KR20140093016A - Apparatus for detecting moving direction and detecting location of movable device and apparatus for mornitoring of structures using the same - Google Patents

Abstract

The present invention relates to an apparatus for recognizing the moving direction and the position of a moving body and an apparatus for recognizing the location of an abnormal condition in a structure using the same, which can recognize the moving direction of a moving body and the position of the moving body, and can recognize the location of an abnormal condition occurring in a structure by recognizing the moving direction and position of the moving body. The provided apparatus for recognizing the moving direction of a moving body comprises: multiple fixed bodies which are continuously placed along a fixed direction at regular intervals; a moving body which moves along the fixed bodies in a direction toward the aligned fixed bodies; a light radiating unit which is installed in the moving body in order to radiates laser beams toward the direction toward the aligned fixed bodies; a photographing unit which photographs the fixed body side radiated with the laser beams released by the light radiating unit; a pattern detecting unit which detects the pattern of the laser beams in an image photographed by the photographing unit; and a control unit which recognizes the moving direction of the moving body by comparing changes in the pattern of the laser beams detected by the pattern detecting unit according to the movement of the moving body, with a previously stored pattern of laser beams.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movement direction and a position recognition apparatus for a moving object and a structure recognition apparatus using the same.

The present invention relates to a movement direction and position recognition apparatus for a moving body and an apparatus for recognizing an occurrence position of a structure using the same, and more particularly to an apparatus and method for recognizing a movement direction and a position of a moving body, And a moving direction and position recognition apparatus for recognizing a position of a moving object and recognizing a position where an abnormality occurs when an abnormality occurs in a structure.

Cranes, especially ceiling cranes, are installed at industrial sites where heavy materials are moved frequently, such as steel mills, in order to transport loads of heavy loads safely and quickly.

A ceiling crane can be carried by a hoist, even if a heavy object placed on a floor surface is driven by a bridge-shaped cross on a rail installed on the wall according to the length of the building.

These ceiling cranes are powered by a power trolley bar secured by an insulator structure.

However, when the power trolley bar is maintained in a horizontal state, the power can be supplied smoothly. In the case where deformation such as vertical deformation or horizontal deformation occurs in the power trolley bar due to external force or the like,

If the power supply to the crane is interrupted, the normal stopping operation of the crane can not be performed, so that the heavy load which is being carried is severely shaken. This is because when the load is collided with another facility, There is a possibility that a serious safety accident such as falling from the vehicle may occur.

In addition, if the crane fails to operate, other processes will also stop, resulting in considerable time and cost damage.

Therefore, a technique for checking whether or not the power trolley bar is abnormal has been developed.

However, it is possible to know the occurrence of deformation by checking the abnormality of the power trolley bar through such a technique. However, since the operator can not clearly notify the position where the abnormality occurred, the operation of the crane is stopped, There is a problem in that maintenance or parts replacement is performed.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems occurring in the prior art,

SUMMARY OF THE INVENTION It is an object of the present invention to provide a moving direction and position recognition apparatus capable of recognizing a moving direction of a moving object and a moving object.

Another object of the present invention is to provide an apparatus for recognizing an abnormality occurrence position of a structure that can recognize a direction in which a moving object moves and a position where an abnormality occurs when an abnormality occurs in a structure by recognizing the position of the moving object.

According to an aspect of the present invention, there is provided an apparatus for recognizing a moving direction of a moving object, the apparatus comprising: a fixed body disposed such that a plurality of the moving bodies are mutually separated along a predetermined direction; A movable body moving along the fixed body in a direction in which the fixed bodies are continuously arranged; A light irradiating means provided on a moving body for irradiating a laser beam toward a direction in which the fixed body is disposed; A photographing means for photographing the side of the fixed body facing the laser beam irradiated by the light irradiating means; Pattern detecting means for detecting a pattern of the laser beam on the image photographed by the photographing means; And control means for recognizing a moving direction of the moving object by comparing a pattern change of the laser beam detected by the pattern detecting means with a previously stored pattern of the laser beam in accordance with the movement of the moving object; And a moving direction recognizing device for recognizing the moving direction of the moving object.

Counting means for counting the number of laser beams irradiated from the light irradiating means passing through the fixed body in accordance with the movement of the moving body; And the control means may be configured to calculate the number of fixed bodies counted by the counting means from the predetermined reference fixed body based on the fixed body reference and recognize the position of the moving body around the reference fixed body.

Each of the fixed bodies is given an identification code, and the control means can be configured to recognize the position of the moving body by using the identification code.

The fixture fixes one or more horizontal bars to the wall surface or the ground and the moving body can be configured to move along the longitudinal direction of the horizontal bar.

The light irradiating means may be configured to irradiate a laser beam in a direction crossing the longitudinal direction of the horizontal bar.

The light irradiating means includes a first irradiating portion for irradiating a laser beam toward a wall surface or a ground surface; And a second irradiating unit for irradiating a laser beam on the wall surface or the ground so as to meet the laser beam irradiated from the first irradiating unit; . ≪ / RTI >

The light irradiating means includes a third irradiating portion for irradiating a laser beam in a direction crossing the longitudinal direction of the horizontal bar; And a fourth irradiating unit for irradiating the laser beam in a direction parallel to the longitudinal direction of the horizontal bar; . ≪ / RTI >

The moving body further includes an inspection unit for checking whether or not an abnormality has occurred in accordance with the deformation of the horizontal bar, and the control unit controls the moving unit so that, when an abnormality of the horizontal bar occurs according to the inspection of the inspection unit, And that it has occurred between the other identification codes.

The horizontal bar may be a power trolley bar that supplies power to the crane and the fixture may be an insulator structure that holds the power trolley bar.

According to the present invention, it is possible to recognize the moving direction of the moving body and the position of the moving body.

Further, according to the present invention, there is an effect that the position where the abnormality occurs when the abnormality occurs in the structure can be recognized by recognizing the moving direction of the moving object and the position of the moving object.

1 is a configuration diagram of a moving direction recognizing apparatus of a moving object according to the present invention.
2 is a configuration diagram of a mobile body position recognition apparatus according to the present invention.
3 is an exemplary view showing a state where a moving direction recognizing device of a moving object or a position recognizing device of a moving object is applied to a crane according to the present invention.
4 is an enlarged view of "A" shown in Fig.
5 is a simplified perspective view of a power trolley bar and an insulator structure.
6 and 7 are a plan view and a side view, respectively, of a moving direction recognizing device for a moving object according to a first embodiment of the present invention applied to a crane.
Figs. 8 to 11A and 11B show a state in which the laser beam irradiated from the light irradiating means is irradiated toward the wall surface on which the power trolley bar is provided in accordance with the movement of the moving object in the first embodiment of the present invention And a pattern of the laser beam detected by the pattern detecting means.
12 is a state diagram showing a state in which an abnormality occurrence position of a power trolley bar is recognized using the position recognition apparatus for a moving object according to the present invention.
13 and 14 are a plan view and a side view of a moving direction recognizing device of a moving object according to a second embodiment of the present invention, which is applied to a crane.
15 and 16A and 16B show a state in which the laser beam irradiated from the light irradiating means is irradiated toward the wall surface on which the power supply trolley bar is provided in accordance with the movement of the moving object in the second embodiment of the present invention, And a pattern of the laser beam detected by the pattern detecting means.

Hereinafter, the present invention will be described in detail with reference to the drawings. However, these drawings are for illustrative purposes only and the present invention is not limited thereto.

1 is a configuration diagram of a moving direction recognizing apparatus of a moving object according to the present invention.

1, the apparatus for recognizing the moving direction of a moving object according to the present invention mainly includes a fixed body 100, a moving body 200, a light irradiating means 210, a photographing means 220, a pattern detecting means 230, (240).

The fixture 100 is a component that is arranged so that a plurality of the fixtures 100 are continuously separated from each other in a predetermined direction and plays a most important role in grasping the moving direction of the mobile 200 described below in the present invention. Particularly, it is preferable that the fixing bodies 100 are configured to be separated from each other at predetermined intervals.

The movable body 200 is a component that moves along the fixed body 100 in a direction in which the fixed bodies 100 are continuously arranged.

The light irradiating means 210 is a component that is provided on the moving body 200 and irradiates light toward a direction in which the fixed body 100 is disposed. The light irradiating means 210 is provided with a pattern detecting means 230 It is preferable to irradiate a laser beam capable of concentrating light energy with a very high density in a narrow area because it has a property of going straight to be detected and having good convergence.

The photographing means 220 is a component for photographing the side of the fixed body 100 to which the light irradiated by the light irradiating means 210 (hereinafter referred to as "laser beam") is directed, 200). It is preferable that the photographing means 220 is arranged at an angle that can detect the pattern of the laser beam. The camera 220 can be a conventional camera, but it is preferable to use a camera that is designed to be sensitive to the wavelength of the laser.

The pattern detecting means 230 is a component for detecting a pattern of a laser beam on an image photographed by the photographing means 220 and may be disposed separately from the photographing means 220 and disposed in the photographing means 220 And capture a pattern of the laser beam on the photographed image.

The control unit 240 is a component that controls each component of the present invention. In particular, the pattern of the laser beam detected by the pattern detecting unit 230 according to the movement of the moving object 200 is stored in a pattern And recognizes the moving direction of the moving object 200 in comparison with the moving direction.

2 is a configuration diagram of a mobile body position recognition apparatus according to the present invention.

As shown in FIG. 2, the apparatus for recognizing the position of a moving object according to the present invention further comprises a counting means 250 in the constituent elements of the moving direction recognizing apparatus of the moving body.

The counting means 250 is a component for counting the number of laser beams irradiated from the light irradiating means 210 passing through the fixed body 100 as the moving body 200 moves.

The control unit 240 calculates the number of the fixed bodies 100 counted by the counting unit 250 from the predetermined reference fixed body 100 as a reference among the fixed bodies 100, So that the position of the mobile unit 200 can be recognized.

Here, when the identification marks are assigned to the fixture 100, the position of the mobile 200 recognized around the reference fixture 100 can be more clearly recognized. That is, it can be recognized that the position of the mobile unit 200 is located between any one of the identification codes of the fixed bodies 100 and another identification code.

FIG. 3 is an exemplary view showing a state where the moving direction recognizing device or the moving object recognizing device according to the present invention is applied to a crane. FIG. 4 is an enlarged view of "A" A power trolley bar and an insulator structure.

In particular, as shown in Figs. 3 to 5, the present invention can be applied to a crane (C), particularly a ceiling crane.

The fixed body 100 serves to fix one or two or more horizontal bars 300 formed in a long bar shape to a wall surface or a ground and the moving body 200 is configured to move along the longitudinal direction of the horizontal bar 300 .

When applied to the crane C, the horizontal bar 300 is used as a power trolley bar for supplying power to the crane C, and the fixture 100 is provided with an insulator 110 for fixing and insulating the power trolley bar The moving body 200 includes a crane C moving along the power trolley bar 300 and various devices for hanging and lowering loads and a device for driving etc. Is attached to the attached trolley or the driver's seat.

FIG. 6 is a plan view of the moving object recognizing device according to the first embodiment of the present invention when it is applied to a crane and is viewed downward from the roof side of the building, FIG. 7 is a plan view showing the moving object, And a side view schematically showing a state in which the fixed body is viewed from the side. The dotted line drawn from the light irradiating means to the wall surface in Fig. 6 represents the direction of the laser beam irradiated from the light irradiating means, and the dotted line drawn from the light irradiating means to the wall surface in Fig. .

6 and 7, the fixture 100, that is, the insulator structure fixes the horizontal bar 300, that is, the power trolley bar, and the moving body 200 includes a power trolley bar 300 installed in a three-phase four- A light irradiating means 210 and a photographing means 220 are mounted on a moving crane C, particularly a trolley or a driver's seat. The pattern detecting means 230 and the control means 240 may be provided in the mobile unit 200 or may be provided in a separate place.

Here, the light irradiating means 210 used in the first embodiment of the present invention is configured to irradiate the laser beam in the direction intersecting the longitudinal direction of the horizontal bar 300, that is, the power trolley bar, A first irradiating unit 212 for irradiating a laser beam and a second irradiating unit 214 for irradiating a laser beam on the wall surface or the ground so as to meet the laser beam irradiated from the first irradiating unit 212.

Figs. 8 to 11A and 11B show a state in which the laser beam irradiated from the light irradiating means is irradiated toward the wall surface on which the power trolley bar is provided in accordance with the movement of the moving object in the first embodiment of the present invention And a pattern of the laser beam detected by the pattern detecting means on the image photographed by the photographing means.

8A shows a state in which the laser beam irradiated from the light irradiating means 210 is irradiated on the wall surface in the direction crossing the longitudinal direction of the power trolley bar 300. [ At this time, the laser beam irradiated from the light irradiating means 210, that is, the first irradiating unit 212 and the second irradiating unit 214, passes through a power trolley bar 300 provided in a three-phase four-wire system. Therefore, the pattern of the laser beam detected by the pattern detecting means 230 does not appear as a single vertical line but a portion where the four power trolley bars 300 collide with each other as shown in FIG. 8 (b) Pattern. That is, since the light irradiating means 210 is composed of a pair of the first and second irradiating portions 212 and 214, the pattern of the laser beam is also formed in four places around the center line.

9 (a), the laser beam irradiated from the second irradiating unit 214 of the light irradiating means 210 is moved not only to the power trolley bar 300 but also to the fixed body The pattern of the laser beam detected by the pattern detecting means 230 changes as shown in FIG. 9 (b).

As the moving body 200 continues to move, as shown in FIG. 10A, the laser beam irradiated from both the first and second irradiation units 212 and 214 collides with the insulator structure 100, The pattern of the laser beam detected by the detecting means 230 changes as shown in FIG. 10B. As a result, as the moving body 200 is continuously moved, the first irradiating unit 212 As the irradiated laser beam collides with the insulator structure 100, the pattern of the laser beam has a shape opposite to that of FIG. 9 (b) as shown in FIG. 11 (b).

That is, when the moving body 200 moves downward in the drawing, the pattern of the laser beam changes as shown in FIGS. 8 to 11B. Although not shown, the moving body 200 moves upward The pattern of the laser beam is changed.

Accordingly, the control unit 240 can recognize the moving direction of the moving object 200 by comparing the pattern of the laser beam detected by the pattern detecting unit 230 with the pattern of the laser beam stored in advance .

In the case where the moving direction of the moving object 200 can be recognized through the moving direction recognizing device of the moving object according to the present invention and the moving object recognizing device further includes the counting means 250, The position of the mobile unit 200 can be recognized.

That is, the laser beam irradiated from the light irradiating means 210 when moving the moving body 200 through the counting means 250 counts the number of times the laser beam passes the fixed body 100.

A-1, A-2, A-3, A-4, A-5, B-1, B-2, and B-3 are provided on the insulator structure 100, , B-4, B-5, C-1, C-2, C-3. These identification codes are only one example, and identification codes can be given using various letters, numbers, symbols, and the like. At this time, FIG. 12 uses the drawing shown in FIG. 5, and the numbers of the power trolley bar and the insulator structure (support) are omitted.

12, the control unit 240 recognizes the moving direction of the moving body 200 by using a change in the pattern of the laser beam and counts the moving direction of the moving body 200 from the predetermined reference fixed body B- The number of the fixed bodies 100 counted by the means 250 can be calculated to recognize the position of the moving body around the reference fixed body B-2.

At this time, if the fixed body 100 is spaced apart from each other by an interval of 2 m, for example, it is possible to know how many meters from the reference fixed body 100 the mobile body 200 is separated from. It can be recognized that the position is located between any one of the identification marks of the fixture 100 and another identification code.

Particularly, such a position recognizing device for a moving object can recognize the position of the horizontal bar 300, that is, whether or not the power trolley bar is abnormal, for example, when the power trolley bar 300 is bent or protruded in a horizontal state Can be used effectively.

That is, an inspection unit (not shown) for inspecting whether or not an abnormality occurs according to the deformation of the power trolley bar 300 is installed in the mobile unit 200, It is checked in real time whether abnormality of the power trolley bar 300 has occurred or not. The checking unit may be included in the moving direction recognizing device of the moving object or the position recognizing device of the moving object, or may be installed separately from the moving direction recognizing device of the moving object or the position recognizing device of the moving object.

When the deformed portion of the power trolley bar 300 is detected, the abnormality detection position detected by the inspection unit according to the moving direction of the moving body 200 and the position of the current moving body 200, An insulator 100 corresponding to the identification code A-2 and an insulator 100 corresponding to the identification code A-3 among the insulator 100 as shown in FIG. 12, for example, between any one of the identification codes The structure 100 is between the two.

Thereafter, the control means 240 informs the operator that an abnormality has occurred in the power trolley bar 300 through the display device, the warning lamp, the speaker, etc., which are separately provided, and it can be known where the abnormality occurs.

Accordingly, the operator can find and repair the abnormality occurrence position of the power trolley bar 300 quickly and simply. At this time, after the control means 240 recognizes the abnormal position of the power trolley bar 300, the marking means, for example, a marking means (not shown) for spraying the paint or the like near the abnormal position or the abnormal position, So that the operator can easily find the fault occurrence position.

13 and 14 are a plan view and a side view of a moving direction recognizing device of a moving object according to a second embodiment of the present invention, which is applied to a crane.

As shown in Figs. 13 and 14, the second embodiment of the present invention is similar to the first embodiment described above. In the first embodiment, however, the light irradiation In the second embodiment, one of the light irradiating means 210, that is, the third irradiating unit 216, irradiates the laser beam in a direction crossing the longitudinal direction of the power trolley bar 300, The fourth irradiating unit 218 irradiates a laser beam in a direction intersecting the longitudinal direction of the power trolley bar 300 in the same manner as the second irradiating unit 212 and 214, And the laser beam is irradiated in a direction parallel to the direction. At this time, the fourth irradiation unit 218 is disposed at a certain angle so that the laser beam can be irradiated to the fixed body 100 through the power trolley bar 300. It is preferable that the range of the laser beam irradiated by the fourth irradiation unit 218 is within a range that can be photographed through the photographing unit 220.

Such a second embodiment can be effectively used when a separate structure other than the fixed body 100 fixing the horizontal bar 300 is located between the fixed body 100 and the fixed body 100.

That is, when a separate structure is disposed between the fixture 100 and the fixture 100, for example, a structure having a width lower than that of the fixture 100 is located, When the first and second irradiation units 212 and 214 irradiate the laser beam in a direction crossing the longitudinal direction of the power trolley bar 300, it becomes difficult to distinguish the separate structure from the fixture 100, 200 can not be correctly recognized.

Therefore, in the second embodiment, the third and fourth irradiation units 216 and 218 are configured to irradiate laser beams in different directions, so that it is possible to distinguish the fixture 100 from a separate structure.

15 and 16A and 16B show a state in which the laser beam irradiated from the light irradiating means is irradiated toward the wall surface on which the power trolley bar is provided in accordance with the movement of the moving object in the second embodiment of the present invention, And a pattern of the laser beam detected by the pattern detecting means.

15 (a), the laser beam irradiated from the third irradiating unit 216 is irradiated to the wall surface in the direction crossing the longitudinal direction of the power trolley bar 300, and the laser irradiated from the fourth irradiating unit 218 A state in which the beam is irradiated in a direction parallel to the longitudinal direction of the power trolley bar 300 is shown. At this time, the laser beam irradiated from the fourth irradiating unit 218 is irradiated at an angle that does not collide with a structure having a lower height than the fixing body 100 and a wide structure.

Therefore, the pattern of the laser beam detected by the pattern detecting means 230 appears as a state in which the vertical line and the horizontal line cross each other, and the pattern of the laser beam irradiated from the fourth irradiating unit 218, A pattern in which the portion that strikes the fixed body 100 is separated from the center line is shown as shown in FIG. 15 (b).

According to the direction in which the moving body 200 moves, the horizontal line pattern shows a pattern moving left and right, so that the moving direction of the moving body 200 can be recognized.

When the moving object 200 moves to the lower side in the drawing as shown in FIG. 16A in this state, the pattern of the laser beam detected by the pattern detecting means 230 changes as shown in FIG. 16B.

In the second embodiment of the present invention, when the counting means 250 detects the pattern of the laser beam by the third irradiating unit 216 and the pattern of the laser beam by the fourth irradiating unit 218, And counts the number.

That is, in the pattern of the laser beam by the third irradiation unit 216, not only the four power trolley bars 300 but also the portion where the laser beam hits the structure having a width lower than that of the power trolley bar 300, The pattern is displayed.

However, in the pattern of the laser beam by the fourth irradiating unit 218, only the portion which hits the insulator structure 100 shows a pattern away from the center line.

Accordingly, when a portion of the laser beam pattern by the fourth irradiating unit 218, which is away from the center line, meets a portion of the laser beam pattern by the third irradiating unit 216 that is distant from the center line in accordance with the movement of the moving body 200 It is determined that the counting means 250 passes through the insulator structure 100 and counts the number.

The number of the counted fixed bodies 100 is calculated so that the position of the current moving body 200 is shifted from the reference fixed body B-2 by one identification code different from any one of the fixed bodies 100 As shown in FIG.

In the second embodiment of the present invention, an inspection unit capable of checking the abnormality of the power trolley bar 300 is included so that the abnormality occurrence position detected by the inspection unit is the same as that of the fixed body 100 It can be recognized that it is between any one identification code and another identification code.

In the present invention, the present invention is applied to a crane (C), a power bar is used as a horizontal bar (300), and an insulator structure is used as a fixture (100). However, A plurality of objects such as an object 100 used as a fixed body 100 are arranged so as to be separated from each other in a predetermined direction and can be used when the movable body 200 movable along the fixed body 100 exists.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

It is therefore to be understood that the embodiments described above are to be considered in all respects as illustrative and not restrictive and the scope of the invention is indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

100: fixed body (insulator structure) 110: insulator
120: Support 200: Moving body
210: light irradiation means 212: first irradiation unit
214: second examination section 216: third examination section
218: fourth examining unit 220: photographing means
230: pattern detection means 240: control means
250: Counting means 300: Horizontal bar (power trolley bar)
C: Crane

Claims (10)

A moving direction recognizing device for a moving object,
A plurality of fixed bodies arranged so as to be separated from each other along a predetermined direction;
A movable body moving along the fixed body in a direction in which the fixed bodies are continuously arranged;
A light irradiating means provided on the moving body for irradiating a laser beam toward a direction in which the fixed body is disposed;
A photographing means for photographing the side of the fixed body facing the laser beam irradiated by the light irradiating means;
Pattern detecting means for detecting a pattern of a laser beam on an image photographed by the photographing means; And
Control means for recognizing a moving direction of the moving object by comparing a pattern change of the laser beam detected by the pattern detecting means with a previously stored pattern of the laser beam in accordance with the movement of the moving object;
And a moving direction of the moving object.
The method according to claim 1,
Counting means for counting the number of laser beams irradiated from the light irradiating means passing through the fixed body in accordance with the movement of the moving body; Further comprising:
Wherein,
Wherein the counting means counts the number of fixed bodies counted by the counting means from a predetermined reference fixed body based on the fixed body, and recognizes the position of the moving body around the reference fixed body.
3. The method of claim 2,
The fixture is assigned an identification code,
Wherein,
And the position of the moving object is recognized using the identification code.
The method of claim 3,
The fixture includes:
Fixing one or more horizontal bars to the wall surface or the ground,
Wherein:
And moves along the longitudinal direction of the horizontal bar.
5. The method of claim 4,
The light irradiating means includes:
And irradiates the laser beam in a direction crossing the longitudinal direction of the horizontal bar.
6. The method of claim 5,
The light irradiating means includes:
A first irradiating unit for irradiating a laser beam toward the wall surface or the ground; And
A second irradiating unit for irradiating a laser beam on the wall surface or the ground so as to meet the laser beam irradiated by the first irradiating unit;
And the position of the mobile object is detected.
5. The method of claim 4,
The light irradiating means includes:
A third irradiating unit for irradiating a laser beam in a direction crossing the longitudinal direction of the horizontal bar; And
A fourth irradiating unit for irradiating a laser beam in a direction parallel to the longitudinal direction of the horizontal bar;
And the position of the mobile object is detected.
8. The method according to any one of claims 4 to 7,
In the moving body,
Further comprising an inspection unit for checking whether an abnormality has occurred due to deformation of the horizontal bar,
Wherein,
And recognizes that an abnormality occurrence position occurs between any one of the identification codes and the other identification code when the abnormality of the horizontal bar occurs according to the inspection of the inspection unit. Device.
8. The method according to any one of claims 4 to 7,
The horizontal bar is a power trolley bar that supplies power to the crane,
Wherein the fixture is an insulator structure for fixing the power supply trolley bar.
9. The method of claim 8,
The horizontal bar is a power trolley bar that supplies power to the crane,
Wherein the fixture is an insulator structure for fixing the power supply trolley bar.

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