CN110067964A - A kind of amphibious pipe robot lighting device and control method - Google Patents

A kind of amphibious pipe robot lighting device and control method Download PDF

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Publication number
CN110067964A
CN110067964A CN201910266857.0A CN201910266857A CN110067964A CN 110067964 A CN110067964 A CN 110067964A CN 201910266857 A CN201910266857 A CN 201910266857A CN 110067964 A CN110067964 A CN 110067964A
Authority
CN
China
Prior art keywords
lighting unit
robot
communication module
bus
power panel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910266857.0A
Other languages
Chinese (zh)
Inventor
张东辉
徐振华
王炜富
王鑫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Tiangong Intelligent Equipment Co Ltd
Original Assignee
Dalian Tiangong Intelligent Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian Tiangong Intelligent Equipment Co Ltd filed Critical Dalian Tiangong Intelligent Equipment Co Ltd
Priority to CN201910266857.0A priority Critical patent/CN110067964A/en
Publication of CN110067964A publication Critical patent/CN110067964A/en
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S8/00—Lighting devices intended for fixed installation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V15/00—Protecting lighting devices from damage
    • F21V15/01—Housings, e.g. material or assembling of housing parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V23/00—Arrangement of electric circuit elements in or on lighting devices
    • F21V23/001—Arrangement of electric circuit elements in or on lighting devices the elements being electrical wires or cables
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V23/00—Arrangement of electric circuit elements in or on lighting devices
    • F21V23/003—Arrangement of electric circuit elements in or on lighting devices the elements being electronics drivers or controllers for operating the light source, e.g. for a LED array
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V23/00—Arrangement of electric circuit elements in or on lighting devices
    • F21V23/04—Arrangement of electric circuit elements in or on lighting devices the elements being switches
    • F21V23/0442—Arrangement of electric circuit elements in or on lighting devices the elements being switches activated by means of a sensor, e.g. motion or photodetectors
    • F21V23/0464—Arrangement of electric circuit elements in or on lighting devices the elements being switches activated by means of a sensor, e.g. motion or photodetectors the sensor sensing the level of ambient illumination, e.g. dawn or dusk sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V31/00—Gas-tight or water-tight arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V5/00—Refractors for light sources
    • F21V5/04—Refractors for light sources of lens shape
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
    • H05B45/50—Circuit arrangements for operating light-emitting diodes [LED] responsive to malfunctions or undesirable behaviour of LEDs; responsive to LED life; Protective circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
    • F21W2131/00—Use or application of lighting devices or systems not provided for in codes F21W2102/00-F21W2121/00
    • F21W2131/40—Lighting for industrial, commercial, recreational or military use
    • F21W2131/403—Lighting for industrial, commercial, recreational or military use for machines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
    • F21Y2115/00—Light-generating elements of semiconductor light sources
    • F21Y2115/10—Light-emitting diodes [LED]

Abstract

The invention discloses a kind of amphibious pipe robot lighting device and control methods, belong to robot pipeline lighting area；It include: lighting unit and watertight connector；The lighting unit includes waterproof case, lens are equipped at the light end that goes out of waterproof case, sensor module, communication module, power panel, LED chip are equipped in the waterproof case, the LED chip is connected with power panel, the power panel is connected by communication module with sensor module, and the communication module, power panel are connected with watertight connector.The device and control method of the application, solve lighting device working environment adaptability in the prior art it is small, it is not remote-controlled, do not have self-checking function, it is excessive using watertight connector the disadvantages of.

Description

A kind of amphibious pipe robot lighting device and control method
Technical field
The invention belongs to pipe robot lighting area, specifically a kind of amphibious pipe robot lighting device And control method.
Background technique
Pipe robot is a kind of specialized robot to work in the duct, and pipe robot is walked in the duct and operation It is completed by staff's remote control operation, staff carries out the ring in observation pipeline by the camera being erected in robot Border could assign travel commands to robot and control its direction of travel, and robot is in pipeline, without natural illumination light Source, therefore, pipe robot generally carry lighting device, and for ring around the observation pipe robot of all-dimensional multi-angle Border, pipe robot generally carry multiple lighting devices and illuminate different directions respectively.The environment that pipe robot is worked may It is that the drying duct of water, half submerged state do not have waterpipe, are fully immersed in underwater pipeline, and these types of situation meeting It advances and is alternately present in the duct with robot when executing a subtask, such working environment requires pipe robot And its lighting device carried has the adaptability of amphibious environment, it can the row in the dry environment of not water Into, and can work and work in the environment under half submergence and full immersion water.
Existing lighting device is generally only capable of work in dry environment, does not have underwater sealing ability, or be only capable of soaking The water under water in environment in environment does not carry out cooling ability long-term stable work, or can be under amphibious environment It works but lamp power low-light level is inadequate.
Existing diving illumination device, is generally manually controlled by mechanical switch, or the confession by controlling lighting device Power supply carry out switch control, can not remote control lighting device switch, also can not remote control lighting device brightness.
Existing diving illumination device does not have self-checking function, if lighting device damages during use, ground Control terminal is not aware that the reason of lighting device damage and damage.
Existing diving illumination device, each lighting device are connected using an independent watertight connector with host sealed compartment It connects, such host can control the switch of lighting device by controlling the power supply of this special circuit, carry multiple illumination dresses It sets and just needs using multiple watertight connectors, but watertight connector is more expensive, therefore this scheme higher cost.Lighting device makes More with watertight connector quantity, host sealed compartment is mutually just more in requisition for the aperture of installation watertight connector, leads to host sealed compartment leak Risk increase.
Summary of the invention
To solve the prior art there are the above problem, the application provides a kind of amphibious pipe robot lighting device And control method, solve lighting device working environment adaptability in the prior art it is small, it is not remote-controlled, do not have self-test function Can, it is excessive using watertight connector the disadvantages of.
To achieve the above object, a kind of the first technical solution of the application are as follows: amphibious pipe robot illumination Device, comprising: lighting unit and watertight connector；The lighting unit includes waterproof case, is equipped at the light end that goes out of waterproof case Lens, the waterproof case is interior to be equipped with sensor module, communication module, power panel, LED chip, the LED chip and power panel Be connected, the power panel is connected by communication module with sensor module, the communication module, power panel with watertight connector phase Even.
Further, when lighting unit is greater than 1, the application further includes waterproof junction box；In the waterproof junction box Equipped with power supply line a, power supply line b, CAN bus a and CAN bus b, power panel in each lighting unit with power supply line a, power supply Line b is connected, and the communication module in each lighting unit is connected with CAN bus a, CAN bus b, the power supply line a, power supply line B, CAN bus a and CAN bus b are connected with watertight connector.
Further, the sensor module includes temperature sensor and photosensitive sensor, and temperature sensor is used to acquire Light-source temperature, photosensitive sensor are used to acquire whether light source shines, sensor module information collected, by communication module It is transmitted to robot host, robot host also passes through communication module and assigns control instruction to lighting unit, controls power panel to LED Chip power supply.
Further, the power panel is constant-current type LED chip drives plate, and power panel passes through PWM technology (PWM technology: arteries and veins Width modulation technology is rushed, by adjusting the pulse duty factor of LED power, to carry out the technology of brightness regulation to LED) to LED Chip carries out brightness adjustment control.
Further, the power supply line a, power supply line b, CAN bus a and CAN bus b form a composite cable, use Terminal row pressure in parallel immediately after line terminals, fills sealant inside waterproof junction box.
Second of technical solution of the application are as follows: a kind of amphibious pipe robot illumination device control method, tool Body includes the following steps:
S1: each lighting unit is set with unique ID, and robot host is issued extensively by CAN bus and communication module Broadcast instruction；
S2: each lighting unit gives robot host by the ID that communication module replys itself, and robot host passes through at this time Assign any lighting unit of instruction independent control containing ID；
S3: robot host assigns the instruction of corresponding ID, make lighting unit executed respectively according to operating condition it is bright, go out, dim it is bright The instruction of degree；
S4: each lighting unit uploads the information containing ID and gives robot host, whether contains light-source temperature, light source in information Luminous data byte.
Further, the limit of working temperature of light source is arranged in the communication module of each unit, when light-source temperature is higher than pole Operating temperature is limited, the temperature alarm information containing self ID is uploaded and gives robot host, communication module control power panel is adjusted automatically Itself low light-source brightness.
Further, photosensitive sensor is used to acquire whether light source shines, if detecting that light source does not shine, illustrates to shine Bright unit breaks down, and fault message is uploaded to robot host.
The present invention due to using the technology described above, can obtain following technical effect:
1. wide adaptation range, amphibious all to can be used.
2. it is remote-controlled, and can dim, brightness is high.
3. having self-checking function, robot host will be seen that lighting unit working condition and chip temperature.
4. can flexibly increase the quantity of lighting unit according to the actual situation.
5. a lighting unit more than uniformly passes through 1 watertight connector and connect with host sealed compartment, save the cost, and it is close to reduce host The risk of batten down leak.
Detailed description of the invention
Fig. 1 is 1 structural block diagram of embodiments herein；
Fig. 2 is 2 structural block diagram of embodiments herein；
Fig. 3 is 3 control flow chart of embodiments herein.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments: doing as example to the application Further description explanation.
Embodiment 1
As shown in Figure 1, the present embodiment provides a kind of amphibious pipe robot lighting devices, comprising: lighting unit And watertight connector；The lighting unit includes waterproof case, lens is equipped at the light end that goes out of waterproof case, in the waterproof case Equipped with sensor module, communication module, power panel, LED chip, the LED chip is connected with power panel, and the power panel passes through Communication module is connected with sensor module, and the communication module, power panel are connected with watertight connector.The present embodiment is using single-alone 1 lighting unit works, and 1 lighting unit is used alone 1 watertight connector and connects host sealed compartment.
Embodiment 2
As shown in Fig. 2, the present embodiment provides a kind of amphibious pipe robot lighting devices, comprising: multiple illuminations Unit (2 or more), waterproof junction box and watertight connector；The lighting unit includes waterproof case, goes out light in waterproof case End is equipped with lens, is equipped with sensor module, communication module, power panel, LED chip in the waterproof case, the LED chip with Power panel is connected, and the power panel is connected by communication module with sensor module；Power supply line is equipped in the waterproof junction box A, power supply line b, CAN bus a and CAN bus b, the power panel in each lighting unit are connected with power supply line a, power supply line b, often Communication module in a lighting unit is connected with CAN bus a, CAN bus b, the power supply line a, power supply line b, CAN bus a It is connected with watertight connector with CAN bus b.The present embodiment uses multiple lighting unit networkings, and multiple lighting units pass through 1 water Touch head and connects host sealed compartment.
Since lighting device of the present invention has scalability, 1 watertight connector on host sealed compartment can be according to reality Service condition connects one or more lighting units, and without changing the structure of host sealed compartment, the expansion of lighting device can be realized Exhibition.It disclosed in the present embodiment when lighting unit networking, needs to realize by waterproof junction box, the waterproof wiring box structure Simply, the internal terminal block in parallel for power supply line and connection, it is single that waterproof junction box can connect multiple illuminations according to actual needs Member, filling sealant after terminal block compresses connecting terminal, inside waterproof junction box prevents the generation of the risks such as leak short circuit.Waterproof connects Wire box is connect by 1 unified watertight connector with host sealed compartment.
Embodiment 3
As shown in figure 3, the present embodiment provides a kind of control method of lighting unit, host sealed compartment by watertight connector and Composite cable connects lighting unit, specifically comprises the following steps:
S1: each unit module initialization；
S2: temperature sensor data and photosensitive sensor information are read；
S3: receiving CAN bus data, judges whether CAN bus instruction issues self ID；
S4: if ID is consistent, executing the control instruction that host is assigned, and allows LED is bright, goes out, dims；
S5: the collected data of sensor are uploaded to host, upload information contains self ID.
Since LED chip has many advantages, such as that small in size, luminous efficiency is high, therefore the application selects LED chip as the present invention The light source of lighting unit, cable used in lighting unit are made of communication line and power supply line two parts, and formed one it is compound Cable.Duplex communication is completed since 2 communication lines can be used in CAN, and CAN bus has the advantages that networking flexibility, therefore adopted Use CAN bus as the communication line of the application.The power panel of the application can receive and pass through communication module from robot host The control instruction assigned, to realize the function of powering to LED chip, which not only has control LED chip switch Function also has the function of being dimmed to LED chip, is constant-current type LED chip drives plate, passes through PWM technology (PWM skill Art: pulse width modulating technology, by adjusting the pulse duty factor of LED power, to carry out the technology of brightness regulation to LED) Brightness adjustment control is carried out to LED chip.
Device can not radiate in land work to be caused light-source temperature excessively high and damages, due in lighting unit of the invention Containing temperature sensor, thus the temperature of light source can be acquired in real time, and can be by the limit of working temperature of each light source point It is not set in the communication module of each unit, the temperature that oversteps the extreme limit uploads warning message automatically, and reduces brightness automatically, each Lighting unit is mounted in corresponding waterproof case, has water-proof function, therefore, lighting device wide adaptation range of the present invention, water Land is amphibious all to be can be used.
Due to containing communication module in lighting unit of the invention, host can assign control instruction by communication module, And then can control that LED light source is bright, go out, dim by power panel, therefore, lighting device of the present invention with remote-controlled performance, with And has the function of light modulation.Temperature sensor can acquire light-source temperature, therefore can use high-power LED chip, when big function Rate LED chip can upload the excessively high alarm of temperature, and reduce automatically when land works or operating ambient temperature is excessively high automatically Brightness；When radiating condition is good in great power LED working environment, has sufficient heat transmission water, LED light source can work big The high brightness mode of power, provides the lighting source of robot abundance.
Robot host will be seen that lighting device working condition and chip temperature.Since lighting unit has included photosensitive biography Therefore sensor, temperature sensor, communication module have self-checking function, whether can detecte light source according to setting mode progress work Make, and uploads the temperature of light source led chip.
Since watertight connector is expensive, the watertight connector quantity that lighting device uses is reduced, is only used only 1 Watertight connector is connect with host sealed compartment, can substantially reduce the cost of robot lighting system, and reduces host sealing The quantity of cabin aperture, therefore host sealed compartment can be reduced due to the excessive bring leak risk of aperture.
The preferable specific embodiment of the above, only the invention, but the protection scope of the invention is not It is confined to this, anyone skilled in the art is in the technical scope that the invention discloses, according to the present invention The technical solution of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection scope it It is interior.

Claims (8)

1. a kind of amphibious pipe robot lighting device characterized by comprising lighting unit and watertight connector；Institute Stating lighting unit includes waterproof case, is equipped with lens at the light end that goes out of waterproof case, is equipped with sensor die in the waterproof case Block, communication module, power panel, LED chip, the LED chip are connected with power panel, and the power panel is by communication module and passes Sensor module is connected, and the communication module, power panel are connected with watertight connector.
2. a kind of amphibious pipe robot lighting device according to claim 1, which is characterized in that work as lighting unit When greater than 1, the application further includes waterproof junction box；Power supply line a, power supply line b, CAN bus a are equipped in the waterproof junction box With CAN bus b, the power panel in each lighting unit is connected with power supply line a, power supply line b, the communication in each lighting unit Module is connected with CAN bus a, CAN bus b, and the power supply line a, power supply line b, CAN bus a and CAN bus b are and watertight Connector is connected.
3. a kind of amphibious pipe robot lighting device according to claim 1, which is characterized in that the sensor Module includes temperature sensor and photosensitive sensor, and temperature sensor is used to acquire light-source temperature, and photosensitive sensor is used to acquire Whether light source shines, sensor module information collected, is uploaded to robot host by communication module, robot host is also Control instruction is assigned to lighting unit by communication module, is controlled power panel and is powered to LED chip.
4. a kind of amphibious pipe robot lighting device according to claim 1 or claim 2, which is characterized in that the electricity Source plate is constant-current type LED chip drives plate, and power panel carries out brightness adjustment control to LED chip by PWM technology.
5. a kind of amphibious pipe robot lighting device according to claim 2, which is characterized in that the power supply line A, power supply line b, CAN bus a and CAN bus b form a composite cable, after terminal row pressure in parallel immediately line terminals, prevent Water junction box fills sealant.
6. a kind of amphibious pipe robot illumination device control method, which is characterized in that specifically comprise the following steps:
S1: each lighting unit is set with unique ID, and robot host issues broadcast by CAN bus and communication module and refers to It enables；
S2: each lighting unit gives robot host by the ID that communication module replys itself, and robot host is by assigning at this time Any lighting unit of instruction independent control containing ID；
S3: robot host assigns the instruction of corresponding ID, make lighting unit executed respectively according to operating condition it is bright, go out, dim brightness Instruction；
S4: whether each lighting unit uploads the information containing ID and gives robot host, shine in information containing light-source temperature, light source Data byte.
7. a kind of amphibious pipe robot illumination device control method according to claim 6, which is characterized in that light The limit of working temperature in source is arranged in the communication module of each unit, and when light-source temperature is higher than the limit of working temperature, upload contains The temperature alarm information of self ID gives robot host, and communication module control power panel automatically turns down itself light-source brightness.
8. a kind of amphibious pipe robot illumination device control method according to claim 6, which is characterized in that sense Optical sensor is used to acquire whether light source shines, if detecting that light source does not shine, illustrates that lighting unit breaks down, and handle Fault message is uploaded to robot host.
CN201910266857.0A 2019-04-03 2019-04-03 A kind of amphibious pipe robot lighting device and control method Pending CN110067964A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910266857.0A CN110067964A (en) 2019-04-03 2019-04-03 A kind of amphibious pipe robot lighting device and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910266857.0A CN110067964A (en) 2019-04-03 2019-04-03 A kind of amphibious pipe robot lighting device and control method

Publications (1)

Publication Number Publication Date
CN110067964A true CN110067964A (en) 2019-07-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910266857.0A Pending CN110067964A (en) 2019-04-03 2019-04-03 A kind of amphibious pipe robot lighting device and control method

Country Status (1)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102951275A (en) * 2012-11-08 2013-03-06 北京航空航天大学 Microminiature operation underwater robot of nuclear power plant
CN103024975A (en) * 2011-09-27 2013-04-03 北京同步科技有限公司 Light control device, light control method and illuminating device
CN205756657U (en) * 2016-04-05 2016-12-07 深圳市普大龙腾科技有限公司 Intelligence fish collection system
CN206724070U (en) * 2016-12-28 2017-12-08 太阳控股集团有限公司 A kind of high Waterproof LED underwater lamp of light-focusing type
CN207849050U (en) * 2018-02-08 2018-09-11 厦门市华海光电科技有限公司 A kind of underwater fishing lamp
CN108811272A (en) * 2018-04-28 2018-11-13 江西电力职业技术学院 Streetlamp management system and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103024975A (en) * 2011-09-27 2013-04-03 北京同步科技有限公司 Light control device, light control method and illuminating device
CN102951275A (en) * 2012-11-08 2013-03-06 北京航空航天大学 Microminiature operation underwater robot of nuclear power plant
CN205756657U (en) * 2016-04-05 2016-12-07 深圳市普大龙腾科技有限公司 Intelligence fish collection system
CN206724070U (en) * 2016-12-28 2017-12-08 太阳控股集团有限公司 A kind of high Waterproof LED underwater lamp of light-focusing type
CN207849050U (en) * 2018-02-08 2018-09-11 厦门市华海光电科技有限公司 A kind of underwater fishing lamp
CN108811272A (en) * 2018-04-28 2018-11-13 江西电力职业技术学院 Streetlamp management system and method

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Application publication date: 20190730

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