Device for comprehensively preventing and controlling treeborer pests of rhus persica and use method of device

Abstract

The device comprises a material guiding pipe, a limiting piece, a limiting plate, a pulling rod, a windward plate and a rotating shaft, the limiting piece is fixed in the material guiding pipe and arranged in the length direction of the material guiding pipe, the limiting plate, the rotating shaft, the windward plate and the pulling rod are further installed in a pipe cavity of the lower portion of the material guiding pipe, and the windward plate and the pulling rod are arranged in the pipe cavity of the lower portion of the material guiding pipe. The limiting plate is located below the limiting piece, and a ball throwing opening is formed by the distance between the upper end of the limiting plate and the limiting piece. The size of the ball throwing opening is larger than the diameter of the egg throwing ball; the lower end of the limiting plate obliquely extends downwards and is fixed on the inner wall of the material guide pipe, and the rotating shaft is arranged below the limiting plate; the rotating shaft transversely penetrates through the material guide pipe, and the two ends of the rotating shaft are connected to the opposite pipe walls of the material guide pipe respectively. The middle of the deflector rod is connected to the rotating shaft, the upper end of the deflector rod penetrates to the position above the limiting plate, and the windward plate is fixed to the lower portion of the deflector rod. The trichogramma egg putting device has the advantages of compact structure, low cost, high trichogramma egg putting efficiency and the like.

Description

Technical Field

[0001] The invention relates to the technical field of pest control, and in particular to a device and a use method for comprehensive prevention and control of wood-tip borer pests. Background Art

[0002] The eucalyptus is a national second-level key protected wild plant. Its wood is hard and resistant to decay. It is called "iron wood". It is an excellent material for construction, crafts and furniture. For example, the Zhenwu Pavilion in Rong County, Guangxi was built with the heartwood of the eucalyptus. It has a history of more than 400 years and is still intact. At the same time, the eucalyptus tree has a dense green crown and is also an excellent garden ornamental tree species and a pioneer tree species for afforestation in barren land. It has a significant effect on conserving water sources and improving soil. It is suitable for growing in the humid climate zone from the southern subtropical to the northern tropical zone with an average temperature above 20℃. It requires the average temperature of the coldest month to be between 11-14℃ and the average temperature of the hottest month to be 26-28℃. It can withstand light frost and short-term low temperatures of around 0℃, the extreme minimum temperature is around -3℃, the annual accumulated temperature is above 7500℃, the annual precipitation is 1200-2000 mm, and the relative humidity is above 78%. The afforestation site should be selected in acidic sandy loam or light clay with a deep soil layer below 600m above sea level.

[0003] The litchi moth (Cryptophlebia ombrodelta) belongs to the genus Cryptophlebia, family Tortricidae, order Lepidoptera, and has a wide host range. It is a worldwide pest, especially in tropical and subtropical regions. The pest is hidden and difficult to control. In the past, the main focus was on its damage to economic forests such as longan, litchi, and macadamia, and less attention was paid to its occurrence and damage in timber forests. Erythrophleum fordii is an evergreen broad-leaved tree species of the family Caesalpiniaceae, one of the precious timber species in tropical and subtropical regions of my country, and is widely used in forestry construction in South China. However, its artificial forests have long been seriously damaged by the litchi moth, which has become a key limiting factor restricting the healthy development of Erythrophleum fordii plantations.

[0004] The existing literature "The life history and control of the litchi heteromorphic moth in the Gemu plantation, Zhao Zhigang et al." studied the life history and control of the litchi heteromorphic moth.

[0005] The Trichogramma is a type of egg parasitic wasp that is currently widely used and released in agricultural production. After emerging from the shell in the field, female Trichogramma will actively search for pest eggs, pierce the pest egg shells with her ovipositor, lay her own eggs in them and absorb the nutrients from the pest eggs to develop and grow. The parasitic pest eggs cannot develop normally, thus achieving the purpose of pest control. This method can effectively control pests and has achieved certain economic, ecological and social benefits.

[0006] As civil drone technology gradually matures and becomes popular, both domestic and foreign countries have begun to explore the possibility of mechanized release of trichogrammatids. Existing delivery equipment also includes trichogrammatid delivery devices that use drones as carriers. For example, the existing patent document CN118947640A discloses an operating method for a drone-mounted trichogrammatid hive delivery device, which designs an operating method for a drone-mounted trichogrammatid hive delivery device, solving the problem that the existing drone-mounted trichogrammatid hive delivery device cannot automatically match the drone flight route with the delivery route during delivery operations, resulting in large delivery errors.

[0007] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0008] The (main) purpose of the present invention is to provide a device and a method for using the device for comprehensive prevention and control of woody tip borer pests, which has a compact structure, low cost and high efficiency in placing trichogrammatid eggs.

[0009] To this end, the present invention proposes a device and a method for use for comprehensive prevention and control of wood-tip borer pests.

[0010] Preferably, the present invention may also have the following technical features:

[0011] A device for comprehensive prevention and control of wood-boring tip pests, comprising a material guide tube, a limit member, a limit plate, a pull rod, a windward plate and a rotating shaft, wherein the limit member is fixed in the material guide tube and arranged along the length direction of the material guide tube, and the lower tube cavity of the material guide tube is also equipped with the limit plate, the rotating shaft, the windward plate and the lever, wherein the limit plate is located below the limit member, and the distance between its upper end and the limit member forms a pitching opening; the size of the pitching opening is larger than the diameter of the egg-throwing ball; the lower end of the limit plate extends obliquely downward and is fixed to the inner wall of the material guide tube, and the rotating shaft is arranged below it; the rotating shaft crosses the material guide tube, and its two ends are respectively connected to the opposite tube walls of the material guide tube; the middle part of the lever is connected to the rotating shaft, its upper end passes through the top of the limit plate, and the windward plate is fixed to the lower part.

[0012] Furthermore, the shifting rod is divided into two parts, including an upper shifting rod and a lower shifting rod, and the upper shifting rod and the lower shifting rod are respectively connected to the rotating shaft, so that the shifting rod swings through the rotating shaft.

[0013] Furthermore, the angle between the upper lever and the lower lever is greater than 90°, and the center of gravity of the upper lever is located on the right side of the rotating shaft, with a tendency to rotate clockwise.

[0014] Furthermore, the limiting plate is provided with a guide groove, and the guide groove extends rightward from the middle thereof, and the upper part of the shifting rod passes through the guide groove to the top of the limiting plate.

[0015] Furthermore, the diameter of the lower end of the material guiding pipe gradually increases and then gradually decreases until the original diameter is restored.

[0016] Furthermore, the lower end of the limiting member is connected to a plurality of arc-shaped pieces, each of which is enclosed in a tubular shape, so that the arc-shaped pieces and the inner wall at the gradually increasing diameter of the tube form a turning channel for the tossed egg ball to enter the limiting plate.

[0017] Furthermore, the lower portion of the lower lever extends out from below the lower port of the material guide tube, and the windward plate is fixed on the rod body, and the plate surface of the windward plate is parallel to the axis of the rotating shaft.

[0018] Furthermore, it also includes a brush, the upper part of which is fixed to the lower end of the limiting member, and the lower part extends downward, so that the distance between the lower end of the brush and the limiting plate is smaller than the diameter of the tossing ball.

[0019] Furthermore, the stopper is a round tube structure, and its diameter is smaller than that of the guide tube. The round tube is fixed in the guide tube, and the distance between its outer side and the inner wall of the guide tube is larger than the diameter of the tossing egg ball, so as to form the guide channel. The inner cavity of the round tube forms an air guide channel.

[0020] A method for using the above-mentioned device for comprehensive prevention and control of lattice wood tip borer pests comprises the following steps:

[0021] S1. Fix the upper end of the material guide tube to the UAV, directly below the UAV fuselage, with the side of the material guide tube equipped with the egg-throwing ball close to the nose side of the UAV;

[0022] S2. Put an appropriate amount of egg balls into the guide tube, and start the drone to fly forward to the eucalyptus control area;

[0023] S3. After the drone flies to the predetermined area, it hovers in the air and then accelerates backward. At this time, the side of the windward board away from the nose is impacted by the wind, and the lever rotates counterclockwise to push the egg ball out of the pitching port;

[0024] S4, observe whether the pitching is successful according to the camera on the drone, and after the pitching is completed, continue to fly forward and move the pitching point downward, and then perform the operation of step S3 until the egg throwing operation is completed.

[0025] Compared with the prior art, the beneficial effects of the present invention include: (1) The force of wind on the windward plate drives the rotation direction of the lever, thereby pushing out the egg-throwing ball on the limit plate, realizing the pure mechanical structure to release the egg-throwing ball. The structure is simple and the weight is low, which reduces the workload of the UAV, improves the endurance of the UAV, and reduces the requirements for the UAV. (2) The assembly relationship between the lever and the guide groove makes the structural connection more compact and easier to arrange the lever. In addition, the guide groove can also limit the swing amplitude of the lever to avoid disorderly swinging of the lever. (3) When the windward plate on the lever is not subjected to external force, the lever can have a clockwise rotation tendency by designing the center of gravity of the lever above the rotating shaft to the right, thereby avoiding disorderly collision of the lever with the first egg-throwing ball and reducing the occurrence of accidental egg-throwing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a main structural schematic diagram of the present invention.

[0027] Figure 2 It is a partial structural schematic diagram of the present invention.

[0028] Figure 3 This is an implementation of the limiter of the present invention.

[0029] Figure 4 This is another embodiment of the limiting member of the present invention. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below in conjunction with specific implementations and with reference to the accompanying drawings. It should be emphasized that the following description is merely exemplary and is not intended to limit the scope of the present invention and its application.

[0031] Non-limiting and non-exclusive embodiments will be described with reference to the following figures, wherein like reference numerals refer to like parts unless otherwise specifically stated.

[0032] like Figures 1 to 4The device for comprehensive prevention and control of wood-boring tip pests shown in the figure comprises a guide tube 1, a stopper 3, a stopper plate 6, a pull rod 8, a windward plate 9 and a rotating shaft 7. The stopper 6 is fixed in the guide tube 1 and arranged along the length direction of the guide tube 1, and the inner space of the guide tube 1 is separated into a guide channel 2 for arranging the egg-throwing balls 10. The size of the guide channel 2 is larger than the size of the egg-throwing balls 8, so that the egg-throwing balls 8 can be arranged and stacked in the guide channel 2 in sequence. The lower tube cavity of the guide tube 1 is also equipped with the stopper plate 6, the rotating shaft 7, the windward plate 9 and the pull rod 8, wherein the stopper plate 6 is located below the stopper 3, and the distance between its upper end and the stopper 3 forms a ball-throwing opening 11, and the size of the ball-throwing opening 11 is larger than the diameter of the egg-throwing balls 10, so that the egg-throwing balls 10 can pass through the ball-throwing opening 11; the lower end of the stopper plate 6 extends downward obliquely and is fixed to the inner wall of the guide tube 1, so that the stopper plate 6 is in an inclined state with the left side higher and the right side lower. The rotating shaft 7 is provided below the limiting plate 6. The rotating shaft 7 crosses the guide tube 1, and its two ends are respectively connected to the opposite tube walls of the guide tube 1. The middle part of the lever 8 is connected to the rotating shaft 7, and its upper end passes through the upper part of the limiting plate 6, and the windward plate 9 is fixed to the lower part. The egg ball 10 is wrapped with a trichogrammatid egg card, and the shell of the egg ball 10 is made of degradable material, which is an existing product. Preferably, the windward plate 9 is a plastic plate to reduce weight.

[0033] When in use, the egg-tossing balls 10 are stacked in the guide channel 2, wherein the first egg-tossing ball 102 at the bottom layer abuts against the upper side of the limiting plate 6, and the upper side of the first egg-tossing ball 102 abuts against the second egg-tossing ball 101, and a number of egg-tossing balls 10 are stacked in the guide channel 2 in sequence according to the number of eggs to be thrown; the rod body of the lever 8 extending to the top of the limiting plate 6 is located on the right side of the first egg-tossing ball 102, and when the windward plate 9 is blown by the wind, the lever 8 is driven to rotate; and when the rotation of the lever 8 causes the upper end of the lever 8 to move toward the side of the egg-tossing ball 10, the lever 8 pushes the egg-tossing ball 10 to move toward the upper end of the limiting plate 6, and passes through the ball-tossing port 10 and falls out of the guide tube 1. In this embodiment, the force of wind on the windward plate 9 drives the lever 8 to rotate in a specified direction, thereby pushing out the egg-throwing ball 10 on the limit plate 9, thereby realizing a purely mechanical structure for releasing the egg-throwing ball 10. The structure is simple and the weight is low, which reduces the workload of the drone, improves the endurance of the drone, and reduces the requirements for the drone.

[0034] The lever 8 is divided into two parts, including an upper lever 82 and a lower lever 81, and the upper lever 82 and the lower lever 81 are respectively connected to the rotating shaft 7. Regarding the installation of the rotating shaft 7 and the lever 8, the purpose is to determine the installation positions of the rotating shaft 7 and the lever 8, and at the same time ensure that the lever 8 can swing, including the swing of the rotating shaft 7 drives the lever 8 to swing, or the lever 8 swings around the rotating shaft 7 and other optional swinging modes of the lever 8. For example, the two ends of the rotating shaft 7 can be fixedly connected to the guide tube 1, and the upper lever 82 and the lower lever 81 are connected by a cylinder, and the cylinder is rotatably installed on the rotating shaft 7. Or, in another example scheme, the rotating shaft 7 is rotatably connected to the guide tube 1, and the upper lever 82 and the lower lever 81 are respectively fixed to the rotating shaft 7.

[0035] Preferably, refer to Figure 2 The limiting plate 6 is an arc plate, and its left-right central axis is concave, which is convenient for positioning the egg-throwing ball 10. The front and rear sides of the limiting plate 6 are also provided with guide limiting baffles 62, which cooperate with the lever 8 to limit the right side of the egg-throwing ball 10, so that the egg-throwing ball 10 is limited to a predetermined space and can only escape from the predetermined space from the pitching port 11. The limiting plate 6 is provided with a guide groove 61, and the guide groove 61 extends to the right from the middle, that is, it is arranged along the left-right central axis. The upper part of the lever 8 passes through the guide groove 61 to the top of the limiting plate 6. The assembly relationship between the lever 8 and the guide groove 61 makes the structural connection more compact and easier to arrange the lever 8. Moreover, the guide groove 61 can also limit the swing amplitude of the lever 8 to prevent the lever 8 from swinging disorderly. In this embodiment, under normal conditions, the lever body (lower lever 81) below the rotating shaft 7 is in a vertical state, and its center of gravity is directly below the rotating shaft 7; the lever body (upper lever 82) above the rotating shaft is tilted to the upper right, and forms an angle greater than 90° with the lever body below the rotating shaft 7, preferably 130-150°. At this time, the center of gravity of the lever body above the rotating shaft 7 is located on the right side of the rotating shaft 7, so that the lever 8 has a tendency to rotate clockwise under normal conditions; at the same time, in order to limit the clockwise rotation of the lever 8, the upper part of the lever 8 is abutted against the right side of the guide groove 61, and the lever 8 is in contact with the first egg throwing ball 102. In this way, when the windward plate 9 on the lever 8 is not subjected to external force, the lever 8 can have a tendency to rotate clockwise by designing that the center of gravity of the lever 8 above the rotating shaft 7 is biased to the right, thereby preventing the lever 8 from disorderly and randomly colliding with the first egg throwing ball 10, and reducing the occurrence of the egg throwing ball 10 being thrown by mistake.

[0036] In order to increase the ability to guide the airflow, the diameter of the lower end of the guide tube 1 gradually increases and then gradually decreases to restore the original diameter, forming an obvious slope. In addition, the change in the diameter can also be used to install the lever 8 and arrange the positions of the first egg-throwing ball 102 and the second egg-throwing ball 101. Specifically, the lower end of the limiter 3 is connected to a plurality of arc-shaped pieces 5, each of which is surrounded by a tube, so that the arc-shaped pieces 5 and the inner wall at the gradually increasing diameter form a turning channel for the egg-throwing ball 10 to enter the limiter plate 6. In this way, when the egg-throwing ball 10 enters the turning channel from the guide channel 2, the second egg-throwing ball 101 moves a certain distance to the lower right along the turning channel. At this time, the lower side of the second egg-throwing ball 101 abuts against the upper side of the first egg-throwing ball 102, or the lower left side of the second egg-throwing ball 101 abuts against the upper right side of the first egg-throwing ball 102, and the center deviation of the second egg-throwing ball 101 and the first egg-throwing ball 102 is 1 to 3 mm. The center offset design can reduce the resistance of the lever 8 in pushing the first egg ball 102 to move, and at the same time, the inclined limit plate 6 can prevent the first egg ball 102 from being pushed out of the pitching port 11 and causing mis-casting. More specifically, the upper lever 82 is a bent lever, and the slope of the upper portion is greater than the slope of the lower portion. Preferably, a counterweight is installed on the upper portion of the upper lever 82 to enhance the tendency of the lever to rotate counterclockwise.

[0037] The lower part of the lower lever 81 extends below the lower end of the material guide tube 1, and the windward plate 9 is fixed on the rod body, and the plate surface of the windward plate 9 is parallel to the axis of the rotating shaft 7. The windward plate 9 increases the wind resistance, and the rotation direction of the lever 8 is adjusted according to the different sides of the windward plate 9 as the resistance side.

[0038] In a preferred embodiment, a brush 4 is further included. The brush 4 is a hard brush, such as hard pig hair or a plastic brush. The upper part of the brush 4 is fixed to the lower end of the stopper 3, and the lower part extends downward to block a part of the pitching port 11, so that the distance between the lower end of the brush 4 and the stopper plate 6 is smaller than the diameter of the egg-throwing ball 10. The brush 4 is used to block the egg-throwing ball 10, increase the resistance of the egg-throwing ball 10 passing through the pitching port 11, and further reduce the accidental throwing event.

[0039] Preferably, the material guiding tube 1 is a round tube.

[0040] Reference Figure 3 The limiting member 3 is a partition 32 , which divides the material guide tube 1 into two cavities along the axial direction, one of which is used as the guide channel 2 , and the other is used as the air guide channel 31 .

[0041] Or, refer to Figure 4 The stopper 3 is a round tube 33, whose diameter is smaller than that of the guide tube 1. The round tube is fixed in the guide tube 1, and the distance between the outer side of the round tube and the inner wall of the guide tube 1 is larger than the diameter of the egg ball 10, forming the guide channel 2. The inner cavity of the round tube forms an air guide channel 31.

[0042] A method for using a device for comprehensive prevention and control of wood-branch borer pests, comprising the following steps:

[0043] S1, fix the upper end of the guide tube 1 to the drone, which is directly below the drone body, and the side of the guide tube 1 equipped with the egg-throwing ball 10 is close to the nose side of the drone;

[0044] S2, put a proper amount of egg balls 10 into the guide tube 1, start the drone to fly forward to the wood control area; during the flight of the drone, the side of the windward plate 9 close to the nose is impacted by the wind, increasing the tendency of the lever 8 to rotate clockwise;

[0045] S3. After the drone flies to the predetermined area, it hovers in the air and then accelerates and retreats. At this time, the side of the windward plate 9 away from the nose is impacted by the wind, and the lever 8 rotates counterclockwise to push the egg-throwing ball 10 out of the pitching port 11; specifically, when the first egg-throwing ball 102 is pushed out of the pitching port 11, the lower right side of the second egg-throwing ball 101 abuts against the upper end of the upper lever 82, and the upper part of the second egg-throwing ball 101 is still within the range surrounded by the arc-shaped piece 5; as the upper lever 82 returns to its original position, the second egg-throwing ball 102 is able to fall onto the limiting plate 6, and at the same time, the brush 4 blocks part of the pitching port 11 to prevent the second egg-throwing ball 102 from falling out of the pitching port 11.

[0046] S4, observe whether the pitching is successful according to the camera on the drone, and after the pitching is completed, continue to fly forward and move the pitching point downward, and then perform the operation of step S3 until the egg throwing operation is completed.

[0047] In the above, 2-3 egg balls were placed per mu of loblolly woodland, and each egg ball hatched 800-1000 larvae.

[0048] Those skilled in the art will appreciate that numerous variations to the above description are possible, and that the examples and figures are intended only to describe one or more specific implementations.

[0049] Although what is considered as exemplary embodiments of the present invention has been described and described, it will be understood by those skilled in the art that various changes and substitutions may be made thereto without departing from the spirit of the present invention. In addition, many modifications may be made to adapt specific situations to the teachings of the present invention without departing from the central concept of the present invention described herein. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but the present invention may also include all embodiments and their equivalents that fall within the scope of the present invention.

Claims

1. A device for comprehensive prevention and control of wood-tip borer pests, characterized in that: It includes a material guide tube, a limit member, a limit plate, a pull rod, a windward plate and a rotating shaft, wherein the limit member is fixed in the material guide tube and arranged along the length direction of the material guide tube, and the lower tube cavity of the material guide tube is also equipped with the limit plate, the rotating shaft, the windward plate and the lever, wherein the limit plate is located below the limit member, and the distance between its upper end and the limit member forms a pitching opening; the size of the pitching opening is larger than the diameter of the egg-throwing ball; the lower end of the limit plate extends obliquely downward and is fixed to the inner wall of the material guide tube, and the rotating shaft is arranged below it; the rotating shaft crosses the material guide tube, and its two ends are respectively connected to the opposite tube walls of the material guide tube; the middle part of the lever is connected to the rotating shaft, its upper end passes through the top of the limit plate, and the windward plate is fixed to the lower part.

2. The device for comprehensive prevention and control of wood-tip borer pests according to claim 1, characterized in that: The shift lever is divided into two parts, including an upper shift lever and a lower shift lever, and the upper shift lever and the lower shift lever are respectively connected to the rotating shaft, so that the shift lever swings through the rotating shaft.

3. The device for comprehensive prevention and control of wood-tip borer pests according to claim 2, characterized in that: The angle between the upper lever and the lower lever is greater than 90°, and the center of gravity of the upper lever is located on the right side of the rotating shaft, with a tendency to rotate clockwise.

4. The device for comprehensive prevention and control of wood-tip borer pests according to claim 1, characterized in that: The limiting plate is provided with a guide groove, which extends rightward from the middle thereof, and the upper part of the shifting rod passes through the guide groove to the upper part of the limiting plate.

5. The device for comprehensive prevention and control of wood-tip borer pests according to claim 1, characterized in that: The diameter of the lower end of the material guiding pipe gradually increases and then gradually decreases until the original diameter is restored.

6. The device for comprehensive prevention and control of wood-tip borer pests according to claim 5, characterized in that: The lower end of the limiting member is connected to a plurality of arc-shaped pieces, each of which is surrounded by a tube shape, so that the arc-shaped pieces and the inner wall at the gradually increasing diameter of the tube form a turning channel for the tossed egg ball to enter the limiting plate.

7. The device for comprehensive prevention and control of wood-tip borer pests according to claim 1, characterized in that: The lower part of the lower lever extends out from below the lower port of the material guide pipe, and the windward plate is fixed on the rod body, and the plate surface of the windward plate is parallel to the axis of the rotating shaft.

8. The device for comprehensive prevention and control of wood-tip borer pests according to claim 1, characterized in that: It also includes a brush, the upper part of which is fixed to the lower end of the limiting member, and the lower part of which extends downward, so that the distance between the lower end of the brush and the limiting plate is smaller than the diameter of the egg-throwing ball.

9. The device for comprehensive prevention and control of wood-tip borer pests according to claim 1, characterized in that: The stopper is a round tube structure, and its diameter is smaller than that of the guide tube. The round tube is fixed in the guide tube, and the distance between its outer side and the inner wall of the guide tube is larger than the diameter of the tossing egg ball, so as to form the guide channel. The inner cavity of the round tube forms an air guide channel.

10. A method for using the device for comprehensive prevention and control of wood branch borers as claimed in claim 1, characterized in that: The steps include: S1. Fix the upper end of the material guide tube to the UAV, directly below the UAV fuselage, with the side of the material guide tube equipped with the egg-throwing ball close to the nose side of the UAV; S2. Put an appropriate amount of egg balls into the guide tube, and start the drone to fly forward to the eucalyptus control area; S3. After the drone flies to the predetermined area, it hovers in the air and then accelerates backward. At this time, the side of the windward board away from the nose is impacted by the wind, and the lever rotates counterclockwise to push the egg ball out of the pitching port; S4, observe whether the pitching is successful according to the camera on the drone, and after the pitching is completed, continue to fly forward and move the pitching point downward, and then perform the operation of step S3 until the egg throwing operation is completed.

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