bullet 11 to the firing position and detect the position of the bullet 11. When the position of the bullet 11 reaches the first preset position, it sends a first position signal to the controller module. When the energy module discharges, it accelerates the bullet 11. When the position of the bullet 11 reaches the second preset position, it sends a second position signal to the controller module. After the energy module stops discharging, it terminates the acceleration of the bullet 11. It also receives firing signals and fires at the harvesting target according to the firing signals.

[0053] Specifically, the firing module includes an automatic loading module and a firing module. The automatic loading module pushes the bullet 11 to the firing position; the firing module is connected to the automatic loading module; the firing module detects the position of the bullet 11, sends a first position signal to the controller module when the bullet 11 reaches a first preset position, accelerates the bullet 11 when the energy module discharges, sends a second position signal to the controller module when the bullet 11 reaches a second preset position, terminates the acceleration of the bullet 11 after the energy module stops discharging, and receives a firing signal and fires at the target according to the firing signal. The automatic loading module uses a universal magazine 14 suitable for the bullet 11, which automatically loads a new bullet 11 into the firing position after each firing. The aiming module 9 includes a laser sight, which enables aiming at the pine cone to ensure that the bullet 11 hits the pine cone, helping the user accurately aim at the target pine cone. The firing position is the initial acceleration position of the bullet in the first-stage acceleration module.

[0054] Furthermore, the launching module includes a multi-stage launching unit; each launching unit includes an electromagnetic acceleration module and a bullet detection and discharge triggering module.

[0055] The bullet detection and discharge triggering module is connected to the controller module and the automatic loading module, respectively. The bullet detection and discharge triggering module is used to detect the position of the bullet 11. When the position of the bullet 11 reaches the first preset position, it sends a first position signal to the controller module and generates a discharge triggering signal. When the position of the bullet 11 reaches the second preset position, it sends a second position signal to the controller module and generates a stop discharge triggering signal.

[0056] The electromagnetic acceleration module is connected to the energy module and the bullet detection and discharge triggering module respectively. The electromagnetic acceleration module is used to accelerate the bullet 11 when the energy module discharges according to the discharge triggering signal, terminate the acceleration of the bullet 11 after the energy module stops discharging according to the stop discharge triggering signal, and receive the firing signal and fire at the target according to the firing signal.

[0057] Furthermore, the electromagnetic acceleration module includes a discharge coil 18; the bullet 11 is accelerated by passing through the discharge coil 18.

[0058] The bullet detection and discharge triggering module includes a photodiode 16, a voltage comparator, and a switching circuit. The photodiode detects the position of the bullet 11 and outputs a corresponding voltage signal based on the position of the bullet 11. The voltage comparator compares the voltage signal with a preset voltage signal to obtain a comparison result and sends the comparison result to the controller module. The controller module generates a discharge signal or a stop discharge signal based on the comparison result and sends it to the switching circuit. The switching circuit controls the energy module to discharge or stop discharging based on the discharge signal or the stop discharge signal.

[0059] In practical applications, the bullet detection and discharge triggering module includes a photoelectric pair 16 and a voltage comparator LM358, which are used to monitor the position of the bullet 11 and trigger the IGBT power transistor when it reaches the optimal position to achieve precise discharge.

[0060] The bullet detection and discharge triggering module is a precise detection circuit for the bullet 11's position, triggering a discharge loop. Its circuit primarily utilizes a phototransistor 16 and a dual-channel voltage comparator to form the bullet 11's position detection circuit, and accelerates the bullet 11 through coil discharge. When the bullet 11 enters the coil, the phototransistor 16 near the coil is temporarily blocked, continuously outputting a low level during this time. This low-level signal is sent to the microcontroller's interrupt interface. Upon detecting the interrupt signal, the microcontroller sends a discharge signal to control the IGBT power transistor to conduct, causing the capacitor to discharge instantaneously into the coil, generating a strong pulsed magnetic field that accelerates the bullet 11's movement. When the bullet 11 reaches the middle of the coil, its tail passes through the phototransistor 16 furthest from the coil. The phototransistor 16 conducts, continuously outputting a high level, which is sent to the microcontroller's interrupt interface. Upon detecting the conduction signal, the microcontroller sends a discharge signal to control the IGBT power transistor to disconnect, stopping the capacitor from discharging into the coil.

[0061] like Figure 4 , Figure 5 and Figure 6As shown, the electromagnetic acceleration module, a core component of this invention, releases energy from the energy storage capacitor stage by stage through multi-stage discharge coils 18, propelling the bullet 11 to accelerate along the barrel 10. The bullet 11 accelerates within the barrel 10, with the front end extending beyond the nozzle and the rear end located at the entrance of the first-stage acceleration module 3, allowing control over the acceleration direction of the bullet 11. Each stage of the discharge coil 18 is designed to be connected to its independent bullet 11 detection module and IGBT trigger module. When the bullet 11 enters the coil of that stage, the detection module transmits a signal to the controller, which triggers the IGBT switch, instantly releasing the electrical energy from the energy storage capacitor and generating a powerful pulsed magnetic field in that stage. This stage-by-stage acceleration design effectively increases the terminal velocity of the bullet 11, reaching approximately 40 meters per second, providing sufficient kinetic energy to strike the pine cone and ensuring efficient harvesting. The electromagnetic acceleration module features a multi-stage acceleration design, employing magnetoresistive acceleration and a ferromagnetic bullet. The discharge coil 18 is made of copper wire. Each stage is designed independently for ease of installation and debugging. The acceleration device consists of two monitoring trigger boards 14 and the discharge coil 18. A photoelectric pair 16 is mounted on the monitoring trigger board 14 to detect the position of the bullet 11. Multiple acceleration modules have identical structures and are located on the same axis. The spacing between each stage of acceleration modules is adjusted by the speed of the bullet 11.

[0062] The electromagnetic acceleration module includes six discharge coils 18. Each coil discharges upon reaching its position via a controller command, propelling the bullet 11 to gradually accelerate along the barrel 10. Through this progressive acceleration, the bullet 11 can strike and harvest the pine cone at high speed. The spacing between the first and second acceleration modules is 3cm, between the second and third acceleration modules is 3cm, between the third and fourth acceleration modules is 3.5cm, between the fourth and fifth acceleration modules is 4cm, and between the fifth and sixth acceleration modules is 5cm.

[0063] In one specific implementation, the energy module includes an energy supply module and an energy storage module.

[0064] The energy supply module is connected to both the controller module and the energy storage module; the energy supply module is used to receive charging parameters sent by the controller module and provide energy to the energy storage module according to the charging parameters.

[0065] The energy storage module is connected to the controller module and the firing module respectively; the energy storage module discharges to the firing module or stops discharging according to the discharge signal or the stop discharge signal.

[0066] The energy supply module includes a power supply module and a boost module. The power supply module provides electrical power; the boost module is connected to the power supply module, the controller module, and the energy storage module; the boost module converts the electrical power into energy that meets the charging parameter requirements and provides it to the energy storage module.

[0067] The energy storage module is an energy storage capacitor.

[0068] In practical applications, the power module uses a 12V lithium-ion DC power battery to provide stable power for the entire system. This module is responsible for providing low-voltage DC power to the subsequent boost module. The power supply is lightweight, making it easy to use in the field, and convenient to carry and operate.

[0069] The boost module and energy storage module utilize high-power switching transistors and a high-frequency boost converter to boost 12V DC to approximately 400V. This high-voltage current, after rectification and filtering, is supplied to the energy storage module to charge its capacitors. The circuit includes a switching transistor for controlling the switching operation of the current. A transformer converts the low voltage to a high voltage. The converted high voltage is then converted back to DC by a bridge rectifier, and finally, a storage capacitor smooths the voltage and provides a stable output. The energy storage module mainly consists of high-capacity capacitors used to store high-voltage energy, responsible for storing the boosted energy for subsequent electromagnetic acceleration. The capacitor charging voltage is sampled and read by an AD converter, and charging stops when the set voltage is reached. When a trigger signal arrives, the IGBT switching module instantaneously releases energy, supplying power to the discharge coil 18 and generating a strong pulsed magnetic field.

[0070] Specifically, the power supply module is a DC 12V power supply. The boost module includes a switching transistor, a boost transformer, rectifier diodes, a current-limiting resistor, and an energy storage capacitor. A high-power switching transistor and a high-frequency boost transformer are used to boost the voltage from 12V to approximately 400V to charge the energy storage module capacitor. Charging automatically stops when the capacitor voltage reaches a set value, awaiting a trigger to discharge the coil. The circuit includes a switching transistor for controlling the switching operation of the current. The transformer converts the low voltage to a high voltage. The converted high voltage is then converted to DC by a bridge rectifier, and finally smoothed by an energy storage capacitor to provide a stable output.

[0071] In one specific implementation, the aiming module 9 is a laser aiming device.

[0072] In one specific implementation, the pine cone harvesting gun also includes a display module; the display module is an LCD screen, controlled by a microcontroller, which can set the operating voltage and display the battery level, coil status, capacitor voltage, and current device status in real time, allowing the user to clearly understand the device's operating status. The system also includes an emergency stop device, which can immediately cut off the power supply in case of operational errors or other emergencies to ensure user safety.

[0073] The controller module enables precise control of the entire system; it can accurately detect the position of bullet 11; it samples the capacitor charging voltage value through its AD converter and displays the charging voltage value through the LCD module; the microcontroller precisely controls the capacitor discharge time according to the optimal position signal of bullet 11, precisely shuts off the discharge circuit, avoids the reverse pull effect of discharge coil 18 on bullet 11, and greatly improves the efficiency of the pine cone gun; it controls the completion of 6-stage acceleration to achieve high-speed impact of bullet 11 on the pine cone.

[0074] As a specific embodiment, the circuit connection structure of the portable electromagnetic pine cone harvesting gun provided by the present invention is as follows: Figure 2 As shown, the details are as follows:

[0075] One end of the DC12V power supply is connected to one end of the primary phase coil of the step-up transformer; the other end of the DC12V power supply is connected to one end of the switching transistor, and the switching signal is input from the control terminal of the switching transistor; the other end of the switching transistor is connected to the other end of the primary phase coil of the step-up transformer; one end of the secondary phase coil of the transformer is connected to the input terminal of the bridge rectifier circuit; one end of the output terminal of the bridge rectifier circuit is connected to the current-limiting resistor; the other end of the output terminal of the bridge rectifier circuit is connected to the negative terminal of the energy storage capacitor and one end of the high-power transistor; the other end of the current-limiting resistor is connected to the positive terminal of the energy storage capacitor and one end of the loop resistor; the other end of the loop resistor is connected to one end of the discharge coil 18; the other end of the discharge coil 18 is connected to the other end of the high-power transistor; the control terminal of the high-power transistor receives the on / off signal; the on / off signal is determined by the bullet detection and discharge trigger module.

[0076] As a specific implementation method, such as Figure 3As shown, the portable electromagnetic pine cone harvesting gun provided by this invention includes a cable connector 1, a gun housing 2, a primary acceleration module 3, a secondary acceleration module 4, a tertiary acceleration module 5, a quaternary acceleration module 6, a quinary acceleration module 7, a sixth acceleration module 8, an aiming module 9, a barrel 10, a bullet 11, a stock 12, a trigger 13, a magazine 14, and a grip 15. The cable connector 1, aiming module 9, stock 12, trigger 13, and grip 15 are mounted on the gun housing 2. The magazine 14 is housed within the grip 15. The primary acceleration modules 3, 4, 5, 6, 7, and 8 are arranged sequentially. The barrel 10 passes through all of these modules, and the bullet 11 moves within the barrel 10. The cable connector 1 serves as the connection point for the pine cone gun to the power module cable.

[0077] This invention discloses a portable electromagnetic pine cone harvesting gun, aiming to solve the problems of low efficiency and high labor intensity in manual pine cone harvesting, complex and costly operation of drone or robot harvesting, and damage to trees caused by vibrating harvesting devices. The portable electromagnetic pine cone harvesting gun's boost module increases the power supply voltage and charges the energy storage module after rectification and filtering. An LCD display module shows the power supply voltage and charge level, as well as the energy storage module voltage. The controller module is responsible for the overall control of the system, while the automatic loading module loads the bullets. The gun has six acceleration stages, each equipped with an independent bullet detection and discharge trigger module. When this module detects that bullet 11 has entered the coil, it triggers the IGBT power transistor to switch on and off, controlling the energy storage module to discharge the discharge module coil, accelerating bullet 11. The discharge stops when bullet 11 reaches the center of the coil. The aiming module 9 uses a laser sight to aim at the pine cone, ensuring that bullet 11 hits it. After locking onto the pine cone with the aiming module 9, the trigger is pulled, and bullet 11 accelerates to approximately 40 meters per second, impacting the pine cone and causing it to fall. The automatic loading module then reloads, repeating the above steps to complete the task of harvesting the pine cones. This invention employs multi-stage electromagnetic acceleration technology, precisely controlling the discharge timing of each acceleration stage to achieve accurate strikes on the pine cones, effectively improving harvesting efficiency and ensuring no physical damage to the trees during harvesting. The invention features an ergonomic design, is compact and lightweight, with the entire device weighing approximately 5 kg, making it easy to carry, hold for extended periods, and operate, suitable for fieldwork.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A portable electromagnetic pine cone harvesting gun, characterized in that, The pine cone harvesting gun includes an energy module, a controller module, an aiming module, and a firing module; The aiming module is used to lock onto the pine cones to be picked, thereby obtaining the picking target; The controller module is connected to the energy module and the firing module respectively; the controller module is used to receive the first position signal and the second position signal of the bullet sent by the firing module, generate a discharge signal according to the first position signal, generate a stop discharge signal according to the second position signal, and send the discharge signal and the stop discharge signal to the energy module. The energy module is connected to the firing module; the energy module is used to store preset energy, discharge the firing module according to the discharge signal, and stop the firing module from discharging according to the stop discharge signal. The firing module is used to automatically fill the bullet to the firing position and detect the position of the bullet. When the position of the bullet reaches the first preset position, it sends a first position signal to the controller module. When the energy module discharges, it accelerates the bullet. When the position of the bullet reaches the second preset position, it sends a second position signal to the controller module. After the energy module stops discharging, it terminates the acceleration of the bullet. It also receives firing signals and fires at the harvesting target according to the firing signals.

2. The portable electromagnetic pine cone harvesting gun according to claim 1, characterized in that, The firing module includes an automatic loading module and a firing module; The automatic loading module is used to push the bullet to the firing position; The launching module is connected to the automatic loading module; the launching module is used to detect the position of the bullet, send a first position signal to the controller module when the bullet reaches a first preset position, accelerate the bullet when the energy module discharges, send a second position signal to the controller module when the bullet reaches a second preset position, terminate the acceleration of the bullet after the energy module stops discharging, receive a firing signal, and fire at the target according to the firing signal.

3. The portable electromagnetic pine cone harvesting gun according to claim 2, characterized in that, The launching module includes a multi-stage launching unit; each launching unit includes an electromagnetic acceleration module and a bullet detection and discharge triggering module. The bullet detection and discharge triggering module is connected to the controller module and the automatic loading module, respectively. The bullet detection and discharge triggering module is used to detect the position of the bullet. When the position of the bullet reaches the first preset position, it sends a first position signal to the controller module and generates a discharge triggering signal. When the position of the bullet reaches the second preset position, it sends a second position signal to the controller module and generates a stop discharge triggering signal. The electromagnetic acceleration module is connected to the energy module and the bullet detection and discharge triggering module respectively. The electromagnetic acceleration module is used to accelerate the bullet when the energy module discharges according to the discharge triggering signal, terminate the acceleration of the bullet after the energy module stops discharging according to the stop discharge triggering signal, and receive the firing signal and fire at the target according to the firing signal.

4. The portable electromagnetic pine cone harvesting gun according to claim 3, characterized in that, The electromagnetic acceleration module includes a discharge coil; the bullet is accelerated by passing through the discharge coil.

5. The portable electromagnetic pine cone harvesting gun according to claim 3, characterized in that, The bullet detection and discharge triggering module includes a photoelectric pair, a voltage comparator, and a switching circuit. The phototube is used to detect the position of the bullet and output a corresponding voltage signal according to the position of the bullet; The voltage comparator is used to compare the voltage signal with a preset voltage signal, obtain a comparison result, and send the comparison result to the controller module; The controller module generates a discharge signal or a stop discharge signal based on the comparison result and sends it to the switching circuit. The switching circuit controls the energy module to discharge or stop discharging based on the discharge signal or the stop discharge signal.

6. The portable electromagnetic pine cone harvesting gun according to claim 1, characterized in that, The energy module includes an energy supply module and an energy storage module; The energy supply module is connected to both the controller module and the energy storage module; the energy supply module is used to receive charging parameters sent by the controller module and provide energy to the energy storage module according to the charging parameters. The energy storage module is connected to the controller module and the firing module respectively; the energy storage module discharges to the firing module or stops discharging according to the discharge signal or the stop discharge signal.

7. The portable electromagnetic pine cone harvesting gun according to claim 6, characterized in that, The energy supply module includes a power supply module and a boost module; The power module is used to provide power; The boost module is connected to the power module, the controller module, and the energy storage module respectively; the boost module is used to convert the electrical charge into energy that meets the charging parameter requirements and provide it to the energy storage module.

8. The portable electromagnetic pine cone harvesting gun according to claim 6, characterized in that, The energy storage module is an energy storage capacitor.

9. The portable electromagnetic pine cone harvesting gun according to claim 1, characterized in that, The aiming module is a laser aiming device.

10. The portable electromagnetic pine cone harvesting gun according to claim 1, characterized in that, The pine cone harvesting gun also includes a display module; the display module is an LCD screen.

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