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.