A marine fishery drone-based feeding equipment and operation method adapted to high sea states

Abstract

This invention belongs to the technical field of intelligent equipment and unmanned systems for marine fisheries, and particularly relates to a feeding equipment and operation method for marine fisheries drones adapted to high sea states. An environmental perception module acquires environmental information data and attitude data of the flight platform. The operation control terminal controls the attitude compensation mechanism based on the attitude data to ensure that the discharge port of the centrifugal feeding device always remains vertically downward. Simultaneously, based on real-time environmental information data and its built-in feeding trajectory correction model, the operation control terminal calculates the feed landing point offset and accurately corrects the landing point by controlling the flight platform to perform position compensation and / or velocity compensation. This invention improves the flight stability and anti-drift capability of drones in turbulent airflows at high sea states, actively counteracts the impact of wind damage and platform tilt on accuracy, achieves high-precision and uniform feeding under harsh sea conditions, and significantly reduces feed waste and operational risks.

Description

Technical Field

[0001] This invention belongs to the technical field of intelligent equipment and unmanned systems for marine fisheries, and particularly relates to a marine fisheries unmanned aerial vehicle (UAV) feeding equipment and operation method adapted to high sea states. Background Technology

[0002] With the rapid development of marine fisheries, especially deep-sea aquaculture, traditional methods of feeding by hand or from ships are no longer sufficient to meet the demands of large-scale, high-efficiency production. These methods suffer from high labor intensity, high safety risks, severe dependence on weather and sea conditions, and poor feeding uniformity. Therefore, using drones for aerial feeding has become an important trend in the industry's technological upgrade. However, current mainstream and publicly available drone feeding technologies and systems are mostly designed and operate in land or relatively calm nearshore low-sea-state environments. When applied to truly economically valuable deep-sea high-sea-state areas, a series of key technological bottlenecks are exposed.

[0003] First, regarding flight stability, the surface airflow in deep-sea areas is extremely complex, with significant gusts, turbulence, and wind shear effects. Most existing UAVs use conventional PID feedback control algorithms, which have a lag in response. Under strong gusts, they are unable to quickly adjust their attitude, resulting in severe shaking and large position drift when hovering, and even the risk of loss of control. As a result, the safety and reliability of operations cannot be guaranteed.

[0004] Secondly, regarding feeding accuracy, strong winds in high sea states directly affect falling feed pellets, causing severe "wind damage" and deviation in landing point. Simultaneously, the large-angle tilt of the drone to resist crosswinds causes the feeding device, rigidly connected to the lower part of the drone, to tilt as well, resulting in incorrect feed distribution direction. The combination of these two factors drastically reduces feeding accuracy, leading to feed waste and uneven feeding across the aquaculture area.

[0005] Therefore, a marine fishery drone feeding equipment and operation method adapted to high sea states is proposed. Summary of the Invention

[0006] The purpose of this invention is to provide a marine fishery drone feeding equipment and operation method adapted to high sea states, so as to solve the above-mentioned problems.

[0007] To achieve the above objectives, the present invention provides the following solution: A marine fishery unmanned aerial vehicle (UAV) feeding system adapted to high sea states includes: The flight platform has an integrated flight control system. An environmental perception module is installed on the flight platform to acquire environmental information data and the attitude data of the flight platform. The self-stabilizing feeding device is installed below the flight platform via a stabilizing mechanism; the self-stabilizing feeding device includes a feed bin, a centrifugal feeding device, and an attitude compensation mechanism. The attitude compensation mechanism is located between the stabilization mechanism and the centrifugal feeding device to counteract the influence of the flight platform's attitude change on the feeding angle of the centrifugal feeding device. The operation control terminal has a built-in feeding trajectory correction model, which is used to control the attitude compensation mechanism to keep the discharge port of the centrifugal feeding device vertically downward based on the attitude data of the flight platform, and to control the flight platform and / or the centrifugal feeding device to perform feeding landing point compensation based on the environmental information data and the feeding trajectory correction model.

[0008] Preferably, the environmental information data includes wind speed, wind direction, and wave height information.

[0009] Preferably, the environmental perception module includes a wind speed and direction sensor and a millimeter-wave radar, with the wind speed and direction sensor and the millimeter-wave radar located on opposite sides of the flight platform.

[0010] Preferably, the flight control system integrates feedforward control and disturbance rejection robust control algorithms.

[0011] Preferably, the attitude compensation mechanism includes a three-axis brushless gimbal.

[0012] Preferably, the flight platform includes a hexacoach flight platform.

[0013] Preferably, the centrifugal spreading device is driven by a brushless DC motor, which is electrically connected to the operation control terminal.

[0014] Preferably, the outer side of the flight platform is provided with a waterproof and corrosion-resistant structural component.

[0015] An operational method for a marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states includes the following steps: S1: The environmental information data is obtained through the environmental perception module. If it meets the safety threshold, the flight control system is switched to the high sea state operation mode. The flight control system adjusts the flight parameters based on the environmental information data. S2: Control the flight platform to reach the target area and hover via the operation control terminal; S3: Activate the attitude compensation mechanism to counteract the attitude change of the flight platform and keep the discharge port of the centrifugal spreading device vertically downward; S4: The operation control terminal obtains the landing point compensation amount through the feeding trajectory correction model based on real-time environmental information data, and controls the position of the flight platform and / or the parameters of the centrifugal feeding device to perform compensated feeding; S5: After feeding is completed, reset the attitude compensation mechanism and control the flight platform to return to home.

[0016] Preferably, in step S4, the compensation includes: Position compensation: Controlling the flight platform to translate in the direction of the wind to counteract the horizontal displacement during the feed's descent; and / or Speed ​​compensation: Adjust the initial discharge speed of the centrifugal spreading device.

[0017] Compared with the prior art, the present invention has the following advantages and technical effects: Working Process: First, the environmental perception module acquires real-time environmental information data, including wind speed, wind direction, and wave height, as well as the attitude data of the flight platform. Based on the attitude data, the operation control terminal immediately controls the attitude compensation mechanism to counteract the tilt of the flight platform caused by wind resistance, ensuring that the discharge port of the centrifugal feeding device always remains vertically downward, thus solving the problem of incorrect feeding direction. Simultaneously, based on real-time environmental information data and its built-in feeding trajectory correction model, the operation control terminal dynamically calculates the feed landing point offset and accurately corrects the landing point by controlling the flight platform to perform position compensation and / or speed compensation.

[0018] This invention fundamentally improves the flight stability and anti-drift capability of UAVs in turbulent airflows at high sea states through the synergy of attitude compensation mechanism and flight control system; and through closed-loop control of "perception-model-compensation", it actively offsets the impact of wind loss and platform tilt on accuracy, achieving high-precision and uniform feeding under harsh sea conditions, and significantly reducing feed waste and operational risks. Attached Figure Description

[0019] 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: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a flowchart of the feeding operation method of the present invention; The components include: 1. Flight platform; 2. Stabilizing gimbal support; 3. Shock-absorbing ball; 4. Millimeter-wave radar; 5. Feed bin; 6. Centrifugal feeding device; and 7. Discharge port. Detailed Implementation

[0020] 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.

[0021] 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.

[0022] Reference Figures 1 to 2 This invention discloses a marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states, comprising: Flight platform 1, which integrates a flight control system; An environmental perception module is installed on flight platform 1 to acquire environmental information data and attitude data of flight platform 1. The self-stabilizing feeding device is installed below the flight platform 1 via a stabilizing mechanism; the self-stabilizing feeding device includes a feed bin 5, a centrifugal feeding device 6, and an attitude compensation mechanism. The attitude compensation mechanism is located between the stabilization mechanism and the centrifugal feeding device 6 to counteract the influence of the attitude change of the flight platform 1 on the feeding angle of the centrifugal feeding device 6. The operation control terminal has a built-in feeding trajectory correction model, which is used to control the attitude compensation mechanism to keep the discharge port 7 of the centrifugal spreading device 6 vertically downward based on the attitude data of the flight platform 1, and to control the flight platform 1 and / or the centrifugal spreading device 6 to perform feeding landing point compensation based on environmental information data and the feeding trajectory correction model.

[0023] The outer side of the flight platform 1 is equipped with a waterproof and corrosion-resistant structural component to prevent water vapor and salt spray from entering the flight platform 1 and damaging the internal components of the flight platform 1.

[0024] The stabilization mechanism includes a gimbal support 2, which contains a shock-absorbing ball 3 to reduce the impact of vibrations generated during flight of the flight platform 1 on the attitude compensation mechanism.

[0025] The operation control terminal first acquires attitude data and external environmental information data of the flight platform 1 through the environmental perception module. When the flight platform 1 experiences attitude changes due to strong winds, the operation control terminal immediately controls the attitude compensation mechanism to counteract the platform tilt, thereby ensuring that the discharge port 7 of the centrifugal feed spreader 6 always points vertically downward, establishing a stable feeding benchmark. Simultaneously, the operation control terminal calls upon its built-in feeding trajectory correction model, combined with real-time environmental information data, to calculate the compensation amount required to overcome the wind's impact on the feed. Subsequently, the operation control terminal issues commands to control the flight platform 1 and / or the centrifugal feed spreader 6 to perform coordinated actions, achieving precise landing point compensation feeding. The entire process achieves triple stabilization in flight, feeding direction, and landing point control, systematically solving the core problems of "unstable flight and inaccurate delivery" for UAVs in high sea states from both hardware and software perspectives, significantly improving the success rate, feeding accuracy, and feed utilization rate in adverse sea conditions.

[0026] The plan was further optimized, and environmental information data included wind speed, wind direction, and wave height.

[0027] The environmental information data acquired by the environmental perception module specifically includes wind speed, wind direction, and wave height. This enables the operation control terminal to obtain precise quantitative parameters describing the wind and wave disturbances in high sea states when making decisions, thereby significantly improving the accuracy of its feed trajectory correction model calculations and providing a clear basis for the flight control system to switch to high sea state operation modes. This makes landing point compensation and flight control more targeted, enhancing the system's adaptability and decision-making reliability in complex marine environments.

[0028] The scheme was further optimized, and the environmental perception module includes a wind speed and direction sensor and a millimeter-wave radar 4, which are located on opposite sides of the flight platform 1.

[0029] The environmental perception module includes an anemometer and millimeter-wave radar 4, which are positioned on opposite sides of the flight platform 1. This asymmetrical layout effectively avoids signal interference between sensors and enables simultaneous perception of wind and wave information from different directions, providing more comprehensive environmental field data. This provides a data foundation for the operation control terminal to integrate multi-source information and more accurately predict the combined impact of gusts and surges, thereby further improving the anti-disturbance hovering stability of the flight platform 1 and the prediction accuracy of feed trajectory correction.

[0030] Further optimization of the scheme resulted in the flight control system integrating feedforward control and disturbance rejection robust control algorithms.

[0031] The flight control system integrates feedforward control and robust disturbance rejection control algorithms. This enables flight platform 1 to compensate for wind disturbances more quickly and proactively in advance when facing gusts and turbulence in high sea states, rather than just making corrections afterward. This greatly enhances its ability to resist sudden disturbances, achieving more stable and less drifting precise hovering. It provides a crucial stable flight platform for subsequent attitude compensation and precise feed, fundamentally improving the robustness of the entire system in dynamic wind fields.

[0032] The solution has been further optimized, and the attitude compensation mechanism includes a three-axis brushless gimbal.

[0033] The attitude compensation mechanism is specifically a three-axis brushless gimbal. This high-precision three-axis brushless gimbal can respond quickly and smoothly to commands from the operation control terminal, providing real-time reverse compensation for the attitude sway of the flight platform 1 in the roll, pitch, and yaw dimensions. It can dynamically lock the discharge port 7 of the centrifugal feeding device 6 in a vertically downward direction with extreme precision, physically isolating the influence of fuselage sway on the feeding angle, and providing an indispensable and stable mechanical reference for high-precision feeding.

[0034] Further optimization of the scheme: Flight Platform 1 includes a six-rotor flight platform.

[0035] Flight platform 1 is specifically a hexarotor flight platform. Compared to a quadcopter, the hexarotor configuration offers greater power redundancy and control margin. Even when the efficiency of individual rotors changes due to rough sea conditions, the system can still maintain sufficient stability and control. This significantly enhances the payload capacity, wind resistance, and safety reliability of flight platform 1, ensuring stable flight and hovering missions even when carrying loads such as self-stabilizing feeders in high sea states.

[0036] The scheme was further optimized by using a centrifugal spreading device 6 driven by a DC brushless motor, which is electrically connected to the operation control terminal.

[0037] The centrifugal feed spreader 6 is driven by a brushless DC motor, which is electrically connected to the operation control terminal. This allows the operation control terminal to directly and precisely control the speed of the brushless DC motor, thereby steplessly adjusting the initial discharge velocity of the centrifugal feed spreader 6. This achieves a fast and precise "velocity compensation" method. When it is necessary to correct the drift effect of wind on feed, the residence time of the feed in the wind can be shortened by increasing the initial discharge velocity, enhancing the flexibility and response speed of the landing point compensation control.

[0038] The design was further optimized by installing waterproof and corrosion-resistant structural components on the outer side of flight platform 1.

[0039] An operational method for a marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states includes the following steps: S1: Obtain environmental information data through the environmental perception module. If the safety threshold is met, switch the flight control system to the high sea state operation mode. The flight control system adjusts the flight parameters based on the environmental information data. S2: Control flight platform 1 to reach the target area and hover via the operation control terminal; S3: Activate the attitude compensation mechanism to counteract the attitude changes of the flight platform 1, so that the discharge port 7 of the centrifugal spreading device 6 remains vertically downward. S4: The operation control terminal obtains the impact point compensation amount through the feeding trajectory correction model based on real-time environmental information data, and controls the position of the flight platform 1 and / or the parameters of the centrifugal feeding device 6 to perform compensation feeding. S5: After feeding is completed, reset the attitude compensation mechanism and control the flight platform 1 to return to home.

[0040] Through a closed-loop process of "mode adaptation - wind-resistant hovering - attitude stabilization - dynamic correction", the various modules of the equipment are coordinated in an orderly manner to form a standardized, automated and intelligent high sea state feeding operation process. This ensures that each operation can be carried out in the optimal system and control mode, maximizing equipment performance while ensuring operational consistency and reliability.

[0041] Further optimization of the plan, in step S4, includes compensation including: Position compensation: Control the flight platform 1 to translate in the direction of the wind to counteract the horizontal displacement during the feed's descent; and / or Speed ​​compensation: Adjust the initial discharge speed of the centrifugal feeding device 6.

[0042] Position compensation counteracts horizontal displacement at its source by controlling the flight platform 1 to move against the wind; speed compensation alters the feed's flight time by adjusting the initial discharge velocity of the centrifugal feeder 6 to resist wind disturbance. These two methods can be used individually or in combination, providing multi-dimensional and combinable precise correction methods. This allows the operation control terminal to select the most effective compensation strategy based on real-time wind conditions, achieving millimeter-level precision control over the feed's final landing point, greatly improving the uniformity and accuracy of feeding.

[0043] One specific example: An anemometer is installed at the end of the left arm of flight platform 1 to avoid interference from rotor wash and capture gust changes of 5-20 m / s in real time; a millimeter-wave radar 4 is installed symmetrically on the right side of flight platform 1 to detect wave height fluctuations in real time and accurately lock the relative height of flight platform 1 to the instantaneous sea level using its ability to penetrate fog and water mist.

[0044] The operation control terminal uses the extended Kalman filter (EKF) algorithm to fuse wind speed data with acceleration data from the onboard IMU (inertial measurement unit) to predict the impact of gusts on the aircraft's attitude.

[0045] When the flight platform 1 tilts at a large angle (e.g., 15° to the left) to resist strong crosswinds (e.g., g-force 5-6), the gimbal control system drives the roll motor to compensate with a 15° offset in the opposite direction through IMU feedback. No matter how the flight platform 1 shakes, the geometric center line of the feeding port always remains perpendicular to the geoid, ensuring the consistency of the initial velocity direction of the feed and effectively solving the problem of "inaccurate feeding" under high sea states.

[0046] The centrifugal feeding device 6 is driven by a DC brushless motor. The DC brushless motor supports linear adjustment from 0 to 3000 rpm. The discharge port 7 is equipped with a screw feeder and an electrically controlled valve, which automatically adjusts the feeding speed according to the preset breeding density.

[0047] The operation control terminal has a built-in feeding trajectory correction model to compensate for the landing point in dynamic environments: if the ambient wind speed is detected to be 10 m / s west, the system calculates the aerodynamic trajectory of the pellet feed in real time through the built-in model, and obtains an error value of about 3 meters east of the landing point. It then controls the flight platform 1 to move 3 meters west to perform "headwind pre-offset". If the displacement is limited, it automatically increases the speed of the DC brushless motor to reduce the drift time caused by the wind by increasing the initial velocity of the pellets. The flight control system integrates a feedforward control algorithm, which can adjust the motor output instantly when a sudden change in wind force is detected, rather than lagging behind the feedback adjustment after the attitude change.

[0048] Homework process: S1: Environmental Assessment and Model Adaptive Initialization Multi-dimensional risk access: Before takeoff, the flight platform 1 conducts a 30-second background noise sampling using a wind vane and anemometer and millimeter-wave radar 4. If the real-time wind speed continuously exceeds 12 m / s or the instantaneous wave height exceeds a preset safety threshold, the system's built-in logic gate will forcibly lock the motor takeoff command and send an alarm to the terminal.

[0049] Control law reconfiguration: If the sea state is within the permissible range, the flight control system automatically switches from "normal mode" to "high sea state mode". In this mode, the proportional gain (P) and differential gain (D) of the attitude loop and altitude loop will be increased by 20%-30%, sacrificing some power consumption in exchange for an ultra-fast response frequency in turbulent airflow.

[0050] S2: Precise positioning and disturbance-resistant hovering Multi-source fusion positioning: Flight platform 1 uses RTK-GNSS dual-antenna orientation technology to provide centimeter-level position reference, combined with triaxial accelerometer and gyroscope (IMU) data.

[0051] Active wind-resistant algorithm: The flight control system adopts a feedforward control strategy. The moment it senses the gust of wind deflecting the fuselage, it adjusts the speed difference of the six rotors in advance to achieve "wind-resistant hovering" rather than "correction after being affected by wind", ensuring that the hovering accuracy radius is less than 0.5 meters in winds of level 5-6.

[0052] S3: Active intervention of the attitude compensation mechanism Physical isolation logic: After reaching the center point of the target cage, the attitude compensation mechanism changes from "locked state" to "working state".

[0053] Three-axis decoupling stabilization: The gimbal is driven in reverse by a high-performance brushless motor to counteract the frequent pitch and roll movements of the fuselage caused by wind resistance. At this time, the deviation between the axis of the feeding device and the direction of the gravity vector is controlled within ±0.5°, providing a stable initial launch reference for subsequent ballistic calculations.

[0054] S4: Dynamic ballistic correction and closed-loop feed control High-frequency sampling feedback: The operation control terminal monitors wind field vector changes in real time at frequencies of 50Hz and above.

[0055] Bivariate collaborative compensation: Position compensation: When the crosswind intensifies, the system calculates the offset based on the built-in drag model and automatically controls the flight platform 1 to physically translate in the direction of the wind to offset the horizontal displacement during the descent.

[0056] Speed ​​compensation: If a sudden gust of wind is too strong, the system immediately increases the speed of the DC brushless motor. By increasing the initial kinetic energy of the feed pellets, their trajectory becomes straighter, shortening their exposure time in the air and thus reducing wind loss.

[0057] Intelligent start-stop protection: When the system detects that the wind speed fluctuation exceeds the upper limit of the correction range, it executes a "zero-delay" stop command and resumes feeding after the wind stabilizes, preventing feed from deviating from the net cage and causing waste or environmental pollution.

[0058] S5: Task completion and mechanism reset protection Safe return command: After the feed reaches the predetermined load, the discharge port 7 is completely closed. The attitude compensation mechanism performs a "reset and lock" action, fixing the gimbal support 2 at the mechanical limit position to prevent the gimbal from being damaged by violent swinging due to wind resistance during high-speed return flight.

[0059] S6, Automatic Landing and Maintenance Once the predetermined feed load is reached, the discharge port 7 is completely closed. The attitude compensation mechanism performs a "reset and lock" action, fixing the stabilizing gimbal bracket 2 at the mechanical limit position to prevent damage from violent swaying of the gimbal due to wind resistance during high-speed return flight. The flight platform 1 autonomously returns to the mobile aquaculture platform or shore-based base station.

[0060] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0061] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states, characterized in that, include: The flight platform (1) has an integrated flight control system. An environmental perception module is installed on the flight platform (1) to acquire environmental information data and attitude data of the flight platform (1); The self-stabilizing feeding device is installed below the flight platform (1) via a stabilizing mechanism; the self-stabilizing feeding device includes a feed bin (5), a centrifugal feeding device (6), and an attitude compensation mechanism; The attitude compensation mechanism is located between the stabilization mechanism and the centrifugal feeding device (6) to counteract the influence of the attitude change of the flight platform (1) on the feeding angle of the centrifugal feeding device (6); The operation control terminal has a built-in feeding trajectory correction model, which is used to control the attitude compensation mechanism to keep the discharge port (7) of the centrifugal spreading device (6) vertically downward based on the attitude data of the flight platform (1), and to control the flight platform (1) and / or the centrifugal spreading device (6) to perform feeding landing point compensation based on the environmental information data and the feeding trajectory correction model.

2. The marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states according to claim 1, characterized in that: The environmental information data includes wind speed, wind direction, and wave height.

3. The marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states according to claim 1, characterized in that: The environmental perception module includes a wind speed and direction sensor and a millimeter-wave radar (4), which are located on opposite sides of the flight platform (1).

4. A marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states according to claim 1, characterized in that: The flight control system integrates feedforward control and disturbance rejection robust control algorithms.

5. A marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states according to claim 1, characterized in that: The attitude compensation mechanism includes a three-axis brushless gimbal.

6. A marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states according to claim 1, characterized in that: The flight platform (1) includes a six-rotor flight platform.

7. A marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states according to claim 1, characterized in that: The centrifugal spreading device (6) is driven by a DC brushless motor, which is electrically connected to the operation control terminal.

8. A marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states according to claim 1, characterized in that: The outer side of the flight platform (1) is provided with waterproof and corrosion-resistant structural components.

9. An operational method for a marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states as described in any one of claims 1 to 8, characterized in that, Includes the following steps: S1: The environmental information data is obtained through the environmental perception module. If it meets the safety threshold, the flight control system is switched to the high sea state operation mode. The flight control system adjusts the flight parameters based on the environmental information data. S2: Control the flight platform (1) to reach the target area and hover through the operation control terminal; S3: Activate the attitude compensation mechanism to counteract the attitude change of the flight platform (1) and keep the discharge port (7) of the centrifugal spreading device (6) vertically downward. S4: The operation control terminal obtains the landing point compensation amount through the feeding trajectory correction model based on real-time environmental information data, and controls the position of the flight platform (1) and / or the parameters of the centrifugal feeding device (6) to perform compensation feeding; S5: After feeding is completed, reset the attitude compensation mechanism and control the flight platform (1) to return to home.

10. The operating method of the marine fishery unmanned aerial vehicle (UAV) feeding equipment adapted to high sea states according to claim 9, characterized in that, In step S4, the compensation includes: Position compensation: Control the flight platform (1) to translate in the direction of the wind to counteract the horizontal displacement during the feed's descent; and / or Speed ​​compensation: Adjust the initial discharge speed of the centrifugal spreading device (6).

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