Laser Angle Measurement System For Berthing

Ship moored in the dock process, sometimes as wind, water flow or uneven income embrace power of end to end, the ship docked pier in the process, often appear flat rotation. Especially for large oil tankers, has a huge mass, it is not self-docked. If the ship can safely berthing, must ensure that the parallel berthing, maintenance of ship and the pier parallel to the line end to end. The traditional way of general use sonar ships berthing alongside the slower but sonar, precision is not accurate enough. This issue presents a real-time measurement of the angle between the ship and the wharf new method, which uses laser berthing way. Installed in the ship terminals on the measurement system for real-time tracking of laser light to measure the ship's rotation angle relative to the terminal.In this paper, four-quadrant detector based on laser berthing angle measuring system, mainly the berthing angle measuring system laser measurement principle, measurement method, measurement system to study the structure. The whole measuring system including laser capture, track and target the three working process. Laser berthing angle measuring system to track the use of CCD detectors are laser light crude specific location, and then the laser light source into precision tracking systems, precision tracking telescope time tracking and targeting laser spot, and then through the four quadrant detector, fast mirror, A/D conversion and data processing unit of the laser spot center in the four-quadrant detector as sensitive to measure the location of the surface. According to spot in the four-quadrant detector photosensitive surface position to calculate the ship's yaw angle relative to the laser source. In order to increase the dynamic range of four-quadrant detector, the introduction of fast mirrors, will remain at the four-quadrant detector beam center, fast ship mirror deflection angle is the rotation angle relative to the terminal.In order to design the Laser Institute of berthing angle measuring system is stable, this measurement system is established in various parts of the model of the key parts of the system. On this basis, based on Matlab/Simulink, the overall simulation system to verify the stability of the system.