The present invention relates to a blade positioning system configured for positioning wind turbine blades at a hub of a nacelle of a wind turbine from an installation vessel at an offshore location, the blade positioning system comprising: the installation vessel comprising: — at least one lifting device configured for lifting wind turbine components, and — an auxiliary support tower extending upwardly from the installation vessel, the auxiliary support tower comprising: o a nacelle support for supporting the nacelle, o a root end moving assembly defining a guide path which extends over a vertical distance, the root end moving assembly comprising a movable root end support base and a root end support configured for supporting and guiding the root end of the blade, the root end support being connected to the movable root end support base, the root end support being movable along the guide path, the root end moving assembly being configured for moving the root end of the blade along the guide path from the engagement position to an installation position, the at least one lifting device being configured for lifting the nacelle onto the auxiliary support tower, wherein the at least one lifting device and the root end moving assembly are configured to jointly support and jointly move the blade upwards towards the hub, wherein during the movement the root end is supported by the root end support and the lifting device carries a majority of the vertical loads on the blade.

The present disclosure provides an intelligent port control system and related systems and apparatuses, capable of achieving fully automated ship loading and unloading. The intelligent port control system includes: a scheduling center system configured to determine a ship loading plan based on ship information, container information, and shore crane apparatus information, and generate a ship berthing task, a ship loading task, and a container distribution task based on the ship loading plan, for transmitting to a ship control system of a target ship, a shore crane control system of a target shore crane apparatus, and a warehouse management system of a warehouse center, respectively; the ship control system configured to control the target ship to move to an operation area corresponding to the target shore crane apparatus; the shore crane control system configured to control the target shore crane apparatus to load a container on a transportation vehicle onto the target ship; the warehouse management system configured to assign a warehouse hoisting apparatus to hoist a target container in the container distribution task onto the transportation vehicle; and a vehicle control system configured to control the transportation vehicle to move to a container loading location for loading the container, and to control the transportation vehicle to move to a container unloading location for unloading the container.

Various example embodiments relate to motion control of a target such as a suspended load. An apparatus may comprise: a floating base comprising an exteroceptive observation system configured to measure a position or velocity of at least one target with respect to a reference coordinate frame moving with the floating base. The floating base may further comprise an inertial measurement unit configured to measure at least one inertial state of the floating base with respect to an inertial reference coordinate frame. Position or velocity compensation for the at least one target may be performed based on the at least one inertial state of the floating base.

An overhead transport vehicle includes: a winding drum configured to be driven by one driving motor, and to cause a holding unit to be lifted and lowered by winding and paying out a plurality of belts; at least one second idler roller around which the belt paid out from the winding drum is wound; a base provided on a traveling unit, and configured to support the winding drum and the second idler roller; and a linear motion mechanism configured to move a position of the at least one second idler roller so that a connecting portion of the belt to the holding unit moves in a lifting direction.

It is provided a container crane including: a spreader configured to controllably attach to a container; a container trolley to which the spreader is attached via cables, the container trolley being provided on an upper part of the container crane and being horizontally movable along a first direction; a first sensor arrangement mounted on the container trolley, the first sensor arrangement being usable to determine a position of the container; a second sensor arrangement being usable to determine a position of a target; and at least one reference marker provided fixed, in at least two dimensions, to a horizontal support provided along the first direction between vertical structures of the container crane, the at least one reference marker being provided vertically lower than the first sensor arrangement and the at least one reference marker being detectable by the first sensor arrangement.

For the automated loading of a load by a crane system, a camera system of the crane system generates at least one image data stream. The at least one image data stream is analyzed by a computer unit with the assistance of an artificial neural network. On the basis of the analysis, a first marker and a second marker are recognized by the computer unit in respective single images of the at least one image data stream. Positions of the markers are determined, and the load is loaded automatically by a lifting device of the crane system dependent upon the positions of the markers.

A surveying instrument comprises a distance measuring module configured to perform a distance measurement of an objects to be measured, an optical axis deflector which is provided on a distance measuring optical axis and enables to two-dimensionally deflect the distance measuring optical axis, an arithmetic control module configured to control a deflecting action of the optical axis deflector and a distance measuring action of the distance measuring module, and a display module configured to display calculation results by the arithmetic control module, and wherein the arithmetic control module is configured to scan at least one plane of the objects to be measured in a predetermined scan pattern in at least one cycle by the optical axis deflector, to calculate parameters of the plane based on a measurement result of point cloud data acquired along a locus of a scan, and to display the calculated parameters on the display module.

A method for positioning a straddle carrier for containers and a container to be placed behind a container that has already been placed. The straddle carrier is moved by means of travel supports, travel drives, and a controller that interacts with same, and measurement signals from sensors arranged on the straddle carrier are processed by the controller in order to move and position the straddle carrier and the container to be placed.

A measuring device for load sensing in a lifting-cable-based hoist, in particular a crane, having at least one pulley for deflecting the lifting cable of the hoist, a fastening means in the form of a cable loop, at the end of which the pulley is mounted so as to be rotatable about its roller axis, and at least one measuring element for sensing a force applied to the pulley.

An unmanned aerial vehicle includes: a vehicle main body having a first length in a first direction longer than a second length in a second direction orthogonal to the first direction; propellers that rotate in a virtual plane parallel to the first and second directions; first propeller actuation motors that are provided on the vehicle main body and respectively rotate the propellers; at least one connector that is hangable from at least one rail spaced apart from the ground surface; at least one side propeller that provides propulsion force for propelling the vehicle main body in the first direction; at least one third propeller actuation motor that is provided on the vehicle main body and rotates the at least one side propeller; and a control processor that controls the first propeller actuation motors and the at least one third propeller actuation motor.