Pest management is critical in agriculture, requiring solutions to ensure both productivity and environmental sustainability. This paper presents a novel pest management framework that employs cooperation between unmanned aerial vehicle (UAV) and unmanned ground vehicles (UGVs) to address the limitations of traditional approaches and enhance operational efficiency. The proposed system integrates mapping, perception, sampling, biosensing, and spraying techniques, optimizing resource utilization through a hierarchical task allocation mechanism. The UAV conducts wide-area exploration and provide global guidance, while UGVs execute autonomous localized operations, focusing on tasks such as real-time detection and sampling using manipulator. By incorporating strategies for maximizing information gain and employing heterogeneous multi-robot-based cooperation, the system overcomes challenges such as limited battery life and scalability in unstructured agricultural environments. The framework is evaluated via real-to-sim experiments, demonstrating its transformative potential in precision agriculture.