Light intensity compensation adjusting method of lighting device based on umbrella-shaped structure

Abstract

The invention provides a light intensity compensation adjusting method of a lighting device based on an umbrella-shaped structure, and belongs to the technical field of lighting devices.The lighting device comprises the lighting device which comprises a main body supporting column, a lantern ring, a light source mounting assembly, a steering engine and a light source body; when the lantern ring moves upwards along the main body supporting column, the light source mounting assembly drives the light source to move in the direction away from the main body supporting column, and when the lantern ring moves downwards along the main body supporting column, the light source mounting assembly drives the light source to move in the direction close to the main body supporting column. The light source distribution problem of the distributed light source is solved, and the problems that an existing distributed light source device is not easy to carry and store and cannot be installed on a multi-degree-of-freedom mechanical arm for use are solved.

Description

Technical Field

[0001] This invention relates to the field of distributed light source lighting technology, and in particular to a method for adjusting light intensity compensation in a lighting device based on an umbrella-shaped structure. Background Technology

[0002] While traditional distributed lighting systems can achieve multi-area illumination coverage in specific scenarios, their design concepts and control methods still have shortcomings. Distributed lighting systems often use fixed lamp arrays or fixed lighting modules, thus relying too heavily on external supports or complex wiring. This results in traditional distributed lighting systems being bulky and heavy, unable to be easily stored and adapted to dynamic scenarios. Furthermore, traditional distributed lighting systems rely on experience-based design, making it easy for point light sources to create shadows in complex environments due to their fixed angles, requiring significant compensation for dynamic light intensity. Additionally, traditional distributed lighting systems require additional wiring and support installations, necessitating disassembly and repair of each lamp and wiring during maintenance, consuming considerable time and effort.

[0003] Based on the characteristics of distributed light sources, due to the presence of supports and auxiliary devices, distributed light sources can only be built by selecting locations based on experience, and cannot be moved freely after being built. Consequently, the light source control scheme can only rely on algorithms. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a light intensity compensation and adjustment method for a lighting device based on an umbrella-shaped structure. This method improves upon traditional distributed light source optimization methods to overcome the limitations of traditional light sources. The device can be mounted on a multi-degree-of-freedom robotic arm, leveraging the arm's flexible movement capabilities to enhance the overall performance of the distributed light source. The device incorporates a dynamic supplementary lighting algorithm, which calculates the difference between the opening angle of the lighting bracket, the constantly changing light field conditions, and the ideal conditions, thereby continuously adjusting the lighting intensity to achieve dynamic supplementary lighting. Specifically, this includes:

[0005] A method for light intensity compensation and adjustment of a lighting device based on an umbrella structure, comprising: a lighting device,

[0006] The lighting device includes a main support column, a collar, a light source mounting assembly, a servo motor, and a light source body;

[0007] The collar is fitted onto the main support column and supports vertical movement along the main support column;

[0008] The top sidewall of the main support column has a plurality of hinge lugs evenly arranged around its circumference.

[0009] The outer side wall of the collar is uniformly arrayed with ears, and the mounting ears of the collar correspond to the hinge ears on the main support.

[0010] Each light source mounting assembly is installed on the main support and collar via corresponding hinges and mounting ears;

[0011] The light source is mounted on the light source mounting assembly, and the servo motor is connected to the light source;

[0012] When the collar moves upward along the main support column, the light source mounting assembly drives the light source to move away from the main support column; when the collar moves downward along the main support column, the light source mounting assembly drives the light source to move closer to the main support column.

[0013] When the lighting device performs light intensity compensation adjustment, the lighting device obtains the angle between each group of light source mounting components and the main support according to formula (1);

[0014] (1)

[0015] Where Q is the light intensity compensation amount, m1 is the light intensity error matrix, and K2 is a positive constant. m2 is the angle matrix between the multiple light source mounting components and the main support. This is the formula for compensation for uncertainty.

[0016] Optionally, the light source mounting assembly includes: a servo motor, a mounting arm, and a connecting rod;

[0017] One end of the mounting arm is rotatably connected to the corresponding hinge lug on the main support column, and the mounting arm supports up and down rotation around the hinge point between the mounting arm and the main support column.

[0018] Each mounting arm is equipped with a servo motor at the other end, and the output end of the servo motor is equipped with a light source, which is installed inside the mounting arm.

[0019] One end of the connecting rod is hinged to the middle of the mounting arm, and the other end of the connecting rod is hinged to the mounting lug of the corresponding collar.

[0020] When the collar moves upward, the connecting rod pushes the mounting arm to rotate upward;

[0021] As the collar moves downward, the connecting rod pulls the mounting arm to rotate downward.

[0022] Optionally, a positioning hole is provided on the collar, and a bolt is installed in the positioning hole after the mounting arm is extended to the target height, and the bolt presses against the main support column.

[0023] Optionally, the uncertainty compensation formula is formula (2):

[0024] (2)

[0025] Where A is the light intensity matrix; B is the light intensity change rate matrix; and D is the light intensity change rate derivative matrix. Let be the derivative matrix of the ideal light intensity; is the virtual compensation matrix; W is the adaptive weight matrix; S is the Gaussian function matrix.

[0026] Optionally, the Gaussian function S of the i-th mounting arm within the Gaussian function matrix i The calculation formula is formula (3):

[0027] (3)

[0028] Where M1 is the data matrix detected by the light intensity sensor; μ1 is the center value of the Gaussian function; η1 is the width of the Gaussian function; l is the number of mounting arms; and i is the number of the mounting arms.

[0029] The numbering rule for the mounting arms is as follows: select any mounting arm and assign it the number 1, then number them clockwise to l or counterclockwise to l.

[0030] Optionally, the data matrix detected by the light intensity sensor is in the form of formula (4):

[0031] (4)

[0032] Where q1 is the data detected by the light intensity sensor on the mounting arm numbered 1;

[0033] q2 is the data detected by the light intensity sensor on the mounting arm numbered 2;

[0034] q i This is the data detected by the light intensity sensor on the mounting arm numbered i.

[0035] Optionally, the value of the weight matrix of the robotic arm numbered i in the adaptive weight matrix W at the previous moment is given by formula (5):

[0036] (5)

[0037] The diagonal elements of the robotic arm with learning rate matrix number i; Let i be the element corresponding to the robotic arm numbered i in the strong error matrix; Let i be the element corresponding to the robotic arm numbered i in the robust gain matrix.

[0038] Optionally, the mounting arm is a rectangular groove, and a cover plate that supports disassembly is provided on the upper surface of the rectangular groove in the axial direction; a through groove is provided at the bottom of the end of the rectangular groove away from the main support column, and the light beam of the light source passes through the through groove.

[0039] The servo motor is mounted on the side wall of the rectangular through slot. The output end of the servo motor passes through the side wall of the rectangular through slot and is connected to the light source. The servo motor supports the rotation of the light source toward the main support column or toward the direction away from the main support column.

[0040] Optionally, the number of mounting ears is equal to the number of hinged ears, and the lighting device further includes a base on which the bottom of the main support is mounted.

[0041] Optionally, the lighting device further includes a connecting base, which is vertically disposed on the base and supports connection with a robotic arm.

[0042] The above technical solution has at least the following advantages compared with the existing technology:

[0043] This invention addresses the problems of traditional distributed light source structures, such as their inability to be freely stored and adapted to dynamic scenes, complex structures hindering maintenance, and lack of mobility for better illumination. It designs a distributed light source lighting device with a light intensity compensation algorithm that can be installed on a multi-degree-of-freedom robotic arm. This device design allows for free storage and expansion of the distributed light source, better adapting to dynamic scenes. The addition of a maintenance cover makes the device structure and control circuitry extremely convenient for inspection and maintenance. The addition of a compatible connector allows the entire device to be installed on a multi-degree-of-freedom robotic arm, maximizing the lighting advantages of the distributed light source. Furthermore, considering the multiple factors involved in compensating for the difference between the current light intensity and the ideal light intensity, a light intensity compensation control scheme is established. By acquiring current light intensity data and pre-set ideal light intensity data, a superior light intensity compensation effect is achieved, assisting the device in performing precise light intensity compensation as the light intensity changes. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0045] Figure 1 This is a schematic diagram of the structure of the device;

[0046] Figure 2 This is a schematic diagram of the light source and servo motor of this device;

[0047] Figure 3 This is a diagram showing the extension process of this device;

[0048] Figure 4 This is a schematic diagram showing the details of the device.

[0049] Figure label:

[0050] 1. Base; 2. Connecting seat; 3. Main support column; 4. Collar; 5. Connecting rod; 6. Light source; 7. Servo; 8. Positioning hole; 9. Hinge ear; 10. Mounting ear; 11. Mounting arm. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0052] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an,” “a,” or “the,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising,” “including,” or “including,” and similar terms mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. The terms “connected,” “linked,” or “connected,” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0053] It should be noted that the terms "up", "down", "left", "right", "front" and "back" used in this invention are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0054] like Figures 1 to 4 As shown, a method for adjusting light intensity compensation of a lighting device based on an umbrella structure includes: a lighting device,

[0055] The lighting device includes a main support column 3, a collar 4, a light source mounting assembly, a servo motor 7, and a light source 6 body. The collar 4 is fitted onto the main support column 3 and supports vertical movement along the main support column 3. Multiple hinge ears 9 are evenly arrayed around the top sidewall of the main support column 3. Mounting ears 10 are evenly arrayed around the outer sidewall of the collar 4, and the mounting ears 10 of the collar 4 correspond to the hinge ears 9 on the main support column 3. Each light source mounting assembly is mounted on the main support column 3 and the collar 4 via corresponding hinge ears 9 and mounting ears 10. The light source 6 is mounted on the light source mounting assembly, and the servo motor 7 is connected to the light source 6. When the collar 4 moves upward along the main support column 3, the light source mounting assembly drives the light source 6 to move away from the main support column 3; when the collar 4 moves downward along the main support column 3, the light source mounting assembly drives the light source 6 to move closer to the main support column 3.

[0056] The light source mounting assembly includes: a servo motor 7, a mounting arm 11, and a connecting rod 5; one end of the mounting arm 11 is rotatably connected to a corresponding hinge lug 9 on the main support column 3, and the mounting arm 11 supports up-and-down rotation around the hinge point between the mounting arm 11 and the main support column 3; a servo motor 7 is mounted on the other end of each mounting arm 11, and a light source 6 is provided at the output end of the servo motor 7 and installed inside the mounting arm 11; one end of the connecting rod 5 is hinged to the middle of the mounting arm 11, and the other end of the connecting rod 5 is hinged to the mounting lug 10 of the corresponding collar 4; when the collar 4 moves upward, the connecting rod 5 pushes the mounting arm 11 to rotate upward; when the collar 4 moves downward, the connecting rod 5 pulls the mounting arm 11 to rotate downward.

[0057] The mounting arm 11 is a rectangular slot, and a detachable cover plate is provided on the upper surface of the rectangular slot in the axial direction. A through slot is provided at the bottom of the end of the rectangular slot away from the main support column 3, through which the light beam of the light source 6 passes. The servo motor 7 is mounted on the side wall of the rectangular through slot, and its output end passes through the side wall of the rectangular through slot and connects to the light source 6. The servo motor 7 supports the rotation of the light source 6 towards the main support column 3 or in a direction away from the main support column 3. The number of mounting ears 10 is equal to the number of hinge ears 9. The lighting device also includes a base 1, on which the bottom of the main support column 3 is mounted. The lighting device also includes a connecting seat 2, which is vertically mounted on the base 1 and supports connection to the robotic arm.

[0058] The specific structure of the lighting device of the present invention is as follows:

[0059] This device includes a base 1 and a connecting seat 2. The base 1 and the connecting seat 2 can be selected according to requirements. One of the bases is connected to a robotic arm (the robotic arm is existing technology, meaning that this device can be mounted on a robotic arm that can rotate or move with multiple degrees of freedom, so that this device also moves to the target). The robotic arm can be a six-degree-of-freedom or other multi-degree-of-freedom robotic arm. The connecting seat 2 is set on the base 1 and is vertically set on the upper surface of the base 1.

[0060] The main support column 3 is a hollow cylinder, and the main support column 3 is vertically installed on the base 1.

[0061] The bottom of the main support column 3 and the base 1 can be connected by threads or assembled together by bolts or other connection methods.

[0062] Multiple hinged ears 9 are evenly arranged around the top of the main support column 3, such as 6, 8 or 10, or other numbers.

[0063] The collar 4 is also a hollow cylinder, but it can be fitted onto the main support column 3 and move up and down along it. Furthermore, the collar 4 has positioning holes 8. When the collar 4 moves to a suitable height, there can be multiple positioning holes 8. By screwing bolts into the positioning holes 8, the collar 4 is fixed in place against the outer wall of the main support column 3. Therefore, the collar 4, through the positioning holes 8 and the bolts, can be fixedly installed on the main support column 3 at any height, thereby controlling the extension degree of the mounting arm 11 of the device.

[0064] Mounting arms 11 are evenly installed around the main support column 3. Therefore, if there are two mounting arms 11, the angle between the two mounting arms 11 is 180 degrees. If there are six mounting arms 11, the angle between adjacent mounting arms 11 is 60 degrees. That is, the corresponding hinge lug 9 is selected to install one end of the mounting arm 11. The number of mounting arms 11 is generally set according to the requirements.

[0065] Each mounting arm 11 is paired with a connecting rod 5 to drive the extension of the mounting arm 11. One end of the connecting rod 5 is mounted on the collar 4, and the other end of the connecting rod 5 is mounted on the lower middle part of the mounting arm 11.

[0066] Furthermore, the base 1 has anti-collision guard edges on both sides.

[0067] Further specified, a reinforcing rib is provided between one side of the bottom cylindrical part of the main support column 3 and the base 1.

[0068] Furthermore, the connector 2 supports the provision of six screw holes, and the six screw holes are distributed in a regular hexagonal shape.

[0069] Further defined, the collar 44 has several hinge structures with a connecting screw hole and a limiting screw hole evenly distributed on its outer side, and the collar 44 can be fitted on the main support column 32 and can slide freely up and down along the main support column 32.

[0070] Further specifying, the connecting rod 5 is in the shape of a flat, elongated rod, with hinged structures at both ends.

[0071] When using this device, the number of mounting arms 11 is set according to the requirements, and the extension degree of the robotic arms is adjusted according to the requirements. After all adjustments are made, it may be necessary to make a fine adjustment to the angle of each light source 6, which drives the corresponding servo motor 7 of the light source 6. The servo motor 7 can adjust the illumination angle of the light source 6.

[0072] When the lighting device performs light intensity compensation adjustment, the lighting device obtains the angle between each group of light source mounting components and the main support according to formula (1);

[0073] (1)

[0074] Where Q is the light intensity compensation amount, m1 is the light intensity error matrix, and K2 is a positive constant. m2 is the angle matrix between the multiple light source mounting components and the main support. This is the formula for compensation for uncertainty.

[0075] The collar 4 is provided with a positioning hole 8. When the mounting arm 11 is extended to the target height, a bolt is installed in the positioning hole 8, and the bolt presses against the main support column 3.

[0076] Optionally, the uncertainty compensation formula is formula (2):

[0077] (2)

[0078] Where A is the light intensity matrix; B is the light intensity change rate matrix; and D is the light intensity change rate derivative matrix. Let be the derivative matrix of the ideal light intensity; is the virtual compensation matrix; W is the adaptive weight matrix; S is the Gaussian function matrix.

[0079] The Gaussian function S of the i-th mounting arm 11 in the Gaussian function matrix i The calculation formula is formula (3):

[0080] (3)

[0081] Where M1 is the data matrix detected by the light intensity sensor; μ1 is the center value of the Gaussian function; η1 is the width of the Gaussian function; l is the number of mounting arms 11; and i is the number of the mounting arms 11.

[0082] The numbering rule for the mounting arms 11 is as follows: select any mounting arm 11 and assign it the number 1, and then number it clockwise to l or counterclockwise to l.

[0083] The data matrix detected by the light intensity sensor is in the form of formula (4):

[0084] (4)

[0085] Where q1 is the data detected by the light intensity sensor on the mounting arm 11 numbered 1;

[0086] q2 is the data detected by the light intensity sensor on mounting arm 11, which is numbered 2;

[0087] q i The data is detected by the light intensity sensor on mounting arm 11, numbered i.

[0088] The value of the weight matrix of the robotic arm numbered i in the adaptive weight matrix W at the previous moment is given by formula (5):

[0089] (5)

[0090] The diagonal elements of the robotic arm with learning rate matrix number i; Let i be the element corresponding to the robotic arm numbered i in the strong error matrix; Let i be the element corresponding to the robotic arm numbered i in the robust gain matrix.

[0091] The formula for calculating the virtual light intensity compensation matrix is ​​formula (6):

[0092] (5)

[0093] Where m1 is the light intensity error matrix. Let be the derivative matrix of the ideal light intensity.

[0094] This invention addresses the problems of traditional distributed light source 6 structures, such as their inability to be freely stored and adapted to dynamic scenes, complex structures hindering maintenance, and inability to be moved for better illumination. It designs a distributed light source 6 illumination device with a light intensity compensation algorithm that can be installed on a multi-degree-of-freedom robotic arm. This device design allows the distributed light source 6 to be freely stored and expanded, better adapting to dynamic scenes. The addition of a maintenance cover makes the device structure and control circuitry extremely convenient for inspection and maintenance. The addition of a matching connector 2 allows the entire device to be installed on a multi-degree-of-freedom robotic arm, maximizing the illumination advantages of the distributed light source 6. Furthermore, considering the multiple factors involved in compensating for the difference between the current light intensity and the ideal light intensity, a light intensity compensation control scheme is established. By acquiring current light intensity data and pre-set ideal light intensity data, a better light intensity compensation effect is ultimately obtained, assisting the equipment in performing precise light intensity compensation as the light intensity changes.

[0095] The following points need to be explained:

[0096] (1) The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention. Other structures can refer to the general design.

[0097] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the invention, i.e., these drawings are not drawn to scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element or there may be intermediate elements.

[0098] (3) Where there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0099] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for adjusting light intensity compensation in a lighting device based on an umbrella-shaped structure, characterized in that, include: lighting fixtures, The lighting device includes a main support column, a collar, a light source mounting assembly, a servo motor, and a light source body; The collar is fitted onto the main support column and supports vertical movement along the main support column; The top sidewall of the main support column has a plurality of hinge lugs evenly arranged around its circumference. The outer side wall of the collar is uniformly arrayed with ears, and the mounting ears of the collar correspond to the hinge ears on the main support. Each light source mounting assembly is installed on the main support and collar via corresponding hinges and mounting ears; The light source is mounted on the light source mounting assembly, and the servo motor is connected to the light source; When the collar moves upward along the main support column, the light source mounting assembly drives the light source to move away from the main support column; when the collar moves downward along the main support column, the light source mounting assembly drives the light source to move closer to the main support column. When the lighting device performs light intensity compensation adjustment, the lighting device obtains the angle between each group of light source mounting components and the main support according to formula (1); ； （1） Where Q is the light intensity compensation amount, m1 is the light intensity error matrix, and K2 is a positive constant. m2 is the angle matrix between the multiple light source mounting components and the main support. This is the formula for compensation for uncertainty.

2. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 1, characterized in that, The light source mounting assembly includes: a servo motor, a mounting arm, and a connecting rod; One end of the mounting arm is rotatably connected to the corresponding hinge lug on the main support column, and the mounting arm supports up and down rotation around the hinge point between the mounting arm and the main support column. Each mounting arm is equipped with a servo motor at the other end, and the output end of the servo motor is equipped with a light source, which is installed inside the mounting arm. One end of the connecting rod is hinged to the middle of the mounting arm, and the other end of the connecting rod is hinged to the mounting lug on the corresponding collar. When the collar moves upward, the connecting rod pushes the mounting arm to rotate upward; As the collar moves downward, the connecting rod pulls the mounting arm to rotate downward.

3. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 3, characterized in that, The collar is provided with positioning holes. When the mounting arm is extended to the target height, bolts are installed in the positioning holes, and the studs press against the main support column.

4. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 3, characterized in that, The uncertainty compensation formula is formula (2): ；（2） Where A is the light intensity matrix; B is the light intensity change rate matrix; and D is the light intensity change rate derivative matrix. Let be the derivative matrix of the ideal light intensity; is the virtual compensation matrix; W is the adaptive weight matrix; S is the Gaussian function matrix.

5. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 4, characterized in that, The Gaussian function S of the i-th mounting arm in the Gaussian function matrix i The calculation formula is formula (3): ；（3） Where M1 is the data matrix detected by the light intensity sensor; μ1 is the center value of the Gaussian function; η1 is the width of the Gaussian function; l is the number of mounting arms; and i is the number of the mounting arms. The numbering rule for the mounting arms is as follows: select any mounting arm and assign it the number 1, then number them clockwise to l or counterclockwise to l.

6. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 5, characterized in that, The data matrix detected by the light intensity sensor is in the form of formula (4): ；（4） Where q1 is the data detected by the light intensity sensor on the mounting arm numbered 1; q2 is the data detected by the light intensity sensor on the mounting arm numbered 2; q i This is the data detected by the light intensity sensor on the mounting arm numbered i.

7. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 6, characterized in that, The value of the weight matrix of the robotic arm numbered i in the adaptive weight matrix W at the previous moment is given by formula (5): ；（5） The diagonal elements of the robotic arm with learning rate matrix number i; Let i be the element corresponding to the robotic arm numbered i in the strong error matrix; Let i be the element corresponding to the robotic arm numbered i in the robust gain matrix.

8. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 7, characterized in that, The mounting arm is a rectangular groove, and a cover plate that supports disassembly is provided on the upper surface of the rectangular groove in the axial direction; a through groove is provided at the bottom of the end of the rectangular groove away from the main support column, and the light beam of the light source passes through the through groove. The servo motor is mounted on the side wall of the rectangular through slot. The output end of the servo motor passes through the side wall of the rectangular through slot and is connected to the light source. The servo motor supports the rotation of the light source toward the main support column or toward the direction away from the main support column.

9. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 1, characterized in that, The number of mounting ears is equal to the number of hinged ears, and the lighting device also includes a base, on which the bottom of the main support is mounted.

10. The light intensity compensation and adjustment method for a lighting device based on an umbrella structure according to claim 1, characterized in that, The lighting device also includes a connecting base, which is vertically mounted on the base and supports connection with a robotic arm.

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