A method for unmanned aerial vehicle spraying of a maleicidal agent to kill male insects

Abstract

The present application relates to a kind of unmanned plane spraying male-killing agent killing male method, is completed by unmanned plane traction pesticide device, the process of spraying male-killing agent is as follows: transverse detection rod elongation is located in the closest row of plant female between plant female of straight line segment from the chassis, unmanned plane rises to isolation cover is located above plant template and traction chassis advances to transverse detection rod touches plant female and stops advancing when, air extraction structure carries out air extraction while unmanned plane drops, stops air extraction when dropping to isolation cover covers on plant female, male-killing agent output structure sprays male-killing agent and carries out killing male, after killing male is completed, unmanned plane rises and drops to isolation cover from plant female and continues to advance after transverse detection rod avoids open. The present application has the advantages of less effective land occupation and effective prevention of male-killing agent diffusion, and solves the problem of existing male-killing that cannot effectively prevent male-killing agent from affecting the father.

Description

Technical Field

[0001] This invention relates to the field of agricultural breeding technology, and in particular to a method for killing males by spraying a maleicide with a drone. Background Technology

[0002] One current crop breeding method involves spraying a male sterilizing agent onto the female parent (hereinafter referred to as the female parent) during the flowering period. This directly kills or inhibits the development of the male organs, causing physiological sterility. Then, another variety is selected as the male parent (hereinafter referred to as the male parent) for hybridization to produce a superior hybrid. This method is called chemical male sterilization. The advantages of chemical male sterilization are its high effectiveness, purity, and efficiency compared to manual male sterilization. Chemical male sterilization breeding technology is of great significance for ensuring the production of high-quality rapeseed seeds.

[0003] In current crop breeding, chemical male sterilization is generally carried out by manually spraying male sterilizing agents onto the female parent using spraying equipment. This method requires high labor costs and has low operational efficiency. The sprayed male sterilizing agent droplets may also drift into the nearby male parent (for breeding convenience, the male parent is generally planted near the female parent), which may have a negative impact on the male parent and may lead to a decline in breeding quality.

[0004] The patent (application number 2020103328193) uses a spray truck to spray chemical male killing agents. Although this device and method have the advantages of reducing labor costs and improving work efficiency, it requires laying wide roads on the breeding grounds for vehicles to pass through and cannot effectively prevent the male killing agents from spreading and affecting the male parent. Summary of the Invention

[0005] The present invention aims to provide a method for spraying maleicides with drones that occupies less effective land on the track and can effectively prevent the spread of maleicides, thus solving the problem that existing maleicides cannot effectively prevent maleicides from affecting the male parent.

[0006] The above technical problems are solved by the following technical solution: A method for spraying a maleicide using a drone, characterized in that the spraying is accomplished by the drone towing the spraying device, which includes a detection structure, an isolation cover for covering the plants, and a vertical slide bar for support on a track. The support track is set on the breeding ground and includes several parallel, longitudinally extending straight segments and several arc-shaped segments connecting the straight segments end to end. The support track has a zigzag structure, and planting areas are separated between adjacent straight segments. In two adjacent planting areas, one planting area is planted with the mother plant. Another planting area cultivates male plants, while a planting area cultivating female plants has only two rows of female plants. The female plants in the same row are distributed along the extension direction of a straight segment. The lower end of the vertical slide bar has a base frame slidably connected to the track. The base frame is hooked to the track to prevent it from falling off. The isolation cover has a connecting arm fitted onto the vertical slide bar. The isolation cover has a maleicide storage tank, a maleicide output structure that sprays the maleicide from the storage tank through the isolation cover, and a ventilation structure that draws air into the isolation cover. The drone is connected to the isolation cover. The base frame is equipped with a transverse detection rod and a detection rod drive structure that drives the transverse detection rod to move laterally. When the transverse detection rod touches the plant parent plant, the isolation cover is located directly above the plant parent plant. The detection structure is used to detect whether the transverse detection rod touches the plant parent plant. When the base frame moves forward on the track, the plant parent plant and the transverse detection rod are located on the same side of the base. The process of spraying the male-killing agent is as follows: the transverse detection rod extends to the plant parent plant located between the plant parent plants in the row of plant parent plants closest to the straight section where the base frame is located. The drone rises to the position of the isolation cover above the plant template and pulls the base frame forward until the transverse detection rod touches the plant parent plant. Upon encountering a plant parent, the drone stops moving forward. The ventilation system draws air, causing the flower on the plant template to face upwards and move closer to the plant's main stem. Simultaneously, the drone descends, causing the isolation cover to drop. Once the isolation cover covers the plant parent, the ventilation system stops, and the emasculator output structure sprays emasculator onto the plant parent to kill male reproductive organs. After emasculation, the drone lifts and removes the isolation cover from the plant parent, then pulls the base forward to a position behind the adjacent plant parent with the emasculated lateral detection rod. Before the drone moves forward, the detection rod drive structure retracts to avoid the plant parent and then extends to its original position. This prevents pesticide spillage during emasculation from affecting the male reproductive organs, and the isolation cover can be easily, accurately, and quickly applied to each plant parent in turn.

[0007] Preferably, the maleicide output structure includes an infusion pump and several spray holes disposed on the inner surface of an isolation cover. The isolation cover has an outlet channel connecting the spray holes and the outlet end of the infusion pump. The inlet end of the infusion pump is connected to the maleicide storage tank. This structure is compact and reliably delivers the drug to all flowers for maleicide killing in multiflorescent plants.

[0008] Preferably, the infusion pump is located inside the androgen storage tank. This prevents leakage from the infusion pump and potential contamination.

[0009] Preferably, an exhaust chamber is formed between the maleicide storage tank and the top wall of the isolation cover. The exhaust structure includes an exhaust port on the top wall of the isolation cover connecting the isolation cover and the exhaust chamber, a fan shaft located inside the exhaust chamber, exhaust blades on the fan shaft, and an exhaust port on the wall of the exhaust chamber. The fan shaft is connected to the motor shaft of the infusion pump via an exhaust chamber clutch. The exhaust blades drive the airflow through the exhaust port into the exhaust chamber and then out through the exhaust port to the outside of the isolation cover. The infusion pump inlet is equipped with an electric valve. During use, the electric valve is closed when ventilating, and the exhaust chamber clutch is disengaged when spraying. The structure is compact, with fewer motors, reducing weight and lowering the load capacity requirements of the drone.

[0010] Preferably, the lower end of the isolation cover is connected to a vertical tube that can elastically open. A closing rope for closing the lower end of the vertical tube passes through the lower end of the tube. The two ends of the closing rope are connected to connecting rings. The vertical shaft is a ferromagnetic structure, and the connecting ring is a permanent magnet structure. The connecting ring is sleeved on and attracted to the vertical shaft. The lower end of the vertical shaft is rotatably connected to a base frame, which has a vertical shaft drive structure for driving the vertical shaft to rotate. In use, when the isolation cover is placed over the plant parent, the vertical shaft drive structure drives the vertical shaft to rotate. When the vertical shaft rotates, the connecting ring rotates together, thereby winding the closing rope around the vertical shaft. When the closing rope is wound, the lower end of the vertical tube closes to form a closed opening. When the isolation cover is removed, the winding of the closing rope is first released, and the vertical tube actively opens under the elastic restoring action of the vertical tube. This reduces the possibility of drug spillage from the upper end.

[0011] Preferably, the upper end of the vertical shaft is connected to a connecting bearing fixed to the vertical slide rod, and the connecting bearing is located below the connecting arm. This prevents the vertical shaft from bending or deforming.

[0012] Preferably, the vertical shaft drive structure includes a drive motor and a vertical shaft gear mounted on the vertical shaft. The drive motor is connected to the base frame. The detection rod drive structure includes a rack connected to a horizontal detection rod and a detection rod gear meshing with the rack. A first output gear and a second output gear are connected to the motor shaft of the drive motor. The first output gear meshes with a first intermediate gear of the vertical shaft portion, and the vertical shaft gear meshes with a second intermediate gear of the vertical shaft portion. The first intermediate gear and the second intermediate gear of the vertical shaft portion are coaxial. One end of the shaft of the first intermediate gear and one end of the shaft of the second intermediate gear of the vertical shaft portion pass through the vertical shaft. The two gears are connected together by a clutch. The other ends of the shafts of the first intermediate gear and the second intermediate gear are rotatably connected to the base frame. The second output gear meshes with the first intermediate gear of the detection rod, and the gear of the detection rod meshes with the second intermediate gear of the detection rod. The first and second intermediate gears of the detection rod are coaxial. One end of the shaft of the first intermediate gear and the other end of the shaft of the second intermediate gear are connected together by a clutch in the detection rod. The other ends of the shafts of the first and second intermediate gears are rotatably connected to the base frame. When the vertical shaft needs to be driven to rotate, the clutch in the vertical shaft section engages. The drive motor drives the first intermediate gear in the vertical shaft section to rotate via the first output gear, which in turn drives the second intermediate gear in the vertical shaft section to rotate. The second intermediate gear in the vertical shaft section then drives the gear in the vertical shaft section to rotate, thus causing the vertical shaft to rotate. When the horizontal detection rod needs to be extended or retracted, the clutch in the detection rod section engages. The drive motor drives the first intermediate gear in the detection rod section to rotate via the second output gear, which in turn drives the second intermediate gear in the detection rod section to rotate. The second intermediate gear in the detection rod section then drives the gear in the detection rod section to rotate, causing the rack to translate. The translation of the rack drives the horizontal detection rod to move. This reduces the amount of motor required.

[0013] Preferably, the vertical shaft is rotatably connected to the base frame via a planar bearing.

[0014] Preferably, the device also includes a push plate fitted onto the closing cable. The push plate is an electromagnet structure, and the connecting ring is a ferromagnetic structure. The connecting ring is connected to the push plate via a compression spring. When the compression spring is in its free state with liquid in its reservoir, the distance between the push plate and the center line of the vertical tube is 5 to 15 centimeters. When the push plate is energized and attracts the connecting ring, the compression spring is compressed, and the push plate is positioned on the periphery of the vertical tube. When the vertical shaft rotates around the closing cable, the push plate is de-energized. This allows the lower end of the upper vertical tube to be more reliably closed to a small opening without damaging the plant.

[0015] Preferably, the detection structure includes a groove extending along the direction of the detection rod on the front side of the transverse detection rod along the front side of the base frame in the forward direction on the track, a flexible cover plate that closes the opening of the groove, and a pressure sensor located in the groove. The flexible cover plate closes the groove to form a liquid storage chamber, which is filled with liquid. When the pressure detected by the pressure sensor is greater than the initial value, it indicates that the transverse detection rod has touched the plant parent.

[0016] The present invention has the following advantages: it improves drone traction instead of locomotive traction, allowing the track to be narrow and thus built in the gaps between plants, thereby reducing the consumption of effective land; the isolation cover, after isolation, can prevent the male hormone from drifting onto the male plant and affecting breeding; the upward suction when the cover is on can make the flowers lift their heads and move closer to the main stem of the plant, improving the reliability of the male hormone being sprayed on the flowers. Attached Figure Description

[0017] Figure 1 A schematic diagram of the spraying device and drone used when the isolation cover is placed over the plant parent plant;

[0018] Figure 2 for Figure 1 A magnified view of a portion of point A;

[0019] Figure 3 for Figure 1 A magnified view of a portion of point B;

[0020] Figure 4 for Figure 1 A magnified view of part C.

[0021] Figure 5 This is a schematic diagram of the cross-section of the transverse detection rod;

[0022] Figure 6 A bird's-eye view of the breeding site;

[0023] Figure 7 This is a schematic diagram of the device for sprinkling when the lower end of the vertical pipe is retracted.

[0024] In the diagram: 1. UAV; 2. Isolation cover; 3. Track; 4. Vertical slide bar; 5. Breeding ground; 6. Roadbed; 7. Straight section; 8. Arc section; 9. Plant mother plant; 10. Plant father plant; 11. Base frame; 12. Balance wheel; 53. Connecting arm; 13. Maleicide storage tank; 14. Sling; 15. Infusion pump; 16. Spray nozzle; 17. Liquid outlet channel; 18. Electric valve; 19. Air outlet chamber; 20. Air extraction port; 21. Fan blade shaft; 22. Air extraction blade; 23. Exhaust port; 24. Air outlet chamber clutch; 25. Vertical pipe; 26. Closing cable; 27. Connecting ring; 28. Vertical shaft; 29. ​​Planar bearing; 30. Connecting bearing seat; 31. Push plate; 32. Compression spring; 33. Lateral detection rod; 34. Drive motor. Vertical shaft gear 35, rack 36, detection rod gear 37, first output gear 38, second output gear 39, vertical shaft first intermediate gear 40, vertical shaft second intermediate gear 41, vertical shaft first intermediate gear shaft 42, vertical shaft second intermediate gear shaft 43, vertical shaft clutch 44, detection rod first intermediate gear 45, detection rod second intermediate gear 46, detection rod first intermediate gear shaft 47, detection rod second intermediate gear shaft 48, detection rod clutch 49, flexible cover plate 50, pressure sensor 51, liquid 52, flower 54, liquid pump outlet end 55, infusion pump inlet end 56. Detailed Implementation

[0025] The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings, but not all of them. Based on the embodiments of the present invention, the present invention will be clearly and completely described. Obviously, the described embodiments are merely a part 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.

[0026] See Figures 1 to 7A method for spraying a maleicide using a drone to kill male plants is disclosed, which is accomplished by a drone 1 towing a spraying device. The spraying device includes a detection structure, an isolation cover 2 for covering the plants, and a vertical slide bar 4 for support on a track 3. The support track is set on the roadbed 6 in the breeding area 5. The support track includes several parallel, longitudinally extending straight segments 7 and several arc-shaped segments 8 that connect the straight segments end to end. The support track has a zigzag structure, and planting areas are separated between adjacent straight segments. In two adjacent planting areas, one planting area is planted with female plants 9 and the other planting area is planted with male plants 10. Only two rows of female plants are planted in a planting area where female plants are planted. The female plants in the same row are distributed along the extension direction of the straight segments. The lower end of the vertical slide bar is provided with a base frame 11 that is slidably connected to the track. The base frame is provided with a balance wheel 12 supported on the roadbed to prevent tipping. The base frame is hooked to the track to prevent it from detaching. Specifically, the track is a compass, and the base frame's wrap angle on the track is greater than 180° to achieve the hook. The isolation cover has a connecting arm 53 fitted onto a vertical sliding rod. The isolation cover has a maleicide storage tank 13, a maleicide output structure that sprays the maleicide from the storage tank through the isolation cover, and a ventilation structure that draws air into the isolation cover. The UAV is connected to the isolation cover via a sling 14. The maleicide output structure includes an infusion pump 15 and several spray holes 16 located on the inner surface of the isolation cover. The isolation cover has an outlet channel 17 connecting the spray holes and the outlet end 55 of the infusion pump. The inlet end 56 of the infusion pump is connected to the maleicide storage tank. The infusion pump is located inside the maleicide storage tank. An electric valve 18 is installed at the inlet of the infusion pump. An exhaust chamber 19 is formed between the maleicide storage tank and the top wall of the isolation cover. The exhaust structure includes an exhaust port 20 connecting the isolation cover and the exhaust chamber, a fan shaft 21 located inside the exhaust chamber, exhaust blades 22 mounted on the fan shaft, and an exhaust port 23 mounted on the wall of the exhaust chamber. The fan shaft is connected to the motor shaft of the infusion pump via an exhaust chamber clutch 24. The exhaust blades drive the airflow through the exhaust port into the exhaust chamber and then out through the exhaust port to the outside of the isolation cover. A vertical pipe 25 that can be elastically opened is connected to the lower end of the isolation cover (in this embodiment, the pipe is made of rubber so that it can be elastically opened). A closing rope 26 for closing the lower end of the vertical pipe is passed through the lower end of the vertical pipe. The two ends of the closing rope are connected to a connecting ring 27. The vertical shaft 28 is a ferromagnetic structure, and the connecting ring is a permanent magnet structure. The connecting ring is sleeved and attracted to the vertical shaft. The lower end of the vertical shaft is rotatably connected to the base frame, specifically via a plane bearing 29. The upper end of the vertical shaft is connected to a connecting bearing 30 fixed to the vertical slide rod, and the connecting bearing is located below the connecting arm.It also includes a push plate 31 fitted on the closing cable. The push plate is an electromagnet structure, and the connecting ring is a ferromagnet structure. The connecting ring is connected to the push plate through a compression spring 32. When the compression spring is in a free state, the distance between the push plate and the center line of the vertical pipe is 5 cm to 15 cm. When the push plate is energized and attracts the connecting ring, the compression spring is squeezed and the push plate is located on the periphery of the vertical pipe.

[0027] The base frame is equipped with a vertical shaft drive structure that drives the vertical shaft to rotate. A transverse detection rod 33 and a detection rod drive structure that drives the transverse detection rod to move laterally are installed on the base frame. When the transverse detection rod comes into contact with the plant parent plant, the isolation cover is located directly above the plant parent plant. The detection structure is used to detect whether the transverse detection rod has touched the plant parent plant. When the base frame moves forward on the track, the plant parent plant and the transverse detection rod are located on the same side of the base.

[0028] The vertical shaft drive structure includes a drive motor 34 and a vertical shaft gear 35 mounted on the vertical shaft. The drive motor is connected to the base frame. The detection rod drive structure includes a rack 36 connected to the horizontal detection rod and a detection rod gear 37 meshing with the rack. A first output gear 38 and a second output gear 39 are connected to the motor shaft of the drive motor. The first output gear meshes with a first intermediate gear 40 of the vertical shaft section, and the vertical shaft gear meshes with a second intermediate gear 41 of the vertical shaft section. The first intermediate gear and the second intermediate gear of the vertical shaft section are coaxial. One end of the shaft 42 of the first intermediate gear of the vertical shaft section and one end of the shaft 43 of the second intermediate gear of the vertical shaft section are connected by a vertical shaft clutch. The components 44 are connected together, and the other ends of the shafts of the first intermediate gear and the second intermediate gear of the vertical shaft are rotatably connected to the base frame. The second output gear meshes with the first intermediate gear 45 of the detection rod, and the gear of the detection rod meshes with the second intermediate gear 46 of the detection rod. The first intermediate gear and the second intermediate gear of the detection rod are coaxial. One end of the shaft 47 of the first intermediate gear of the detection rod and one end of the shaft 48 of the second intermediate gear of the detection rod are connected together through the clutch 49 of the detection rod. The other ends of the shafts of the first intermediate gear and the second intermediate gear of the detection rod are rotatably connected to the base frame.

[0029] The detection structure includes a groove extending along the direction of the detection rod on the front side of the base frame in the forward direction on the track, a flexible cover plate 50 that closes the opening of the groove, and a pressure sensor 51 located in the groove. The flexible cover plate closes the groove to form a liquid storage chamber, which is filled with liquid 52. When the pressure detected by the pressure sensor is greater than the initial value, it indicates that the transverse detection rod has touched the plant parent.

[0030] The method for applying the male-killing agent according to this invention is as follows: The horizontal detection rod extends to the space between two plant mother plants in the row closest to the base frame on a straight line. The drone rises above the isolation cover on the plant template and pulls the base frame forward. When the horizontal detection rod touches the plant mother plants, the drone stops. The ventilation system draws air, causing the flowers on the plant template to face upwards and move closer to the plant stems. Simultaneously, the drone descends, causing the isolation cover to drop. When the isolation cover covers all the flowers 54 of the plant mother plants, the ventilation system stops. To stop the airflow, the lower end of the vertical section retracts. After the lower end of the vertical section retracts, the maleicide output structure sprays maleicide onto the plant parent to kill males. After male killing, the lower end of the vertical section opens. Then, the drone's lifting isolation cover is removed from the plant parent, and the towing frame moves forward to the rear of the next plant parent adjacent to the male-killed plant parent. Before the drone moves forward, the detection rod drive structure drives the horizontal detection rod to retract and avoid the plant parent. After the horizontal detection rod passes the male-killed plant parent, it extends and resets. The electric valve closes during airflow, and the clutch in the exhaust chamber disengages during spraying.

[0031] The process of closing and opening the lower end of the vertical section is as follows: When the isolation cover is placed on the plant parent, the vertical shaft drive structure drives the vertical shaft to rotate. When the vertical shaft rotates around the closing rope, the push plate is de-energized. When the vertical shaft rotates, the connecting ring rotates together, thereby winding the closing rope around the vertical shaft. When the closing rope is wound, the positioning and squeezing action of the push plate causes the lower end of the vertical tube to close and form a closing. When the isolation cover is removed, the winding action on the closing rope is first released and the push plate is energized. Under the elastic reset action of the vertical tube, the vertical tube actively opens and the closing rope is pulled away from the vertical shaft.

[0032] When the vertical shaft needs to be driven to rotate, the clutch of the vertical shaft part is engaged, and the drive motor drives the first intermediate gear of the vertical shaft part to rotate through the first output gear, which in turn drives the second intermediate gear of the vertical shaft part to rotate. The second intermediate gear of the vertical shaft part drives the gear of the vertical shaft part to rotate, thereby causing the vertical shaft to rotate. When the horizontal detection rod needs to be driven to extend or retract, the clutch of the detection rod part is engaged, and the drive motor drives the first intermediate gear of the detection rod part to rotate through the second output gear, which in turn drives the second intermediate gear of the detection rod part to rotate. The second intermediate gear of the detection rod part drives the gear of the detection rod to rotate, thereby causing the rack to translate. The translation of the rack drives the horizontal detection rod to move.

[0033] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the invention. Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for using a drone to spray a maleicide to kill males, characterized in that, The application discloses a pesticide spraying device driven by a UAV, which is used for spraying a male-killing agent on plant female parents, and belongs to the technical field of pesticide spraying devices driven by UAVs.The gas outlet chamber is formed between the storage tank of the male killing agent and the top wall of the isolation cover, the air extraction structure comprises an air extraction hole arranged on the top wall of the isolation cover and communicating the isolation cover and the gas outlet chamber, a fan blade rotating shaft arranged in the gas outlet chamber, an air extraction fan blade arranged on the fan blade rotating shaft, and an air outlet hole arranged on the wall of the gas outlet chamber, the fan blade rotating shaft is connected with the motor shaft of the infusion pump through a gas outlet chamber part clutch, the air extraction fan blade is used for driving the airflow to enter the gas outlet chamber through the air extraction hole and then to be discharged from the air outlet hole to the outside of the isolation cover, the inlet of the infusion pump is provided with an electric valve, the electric valve is closed during air extraction, and the gas outlet chamber part clutch is disconnected during pesticide spraying, the lower end of the isolation cover is butted against an elastic vertically arranged pipe, the lower end of the vertically arranged pipe is provided with a closing rope for closing the lower end of the vertically arranged pipe, the two ends of the closing rope are connected on a connecting ring, the vertically arranged shaft is a ferromagnetic structure, the connecting ring is a permanent magnet structure, the connecting ring is sleeved and adsorbed on the vertically arranged shaft, the lower end of the vertically arranged shaft is rotationally connected on the base frame, and the base frame is provided with a vertically arranged shaft driving structure for driving the vertically arranged shaft to rotate, in use, when the isolation cover is covered on the plant female parent, the vertically arranged shaft driving structure drives the vertically arranged shaft to rotate, the connecting ring rotates together to wind the closing rope on the vertically arranged shaft, the closing rope is wound to make the lower end of the vertically arranged pipe close to form a closing opening, and when the isolation cover is removed, the winding effect of the closing rope is first released, and the vertically arranged pipe is actively opened under the elastic reset action of the vertically arranged pipe, the upper end of the vertically arranged shaft is connected on a connecting seat bearing fixed on the vertically arranged slide rod, and the connecting seat bearing is located below the connecting arm, the vertically arranged shaft driving structure comprises a driving motor and a vertically arranged shaft part gear arranged on the vertically arranged shaft, the driving motor is connected on the base frame, the detection rod driving structure comprises a rack connected on the transversely arranged detection rod and a detection rod part gear meshed together, the motor shaft of the driving motor is connected with a first output gear and a second output gear, the first output gear is meshed together with a vertically arranged shaft part first intermediate gear, the vertically arranged shaft part gear is meshed together with a vertically arranged shaft part second intermediate gear, the vertically arranged shaft part first intermediate gear and the vertically arranged shaft part second intermediate gear are coaxial, one end of the rotating shaft of the vertically arranged shaft part first intermediate gear and one end of the rotating shaft of the vertically arranged shaft part second intermediate gear are connected together through a vertically arranged shaft part clutch, and the other end of the rotating shaft of the vertically arranged shaft part first intermediate gear and the other end of the rotating shaft of the vertically arranged shaft part second intermediate gear are both rotationally connected on the base frame, the second output gear is meshed together with a detection rod part first intermediate gear, the detection rod part gear is meshed together with a detection rod part second intermediate gear, the detection rod part first intermediate gear and the detection rod part second intermediate gear are coaxial, one end of the rotating shaft of the detection rod part first intermediate gear and one end of the rotating shaft of the detection rod part second intermediate gear are connected together through a detection rod part clutch, and the other end of the rotating shaft of the detection rod part first intermediate gear and the other end of the rotating shaft of the detection rod part second intermediate gear are both rotationally connected on the base frame.When the vertical shaft is to be driven to rotate, the vertical shaft clutch is closed, the driving motor drives the vertical shaft first intermediate gear to rotate through the first output gear, the vertical shaft second intermediate gear is also rotated, the vertical shaft second intermediate gear drives the vertical shaft gear to rotate, thereby driving the vertical shaft to rotate, when the horizontal detection rod is to be driven to stretch and retract, the detection rod clutch is closed, the driving motor drives the detection rod first intermediate gear to rotate through the second output gear, the detection rod second intermediate gear is also rotated, the detection rod second intermediate gear drives the detection rod gear to rotate, thereby driving the rack to translate, and the rack translation drives the horizontal detection rod to move.

2. The unmanned aerial vehicle spraying androgens method of claim 1, wherein, The vertical shaft is rotatably connected to the chassis through a plane bearing. 3.The unmanned aerial vehicle spraying androkill androkill method according to claim 1 or 2, characterized in that, The push plate is an electromagnet structure, the connecting ring is a ferromagnetic structure, the connecting ring is connected with the push plate through a compression spring, and the distance between the push plate and the center line of the vertical pipe is 5-15 cm in a free state of the compression spring; when the push plate is electrified to adsorb the connecting ring, the compression spring is squeezed and the push plate is located at the periphery of the vertical pipe; the push plate loses electricity when the vertical shaft rotates around the closing rope.

4. The unmanned aerial vehicle spraying androgens method of claim 1 or 2, wherein, The detection structure comprises a groove extending along the detection rod and located on the front side of the lateral detection rod in the forward direction of the chassis on the track, a flexible cover plate closing the opening of the groove, and a pressure sensor located in the groove. The flexible cover plate closes the groove to form a liquid storage cavity, the liquid storage cavity is filled with liquid, and the pressure sensor detects that the pressure is greater than the initial value, indicating that the lateral detection rod touches the plant mother.

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