Intelligent control method and system for light performance of unmanned ship

Abstract

The invention relates to an intelligent control method and system for light performance of an unmanned ship, and the system comprises a data obtaining module which is used for obtaining a dynamic graph of the light performance; the data processing module is used for extracting a static graph and lines forming the static graph according to the dynamic graph, obtaining performance position coordinates through line calculation, and obtaining the total number of performance unmanned ships based on the performance position coordinates; the unmanned ship matching module is used for configuring a preset number of standby unmanned ships and marking and matching the performance position coordinates and the performance unmanned ships one by one; the monitoring module is used for monitoring fault position coordinates of lamplight and position coordinates of standby unmanned ships in the lamplight performance process and determining fault lines and fault position coordinates; and the driving module is used for driving the performance unmanned ship and the standby unmanned ship to move to process light faults. In the performance process, when the unmanned ship has a light fault, the light fault can be processed in time, serious graphic defects are avoided, and the performance effect is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent communication control management control, and in particular relates to an intelligent control method and system for unmanned ship lighting performance. Background Art

[0002] An unmanned ship is a ship that does not require human control on board and can be operated by remote control, autonomous navigation, etc. Unmanned ships have a wide range of uses. Unmanned ships can be used for marine scientific research, military operations and environmental monitoring. In addition, unmanned ships also have unique applications in the field of light shows. Through precise programming control, multiple unmanned ships can travel on the water according to preset routes or coordinates, and with the lighting system on the ship, they can form multiple static or dynamic graphics, bringing the audience a very creative and visually impactful light show, adding a unique technological charm to the city's night view.

[0003] However, since the unmanned boat performs in the water, the performance can be performed on the water surface or under the water surface using a submersible unmanned boat, resulting in a relatively poor performance environment. In addition, the lights generate a lot of heat during the performance, and the lighting system is a vulnerable part, making it easy for the unmanned boat to malfunction during the light show. However, during the performance, when the unmanned boat has a lighting failure, it cannot be handled in time, which will lead to serious defects in the performance graphics and affect the performance effect. Summary of the invention

[0004] The present invention provides an intelligent control method and system for unmanned boat lighting performance. During the performance, when a lighting failure occurs in the unmanned boat, timely processing can be performed to avoid serious graphic defects and thus ensure the performance effect.

[0005] The technical solution adopted by the present invention is:

[0006] An intelligent control method for an unmanned ship light show comprises the following steps:

[0007] S1, obtain dynamic graphics;

[0008] S2, extracting multiple static graphics from the dynamic graphics in time sequence, extracting all the lines constituting the static graphics, calculating and obtaining multiple performance position coordinates located on the lines by an equal division method, and obtaining the number of performance unmanned boats based on the number of performance position coordinates;

[0009] S3, configuring a preset number of spare unmanned boats, marking and matching the performance location coordinates and the performance unmanned boats one by one;

[0010] S4, controlling the performance unmanned boat to move to each performance position coordinate in time sequence;

[0011] S5. Monitor the lighting failure of the performer's unmanned boat during the performance. When the lighting failure occurs on the performing unmanned boat, control the failed unmanned boat to exit the performance, and obtain the fault line and fault position coordinates of the failed unmanned boat in the subsequent static graphics;

[0012] S6, judging whether the standby unmanned ship can be moved to the coordinates of the fault position before the next static graphic is generated;

[0013] When the backup unmanned boat cannot be moved to the fault position coordinates before the static graphics are generated, the fault line is divided equally to obtain multiple temporary performance position coordinates, and the temporary performance position coordinates replace the original performance position coordinates set on the fault line;

[0014] When the spare unmanned boat can move to the fault position coordinates before the next static graphic is generated, the spare unmanned boat is marked and replaced by the faulty unmanned boat, and the performance unmanned boat is controlled to move to the fault line according to the originally set performance position coordinates.

[0015] Furthermore, the number of spare unmanned ships in step S3 is set as follows:

[0016] S31. Obtaining influencing indicators that may affect the lighting failure of the unmanned boat for performance, including the remaining service life of the lighting, the number of lighting maintenance times, the temperature of the performance waters, and the heat generated by the lighting;

[0017] S32. Assign values ​​to impact indicators using expert evaluation method;

[0018] S33, summing the weighted impact indicators, and outputting the summation result as the impact indicator value;

[0019] S34. Sort the performing unmanned boats based on the impact index values, and multiply the total number of performing unmanned boats by the safety factor to obtain the number of spare unmanned boats.

[0020] Furthermore, the specific steps of obtaining the safety factor in step S34 include:

[0021] S341. Obtain the total number of unmanned boats for each historical performance and the total number of unmanned boats with lighting failures;

[0022] S342, calculating the ratio of the total number of unmanned boats with lighting failures at the same time to the total number of performing unmanned boats;

[0023] S343, extracting the maximum and minimum values ​​among multiple groups of ratios;

[0024] S344. When it is an important performance occasion, the safety factor is equal to the maximum ratio; when it is an ordinary performance occasion, the safety factor is greater than the minimum ratio and less than the maximum ratio.

[0025] Furthermore, the standby unmanned boat follows the performance position coordinates corresponding to the performing unmanned boats at preset distances from largest to smallest based on the ranking of the performing unmanned boats.

[0026] Furthermore, the preset distance is greater than the maximum value of the ship length or the ship width, and the preset distance is less than the time between the end and generation of two adjacent static graphics multiplied by the moving speed of the performing unmanned ship.

[0027] Furthermore, based on the number of high-risk performance unmanned ships with lighting failures, the performance position coordinates corresponding to the high-risk performance unmanned ships are allocated to different lines of the same static graphic, and the coordinates are defined as risk coordinates.

[0028] Furthermore, in step S5, it also includes monitoring the position of the backup unmanned boat; in step S6, selecting the backup unmanned boat closest to the coordinates of the fault position to replace the performance unmanned boat.

[0029] Furthermore, when multiple fault lines are generated at the same time, the point density of the fault lines is calculated. The point density calculation method is to eliminate the fault position coordinates on the fault line, and then divide the remaining number of performance position coordinates by the length of the fault line. The spare unmanned ship will give priority to replacing the fault lines with small point density.

[0030] Further, in step S3, the steps of “marking and matching the performance position coordinates and the performance unmanned boat one by one” are as follows;

[0031] T31, obtain all moving paths, which are defined as the first path set and the second path set;

[0032] T32, select any moving path from the first path set to define as the first path, and define the other moving paths as the second path;

[0033] T33, removing the second path whose length is greater than the first path from the first path set;

[0034] T34, determine whether there is one moving path left, if so, output it as the shortest moving path and jump to T35, if not, jump to step T32;

[0035] T35, remove the shortest moving path from the second path set, and replace the second path set with the first path set;

[0036] T36, determine whether there is a moving path left in the first path set, if yes, remove it and jump to the end, if no, jump to step T32;

[0037] T37, sorting the moving paths in the elimination order and matching them with the performing unmanned boats sorted in step S34.

[0038] An unmanned ship light show intelligent control system, characterized in that: applied to the above-mentioned unmanned ship light show intelligent control method, comprising:

[0039] A data acquisition module for acquiring dynamic graphics of the light show;

[0040] A data processing module is used to extract static graphics and lines constituting the static graphics according to the dynamic graphics, obtain the performance position coordinates through line calculation, and obtain the total number of performance unmanned boats based on the performance position coordinates;

[0041] The unmanned ship matching module is used to configure a preset number of spare unmanned ships, mark and match the performance location coordinates and the performance unmanned ships one by one;

[0042] A monitoring module is used to monitor the fault position coordinates of the lights and the position coordinates of the standby unmanned boats during the light show. When a light fault is detected on the unmanned boat, the unmanned boat is controlled to exit the show, and the fault line and fault position coordinates are determined based on the fault position coordinates.

[0043] A driving module is used to drive the performance unmanned boat to perform based on the performance position coordinates, and to temporarily divide the fault lines that cannot replace the spare unmanned boat in time, and to replace the fault lines that can replace the spare unmanned boat in time;

[0044] The data acquisition module, data processing module, unmanned ship matching, monitoring module and driving module are interconnected.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The performance of dynamic graphics can be presented by switching multiple static graphics continuously in time sequence. When a lighting failure occurs, it is determined whether the spare unmanned boat can be moved to the fault position coordinates before the next static graphic is generated: when the spare unmanned boat cannot be moved to the fault position coordinates before the static graphic is generated, the fault line is calculated by the equal division method to obtain multiple temporary performance position coordinates, and the performance unmanned boat moves according to the temporary performance coordinates. Since the lines are calculated by the equal division method and multiple performance position coordinates are obtained, the lines can be made uniform, which is beneficial to improving the graphics presentation effect. It can also use the human eye visual error to avoid excessive differences in the lines after temporary processing, which is beneficial to improving the temporary processing effect. When the spare unmanned boat can move to the fault position coordinates before the next static graphic is generated, the spare unmanned boat is marked and replaced with the performance unmanned boat, and the performance unmanned boat is matched according to the originally set performance position coordinates. When the lighting failure of the unmanned boat occurs, the present invention can be processed in time to avoid serious graphic defects and thus ensure the performance effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The process of the present invention Figure 1

[0048] Figure 2 Obtain a flow chart for the number of spare unmanned vessels;

[0049] Figure 3 Obtain a flow chart for safety factor;

[0050] Figure 4 Optimize flow chart for performance location coordinates;

[0051] Figure 5 It is the control principle diagram of the present invention;

[0052] In the figure: 1. Data acquisition module; 2. Data processing module; 3. Unmanned ship matching module; 4. Monitoring module; 5. Driving module. DETAILED DESCRIPTION

[0053] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0054] See also Figures 1 to 5 The present invention provides an intelligent control system for unmanned ship lighting performance, comprising the following steps:

[0055] S1, obtain dynamic graphics;

[0056] S2. Extract multiple static graphics from the dynamic graphics in time sequence, extract all the lines constituting the static graphics, calculate and obtain multiple performance position coordinates on the lines by equal division method, specifically, the number of performance position coordinates on different lines may be inconsistent, but the performance position coordinates on the same line are set at equal intervals, so that the lines can be evenly spaced, and when a lighting failure occurs later, when the equal division method is used for temporary processing, there will not be too many differences, and the number of performance unmanned boats is obtained based on the number of performance position coordinates;

[0057] S3, configuring a preset number of spare unmanned boats, marking and matching the performance location coordinates and the performance unmanned boats one by one;

[0058] S4, controlling the performance unmanned boat to move to each performance position coordinate in time sequence;

[0059] S5. Monitor the lighting failure of the performer's unmanned boat during the performance. When the lighting failure occurs on the performing unmanned boat, control the failed unmanned boat to exit the performance, and obtain the fault line and fault position coordinates of the failed unmanned boat in the subsequent static graphics;

[0060] S6, judging whether the standby unmanned ship can be moved to the coordinates of the fault position before the next static graphic is generated;

[0061] When the backup unmanned boat cannot be moved to the fault position coordinates before the static graphics are generated, the fault line is divided equally to obtain multiple temporary performance position coordinates, and the temporary performance position coordinates replace the original performance position coordinates set on the fault line;

[0062] When the backup unmanned boat can move to the fault position coordinates before the next static graphic is generated, the backup unmanned boat is marked and replaced by the faulty unmanned boat, and the performance unmanned boat is controlled to move to the fault line according to the originally set performance position coordinates;

[0063] Before the performance, the content to be performed is obtained from the supplier, and the water area and dynamic graphics to be performed can be obtained in advance. When using an unmanned boat for a light show, various animals or multiple continuously changing iconic icons will be performed on the lake. Dynamic graphics can be presented by controlling multiple static graphics that are continuously switched in a time sequence. When a lighting failure occurs, it is judged that the spare unmanned boat is before the subsequent new static graphics are generated. In order to avoid the static graphics defects affecting the visual effect, the fault line is removed after the fault position coordinates are removed, and the remaining performance position coordinates on the fault line are evenly divided on the line, so that the line interruption and the resulting graphic defects can be avoided, until the spare unmanned boat can move to the fault position coordinates before the next static graphic is generated, and the spare unmanned boat is marked and replaced with the faulty unmanned boat. At this time, the spare unmanned boat is equivalent to a new performance unmanned boat, and the spare unmanned boat and the performance unmanned boat are controlled to move to the fault line according to the original performance position coordinates to complete the replacement of the faulty performance unmanned boat, so that when the unmanned boat has a lighting failure, the present invention can be processed in time to avoid serious graphic defects and thus ensure the performance effect.

[0064] Preferably, the step of setting the number of spare unmanned ships in step S3 is:

[0065] S31. Obtaining influencing indicators of lighting failures on the unmanned boat for performances, the influencing indicators including remaining life of the lighting, number of lighting maintenance times, temperature of the performance waters, and heat generated by the lighting;

[0066] S32. Assign values ​​to impact indicators using expert evaluation method;

[0067] S33, summing the weighted impact indicators, and outputting the summation result as the impact indicator value;

[0068] S34. Sort the performing unmanned boats based on the impact index values, and multiply the total number of performing unmanned boats by the safety factor to obtain the number of spare unmanned boats.

[0069] Before the light show, we obtain influencing indicators that have a greater impact on light failures, including the remaining life of the lights, the number of light maintenance times, the temperature of the performance waters, and the heat generated by the lights. We then assign values ​​to these influencing indicators to get the influencing indicator values, and sum the influencing indicator values. The larger the influencing indicator value, the higher the probability of a failure. We then sort the performing unmanned boats according to the failure rate, and multiply the total number of performing unmanned boats by the safety factor to get the number of spare unmanned boats.

[0070] Preferably, the specific steps of obtaining the safety factor in step S34 include:

[0071] S341. Obtain the total number of unmanned boats for each historical performance and the total number of unmanned boats for the performance that had lighting failures;

[0072] S342, calculating the ratio of the total number of performing unmanned boats with the same lighting failure to the total number of performing unmanned boats;

[0073] S343, extracting the maximum and minimum values ​​among multiple groups of ratios;

[0074] S344. When it is an important performance occasion, the safety factor is equal to the maximum ratio; when it is an ordinary performance occasion, the safety factor is greater than the minimum ratio and less than the maximum ratio.

[0075] The confirmation of the safety factor is mainly based on not equipping too many spare unmanned boats to increase the performance cost, and not equipping too few unmanned boats to cause insufficient use. Therefore, you can refer to the unmanned boat light performances that have been shown in history. By calculating the ratio of the total number of unmanned boats with light failures in each performance to the total number of unmanned boats, and then according to the importance of the performance and the profit of the performance, when the importance of the performance is low or the profit of the performance is small, the safety factor is selected to be greater than the minimum ratio and less than the maximum ratio. Further selection of specific values, generally, the minimum ratio and the middle value less than the maximum ratio can be selected. When the importance of the performance is high or the profit of the performance is high, the safety factor is selected to be equal to the maximum ratio. This can not only ensure the performance effect, but also save costs.

[0076] Preferably, the standby unmanned boat follows the performance position coordinates corresponding to the performing unmanned boat at a preset distance from large to small based on the order of the performing unmanned boats.

[0077] Since the probability of lighting failure is higher for unmanned boats with high evaluation rankings, the speed of replacing faulty unmanned boats can be increased by using spare unmanned boats to track the performing unmanned boats one by one in the highest ranking.

[0078] Preferably, the preset distance is greater than the maximum value of the ship's length or width to avoid a collision between the performance unmanned boat and the backup unmanned boat, and the preset distance is less than the time between the end and generation of two adjacent static graphics multiplied by the moving speed of the performance unmanned boat, to ensure that when a lighting failure occurs in the previous static graphic, it can be replaced when the next static graphic is generated.

[0079] Preferably, based on the number of high-risk performance unmanned ships with lighting failures, the performance position coordinates corresponding to the high-risk performance unmanned ships are allocated to different lines of the same static graphic, and the coordinates are defined as risk coordinates.

[0080] The purpose of this arrangement is to avoid lighting failures on multiple performing unmanned boats at the same time, and when multiple or all of them are on the same line and there is no time to replace them, it will cause serious graphic defects.

[0081] Preferably, in step S5, the position of the spare unmanned boat is also monitored; in step S6, the spare unmanned boat closest to the coordinates of the fault position is selected to replace the performance unmanned boat.

[0082] During the performance, the position of the backup unmanned boat will be monitored in real time. When a lighting failure occurs, the backup unmanned boat closest to the fault location coordinates will be selected to replace the performance unmanned boat.

[0083] Preferably, when multiple fault lines are generated at the same time, the point density of the fault lines is calculated. The point density calculation method is to eliminate the fault position coordinates on the fault lines and then divide the remaining number of performance position coordinates by the length of the fault lines. The spare unmanned boat preferentially replaces the fault lines with small point density.

[0084] During the performance, when lighting failures of multiple performing unmanned boats occur on multiple lines, and the spare unmanned boats cannot replace all the faulty unmanned boats at the same time, the fault line is calculated first to eliminate the coordinates of the fault position, and then the point density of the line is calculated. The faulty lines with small point density are replaced first, and other lines can be temporarily divided into equal parts to ensure the presentation effect of the overall graphic.

[0085] Preferably, in step S3, the steps of "marking and matching the performance location coordinates and the performance unmanned boat one by one" are as follows;

[0086] T31, obtain all moving paths, which are defined as a first path set and a second path set, where the first path set and the second path set both contain all moving paths;

[0087] T32, select any moving path from the first path set to define as the first path, and define the other moving paths as the second path;

[0088] T33, removing the second path whose length is greater than the first path from the first path set;

[0089] T34, determine whether there is one moving path left, if so, output it as the shortest moving path and jump to T35, if not, jump to step T32;

[0090] T35, remove the shortest moving path from the second path set, and replace the second path set with the first path set;

[0091] T36, determine whether there is a moving path left in the first path set, if yes, remove it and jump to the end, if no, jump to step T32;

[0092] T37, sorting the moving paths in the elimination order and matching them with the performing unmanned boats sorted in step S34.

[0093] Since there are multiple coordinate points in each static graph, for ease of understanding, for example, there are three static graphs sorted in chronological order, each with 10 coordinate points. Since any coordinate point in each static graph has 10 lines connected to the 10 coordinate points in the next static graph, it can be concluded that all the moving paths of the performance unmanned boat from any coordinate point in the first static graph to the subsequent static graph. Based on this, all moving paths are sorted from short to long, and then the performance unmanned boats that have been sorted by failure rate are matched with the sorted moving paths in turn. The higher the failure rate of the performance unmanned boat, the shorter the moving route during the performance. This can reduce the impact and vibration of the unmanned boat by water flow or surge when it moves in the water, which is conducive to reducing the probability of lighting failure in the performance unmanned boat. It can also reduce the loss of spare unmanned boats.

[0094] An intelligent control system for unmanned ship lighting performance, comprising:

[0095] Data acquisition module 1, used to acquire dynamic graphics of light show;

[0096] Data processing module 2, used for extracting static graphics and lines constituting the static graphics according to the dynamic graphics, obtaining performance position coordinates through line calculation, and obtaining the total number of performance unmanned boats based on the performance position coordinates;

[0097] The unmanned ship matching module 3 is used to configure a preset number of spare unmanned ships;

[0098] Monitoring module 4, used to monitor the fault position coordinates of the lights and the position coordinates of the backup unmanned boat during the light show, and determine the fault line based on the fault position coordinates;

[0099] A driving module 5 is used to drive the performance unmanned boat to perform, and temporarily divide the faulty lines that cannot replace the spare unmanned boat in time, and replace the faulty lines that can replace the spare unmanned boat in time;

[0100] The data acquisition module 1 , the data processing module 2 and the unmanned ship matching module 3 are data-connected in sequence, and the unmanned ship matching module 3 and the monitoring module 4 are both data-connected to the driving module 5 .

[0101] The dynamic graphics are acquired by using the data acquisition module 1. The data acquisition module 1 transmits the data to the data processing module 2.

[0102] The data processing module 2 extracts multiple static graphics from the dynamic graphics in time sequence, extracts all the lines that constitute the static graphics, calculates and obtains multiple performance position coordinates located on the lines by the equal division method, and obtains the number of performance unmanned boats based on the number of performance position coordinates. The data acquisition module 1 transmits the number to the unmanned boat matching module 3, and the unmanned boat matching module 3 configures a preset number of spare unmanned boats, and marks and matches the performance position coordinates and the performance unmanned boats one by one. The unmanned boat matching module 3 transmits the number to the monitoring module 4, and the monitoring module 4 monitors the lighting failure of the performance unmanned boat during the performance. When the lighting failure of the performance unmanned boat occurs, the fault line and fault position coordinates of the faulty unmanned boat in the subsequent static graphics are obtained. The monitoring module 4 transmits the quantity to the driving module 5, and the driving module 5 performs the following control operations: when it is detected that the performance unmanned boat has a lighting failure, the faulty unmanned boat is controlled to leave the team; when it is determined that the spare unmanned boat cannot move to the fault position coordinate before the static graphic is generated, the fault line is calculated by the equal division method to obtain multiple temporary performance position coordinates, and the temporary performance position coordinates replace the originally set performance position coordinates on the fault line; when it is determined that the spare unmanned boat can move to the fault position coordinate before the next static graphic is generated, the spare unmanned boat is marked and replaced with the faulty unmanned boat, and the performance unmanned boat is controlled to move to the fault line according to the originally set performance position coordinates; in this process, the driving module 5 controls the performance unmanned boat to move to each performance position coordinate in time sequence, and also controls the spare unmanned boat to track the movement of the high-risk performance unmanned boat.

[0103] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent control method for unmanned boat light show, characterized in that: The following steps are included: S1, obtain dynamic graphics; S2, extracting multiple static graphics from the dynamic graphics in time sequence, extracting all the lines constituting the static graphics, calculating and obtaining multiple performance position coordinates located on the lines by an equal division method, and obtaining the number of performance unmanned boats based on the number of performance position coordinates; S3, configuring a preset number of spare unmanned boats, marking and matching the performance location coordinates and the performance unmanned boats one by one; S4, controlling the performance unmanned boat to move to each performance position coordinate in time sequence; S5. Monitor the lighting failure of the performer's unmanned boat during the performance. When the lighting failure occurs on the performing unmanned boat, control the failed unmanned boat to exit the performance, and obtain the fault line and fault position coordinates of the failed unmanned boat in the subsequent static graphics; S6, judging whether the standby unmanned ship can be moved to the coordinates of the fault position before the next static graphic is generated; When the backup unmanned boat cannot be moved to the fault position coordinates before the static graphics are generated, the fault line is divided equally to obtain multiple temporary performance position coordinates, and the temporary performance position coordinates replace the original performance position coordinates set on the fault line; When the spare unmanned boat can move to the fault position coordinates before the next static graphic is generated, the spare unmanned boat is marked and replaced by the faulty unmanned boat, and the performance unmanned boat is controlled to move to the fault line according to the originally set performance position coordinates.

2. The intelligent control method for unmanned ship light show according to claim 1, characterized in that: The steps for setting the number of spare unmanned ships in step S3 are: S31. Obtaining influencing indicators that may affect the lighting failure of the unmanned boat for performance, including the remaining service life of the lighting, the number of lighting maintenance times, the temperature of the performance waters, and the heat generated by the lighting; S32. Assign values ​​to impact indicators using expert evaluation method; S33, summing the weighted impact indicators, and outputting the summation result as the impact indicator value; S34. Sort the performing unmanned boats based on the impact index values, and multiply the total number of performing unmanned boats by the safety factor to obtain the number of spare unmanned boats.

3. The intelligent control method for unmanned ship light show according to claim 2 is characterized in that: The specific steps of obtaining the safety factor in step S34 include: S341. Obtain the total number of unmanned boats for each historical performance and the total number of unmanned boats with lighting failures; S342, calculating the ratio of the total number of unmanned boats with lighting failures at the same time to the total number of performing unmanned boats; S343, extracting the maximum and minimum values ​​among multiple groups of ratios; S344. When it is an important performance occasion, the safety factor is equal to the maximum ratio; when it is an ordinary performance occasion, the safety factor is greater than the minimum ratio and less than the maximum ratio.

4. The intelligent control method for unmanned ship light show according to claim 3 is characterized in that: The spare unmanned boats follow the performance position coordinates corresponding to the performing unmanned boats at a preset distance from large to small based on the ranking of the performing unmanned boats.

5. The intelligent control method for unmanned ship light show according to claim 4 is characterized in that: The preset distance is greater than the maximum value of the ship length or the ship width, and the preset distance is less than the time between the end and generation of two adjacent static graphics multiplied by the moving speed of the performing unmanned ship.

6. The intelligent control method for unmanned ship light show according to claim 5 is characterized by: Based on the number of high-risk performance unmanned ships with lighting failures, the performance position coordinates corresponding to the high-risk performance unmanned ships are allocated to different lines of the same static graph, and the coordinates are defined as risk coordinates.

7. The intelligent control method for unmanned ship light show according to claim 6 is characterized by: In step S5, it also includes monitoring the position of the standby unmanned ship; In step S6, the backup unmanned boat closest to the coordinates of the fault location is selected to replace the performance unmanned boat.

8. The intelligent control method for unmanned ship light show according to claim 6 is characterized by: When multiple fault lines are generated at the same time, the point density of the fault lines is calculated. The point density calculation method is to eliminate the fault position coordinates on the fault line, and then divide the remaining number of performance position coordinates by the length of the fault line. The spare unmanned ship will give priority to replacing the fault lines with small point density.

9. The intelligent control method for unmanned ship lighting performance according to claim 8, characterized in that: In step S3, the steps of "marking and matching the performance position coordinates and the performance unmanned boat one by one" are as follows; T31, obtain all moving paths, which are defined as the first path set and the second path set; T32, select any moving path from the first path set to define as the first path, and define the other moving paths as the second path; T33, removing the second path whose length is greater than the first path from the first path set; T34, determine whether there is one moving path left, if so, output it as the shortest moving path and jump to T35, if not, jump to step T32; T35, remove the shortest moving path from the second path set, and replace the second path set with the first path set; T36, determine whether there is a moving path left in the first path set, if yes, remove it and jump to the end, if no, jump to step T32; T37, sorting the moving paths in the elimination order and matching them with the performing unmanned boats sorted in step S34.

10. An intelligent control system for unmanned boat lighting performance, characterized in that: An intelligent control method for an unmanned ship light show as described in any one of claims 1 to 9, comprising: A data acquisition module for acquiring dynamic graphics of the light show; A data processing module is used to extract static graphics and lines constituting the static graphics according to the dynamic graphics, obtain the performance position coordinates through line calculation, and obtain the total number of performance unmanned boats based on the performance position coordinates; The unmanned ship matching module is used to configure a preset number of spare unmanned ships, mark and match the performance location coordinates and the performance unmanned ships one by one; A monitoring module is used to monitor the fault position coordinates of the lights and the position coordinates of the standby unmanned boats during the light show. When a light fault is detected on the unmanned boat, the unmanned boat is controlled to exit the show, and the fault line and fault position coordinates are determined based on the fault position coordinates. A driving module is used to drive the performance unmanned boat to perform based on the performance position coordinates, and to temporarily divide the fault lines that cannot replace the spare unmanned boat in time, and to replace the fault lines that can replace the spare unmanned boat in time; The data acquisition module, data processing module, unmanned ship matching, monitoring module and driving module are interconnected.

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