A lifting device for a wind turbine component includes a yoke for connecting the wind turbine component to a crane, the yoke including at least one sensor for measuring the position and/or the speed and/or the acceleration of the wind turbine component at least during a lifting operation of the component is provided. The yoke further includes a pitching device for rotating the wind turbine component around a pitching axis when the wind turbine component is connected to the yoke. The lifting device further includes a controller for controlling the rotation of the pitching device around the pitching axis as a function of the measurement of the at least one sensor.

Disclosed are systems, apparatuses, and methods for a suspended load control system for use on or with respect to a main load bearing line, carrier hook, and or head block of a crane.

A method for loading a container on a landing target on a land vehicle using a container crane including a trolley and a spreader for holding and lifting the container. The method is performed in a container crane control system and includes the steps of: obtaining two-dimensional images of the landing target from a first pair of cameras arranged on the spreader; performing feature extraction based on the two-dimensional images to identify key features of the landing target; generating a point cloud based on the feature extraction, wherein each point in the point cloud contains coordinates in three dimensions; and controlling movement of the container to the landing target based on the point cloud and the identified key features of the landing target.

This invention relates to off-road work machines and to unloading an off-road work machine and particularly to an arrangement and a method for controlling the unloading of a forestry machine. It is characteristic of a method according to the invention for controlling unloading of a forestry machine (10), in which the forestry machine (10) comprises a load space (11) for a timber load (22), a boom structure (12) and a wood-handling tool (16) attached to said boom structure, that the method comprises the steps of: defining and noting down (43), (44) the location (20) of the timber pile, calculating and noting down the location of the edge of the timber pile, picking (45) a timber bundle from the timber load (22) by the wood-handling tool (16), calculating (46) the distance of the end justified on a load screen (13) of the edge of said timber bundle from the wood-handling tool (16), calculating an unloading location for said timber bundle in the defined location (20) of the timber pile, and controlling and unloading (47) said timber bundle into the timber pile in the said calculated unloading location such that one edge of the timber pile becomes even and straight.

A container crane has a trolley movable on a cross-member of a gantry. A harness for picking up and setting down a container and at least one laser scanner are arranged on the trolley. The laser scanner captures a depth image which, as a function of a first and a second angle, indicates the distance of object points detected by a laser beam. The captured depth image is evaluated. Based on the object points, objects are detected and their locations are determined. The objects comprise the harness and/or a container picked up by the harness, and further objects. Based on the detected object points, the contour of the harness and/or of the container picked up by the harness is determined. Detection of further objects within regions defined by the contour is suppressed. A control device takes the detected objects and their locations into account for controlling the container crane.

A system for servicing a nuclear reactor module comprises a crane operable to attach to the nuclear reactor module, wherein the crane includes provisions for routing signals from one or more sensors of the nuclear reactor module to one or more sensor receivers.

The present invention provides an automatic deviation correction control method for a hoisting system, comprising the following steps: obtaining a lateral displacement X and an advancing included angle α generated by the deflection of the hoisting system; when the lateral displacement X is not 0 and the advancing included angle α is not 0, determining whether the lateral displacement X and the advancing included angle α satisfy a preset condition; if the lateral displacement X and the advancing included angle α do not satisfy the preset condition, controlling the hoisting system to correct the deviation toward a center line; and if the lateral displacement X and the advancing included angle α satisfy the preset condition, controlling the hoisting system to correct the deviation toward the center line in a reverse direction.

The present invention provides an automatic container landing device based on an expert system and a control method therefor. The device comprises at least four groups of cameras and at least six groups of single-point laser devices, wherein the at least four groups of cameras and four groups of single-point laser devices in the at least six groups of single-point laser devices are arranged at four spreader corners of a spreader fixing support; two groups of single-point laser devices in the at least six groups of single-point laser devices are respectively arranged on the outer sides of two short edges of the spreader fixing support; the front end of the spreader fixing support is lower than the rear end of the spreader fixing support; and the first group of cameras and the second group of cameras in the at least four groups of cameras, as well as the first group of laser devices and the second group of laser devices, and the third group of cameras and the fourth group of cameras, as well as the third group of laser devices and the fourth group of laser devices, are arranged at the front end and the rear end of the spreader fixing support respectively. According to the automatic container landing device based on the expert system, manual container landing experience is integrated into various sensors, a spreader is controlled by means of sensing signals, low-point and high-point container landing of a container is conducted, automatic dynamic container landing of the container is achieved, high-precision measurement is achieved with the cooperation of the cameras and the single-point laser devices, and therefore, the precision and efficiency of the container landing operation are improved.

A crane counterweight block alignment detection and control method, a crane counterweight block alignment detection and control device, and a crane. The crane counterweight block alignment detection and control method comprise: a counterweight block being provided with mounting holes for matching with positioning pins on a crane, detecting the center position of the counterweight block, and calculating the relative offset between the center position and the position of the positioning pins; detecting the relative positions of the mounting holes in the counterweight block and the positioning pins, and calculating, according to the positions, a relative rotation angle of the counterweight block for aligning the mounting holes with the positioning pins; and controlling, according to the relative offset and relative rotation angle, the movement of the counterweight block to enable the mounting holes in the counterweight block to be aligned with and installed onto the positioning pins.

A payload coupling apparatus is provided that includes a housing having an upper portion, a lower portion, and a side wall positioned between the upper and lower portions, an attachment point on the housing adapted for attachment to a first end of a tether, a slot in the housing that extends downwardly towards a center of the housing thereby forming a hook or lip on the lower portion of the housing beneath the slot, a plurality of holes in the upper portion of the housing; and a plurality of holes in the lower portion of the housing. A method of retracting a payload coupling apparatus during UAV flight is also provided.