A lifting gantry device for containers, in particular of the straddle carrier or sprinter carrier type, having four gantry supports spaced apart from one another and which by wheels of the lifting gantry device is floor-based and freely movable. A vehicle controller is provided such that the lifting gantry device can be controlled automatically. A sensor system is also provided and configured to determine sensor data on the surroundings of the lifting gantry device for automatically controlling the lifting gantry device. The sensor system comprises at least two, preferably four, sensor units for contactless object measurement and in particular object recognition, of which one sensor unit each is arranged on one of the four gantry supports and is configured to determine sensor data on the surroundings of the lifting gantry device for object measurement and in particular object recognition.

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.

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.

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 service platform, container handling carrier and method of arranging electrical drive control elements. The platform (8) comprises one or more mounting space between a top and bottom surfaces (15, 19). The mounting spaces may receive electrical components (29).

A rubber-tired gantry crane (RTG) includes an energy storage device disposed on and configured to provide power to the RTG, a primary charging device disposed on the RTG and configured to charge the energy storage device, and a secondary charging device disposed on the RTG and configured to charge the energy storage device when the RTG is idle or not in operation.

A connecting arrangement by which an electric load, which can be displaced in at least one direction of travel in relation to a feeder device, is supplied, by a cable, with electrical energy and/or data. The feeder device has at least one connection member for connecting to a corresponding connecting element of a cable carried by the electric load. An energy-supply system supplies the electric load. A simplified automatic connection of the cable to the feeder device by a connecting arrangement has a manipulator for connecting the connecting element to the connection member. A related energy-supply system has such a connecting arrangement and a related method has the following steps: a) positioning the connecting element in relation to the feeder device, b) using a manipulator to grip the connecting element and/or the cable, and c) using the manipulator to connect the connecting element to the connection member.

A mobile crane including a frame which, in its upper part, is provided with a main support structure and which, in its lower part and on opposite sides of the lower part of the frame, is provided with lower beam structures transverse to the main support structure, and upright legs between the main support structure and the lower beam structures; at least one wheel or wheel arrangement at both ends of the lower beam structures, i.e. in each lower corner of the crane; a trolley arranged to move along the main support structure and provided with a hoisting member; at least one hoisting mechanism; at least one rope drum arranged to be run by the hoisting mechanism; and at least one rope arranged from the rope drum of the hoisting mechanism to the hoisting member for running it, the rope drum being further provided with at least one hoisting rope connected to at least one counterweight.

Image data is generated from a load stack in the operating area of a load handling apparatus. The image data includes a sight apparatus having several lines that are set in relation to each other such that the lines correspond to at least two sides of the lowest load in the load stack and at least two sides of a load set on top of the lowest load in the load stack.

An arrangement of a gantry lifting device for handling containers, in particular ISO containers, having a sensor device for the navigation of the gantry lifting device and having a clearance profile which is formed such that the gantry lifting device can move across a container, and of a row of spaced-apart marking elements such that the gantry lifting device can be moved along the row of marking elements by means of raster navigation, where the row of marking elements can be read by the sensor device of the gantry lifting device. The sensor device, in an operating position, is arranged outside the clearance profile on the gantry lifting device so as, in the operating position, to read the row of marking elements for the navigation of the gantry lifting device, where the row of marking elements is arranged next to the clearance profile of the gantry lifting device.