CN112082731B - Nanosecond image measuring system for cavitation research - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于水力机械研究领域，特别涉及一种用于空化研究的使用普通双腔脉冲激光设备达到纳秒精度的图像测量系统。The invention belongs to the field of hydraulic machinery research, in particular to an image measurement system for cavitation research that uses a common dual-cavity pulsed laser device to achieve nanosecond precision.
背景技术Background technique
空化空蚀现象一直以来是制约水力机械安全、高效与稳定运行的瓶颈问题。空化是一种持续时间短、过程复杂的物理现象。以激光诱导空化为例，从空化初生到空化结束的时间约在100微秒量级，初生和溃灭过程中产生的冲击波速度达到数千米每秒，而空泡尺度在数百微米量级。因此，进行空化实验研究的基础是能够以足够高的时间和空间分辨率测量空化过程的测量设备。随着高速摄影技术和光学技术的发展，激光诱导空泡实验成为研究空化现象及其机理的有效手段。在实验中对空化现象的拍摄一般用到高速相机、分幅相机以及条纹相机。其中高速相机可连续拍摄100帧以上图像，应用广泛，常规高速相机的帧频在1万帧/秒的量级，最高帧频可达1000万帧/秒左右。利用高速相机搭建的图像测量系统可以拍摄激光诱导空泡的中间发展过程，但是仍然满足不了对空泡初生和溃灭阶段的精确测量需求。要清晰研究空泡初生和溃灭阶段的各种超快现象，时间分辨率需要达到1亿帧/秒量级。虽然分幅相机和条纹相机能够达到这一时间分辨率，但是分幅相机和条纹相机的光学结构复杂、用到大量昂贵部件，实验调试、安装和操作难度大，价格昂贵，难以在空化研究领域推广应用。因此，亟需一种使用常规设备就能达到纳秒时间分辨率(亿帧/秒)的图像测量系统来满足空化实验研究的相关需求。Cavitation has always been a bottleneck restricting the safe, efficient and stable operation of hydraulic machinery. Cavitation is a physical phenomenon with short duration and complex process. Taking laser-induced cavitation as an example, the time from the initiation of cavitation to the end of cavitation is about 100 microseconds. micrometer scale. Therefore, the basis for conducting cavitation experimental research is a measurement device capable of measuring the cavitation process with a sufficiently high temporal and spatial resolution. With the development of high-speed photography technology and optical technology, laser-induced cavitation experiments have become an effective means to study the cavitation phenomenon and its mechanism. High-speed cameras, framing cameras and streak cameras are generally used to photograph cavitation in experiments. Among them, high-speed cameras can continuously shoot more than 100 frames of images, which are widely used. The image measurement system built with a high-speed camera can capture the intermediate development process of laser-induced cavitation, but it still cannot meet the needs of accurate measurement of the initial and collapse stages of cavitation. To clearly study various ultrafast phenomena in the initial and collapse stages of vacuoles, the temporal resolution needs to be on the order of 100 million frames per second. Although framing cameras and streak cameras can achieve this time resolution, the optical structures of framing cameras and streak cameras are complex, require a lot of expensive components, are difficult to debug, install and operate, and are expensive and difficult to perform in cavitation research. Field promotion and application. Therefore, there is an urgent need for an image measurement system that can achieve nanosecond time resolution (100 million frames per second) using conventional equipment to meet the relevant needs of cavitation experimental research.
发明内容SUMMARY OF THE INVENTION
本发明的目的为了克服已有技术的不足之处，提出一种用于空化研究的纳秒级图像测量系统，该图像测量系统仅使用普通双腔激光设备即可达到纳秒时间分辨率。The object of the present invention is to provide a nanosecond-level image measurement system for cavitation research in order to overcome the shortcomings of the prior art. The image measurement system can achieve nanosecond time resolution only by using ordinary dual-cavity laser equipment.
为了实现上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
本发明提出的一种用于空化研究的纳秒级图像测量系统，其特征在于，该系统包括共第一光轴设置的照明激光器、照明透镜组和工业相机，共第二光轴设置的点火激光器和聚焦点火透镜组，与所述照明激光器和点火激光器连接的同步器，装有蒸馏水的透明玻璃池，三维摄影控制台和计算机；其中，A nanosecond image measurement system for cavitation research proposed by the present invention is characterized in that the system includes an illumination laser, an illumination lens group and an industrial camera that are arranged in common with the first optical axis, and the system is arranged in common with the second optical axis. Ignition laser and focusing ignition lens group, synchronizer connected with said illuminating laser and ignition laser, transparent glass cell filled with distilled water, three-dimensional photography console and computer; wherein,
所述第一光轴和第二光轴垂直设置，所述照明透镜组、工业相机和聚焦点火透镜组分列于所述透明玻璃池的三侧；The first optical axis and the second optical axis are vertically arranged, and the illumination lens group, the industrial camera and the focusing ignition lens group are listed on three sides of the transparent glass pool;
所述照明激光器采用双腔脉冲激光器，所述点火激光器采用单腔脉冲激光器；所述同步器的相应接口分别与所述照明激光器和点火激光器的各激光腔体以及工业相机连接，以此控制点火激光器和照明激光器的各激光腔体发出脉冲激光束的时间和能量密度，并控制工业相机的拍摄曝光时间；所述点火激光器发出的脉冲激光束在经聚焦点火透镜组先扩束再聚焦形成的焦点处的能量密度超过蒸馏水的击穿阈值，以在焦点处形成空泡；所述照明激光器中第二激光腔体发出的脉冲激光束的时间晚于第一激光腔体发出的脉冲激光束的时间，且时间间隔小于10ns；所述工业相机固定于所述三维摄影控制台上，由同步器控制工业相机的快门打开时刻和持续时间使照明激光器发射的两次脉冲激光束均在工业相机的单张图片曝光时间内，得到空泡生长过程的双曝光图像，该图像在所述计算机上显示。The illuminating laser adopts a dual-cavity pulsed laser, and the ignition laser adopts a single-cavity pulsed laser; the corresponding interfaces of the synchronizer are respectively connected with the laser cavities of the illuminating laser and the ignition laser and the industrial camera, so as to control the ignition The time and energy density of the pulsed laser beam emitted by each laser cavity of the laser and the illumination laser, and control the shooting exposure time of the industrial camera; the pulsed laser beam emitted by the ignition laser is first expanded and then focused by the focusing ignition lens group. The energy density at the focal point exceeds the breakdown threshold of distilled water, so as to form voids at the focal point; in the illumination laser, the time of the pulsed laser beam emitted by the second laser cavity is later than that of the pulsed laser beam emitted by the first laser cavity. time, and the time interval is less than 10ns; the industrial camera is fixed on the three-dimensional photography console, and the shutter opening time and duration of the industrial camera are controlled by the synchronizer, so that the two pulsed laser beams emitted by the illumination laser are both in the industrial camera. Within the exposure time of a single image, a double-exposure image of the vacuole growth process is obtained, and the image is displayed on the computer.
本发明技术特点以及有益效果如下：The technical characteristics and beneficial effects of the present invention are as follows:
本发明提出的一种用于空化研究的纳秒级图像测量系统，由点火激光器通过聚焦点火光路将脉冲激光束首先扩束后再聚焦，聚焦点处能量密度超过蒸馏水击穿阈值，形成高温高压空泡；利用同步器控制照明激光器第1次激光脉冲和点火激光器的出光时间之间的间隔，实现对空泡不同发展阶段的测量；控制照明激光器第1次和第2次激光脉冲的时间间隔小于10ns；控制相机快门打开时刻和持续时间使照明激光器发射2次激光脉冲均在设置好的相机单张图片曝光时间内，得到空泡生长过程的双曝光图像，由于两次曝光时间间隔小于10ns，实现纳秒时间分辨率。The invention proposes a nanosecond image measurement system for cavitation research. The pulsed laser beam is first expanded and then focused by an ignition laser through a focused ignition optical path. The energy density at the focusing point exceeds the breakdown threshold of distilled water, forming a high temperature High-pressure cavitation; use the synchronizer to control the interval between the first laser pulse of the illumination laser and the light-emitting time of the ignition laser to realize the measurement of different development stages of the cavitation; control the time of the first and second laser pulses of the illumination laser The interval is less than 10ns; the opening time and duration of the camera shutter are controlled so that the illumination laser emits two laser pulses within the set exposure time of a single image of the camera, and a double exposure image of the vacuole growth process is obtained. Since the time interval between the two exposures is less than 10ns, achieving nanosecond time resolution.
本发明可以拍摄完整的空泡初生以及成长的过程，通过双曝光图像可以对空泡以及激波的速度进行提取，且时间精度达到了纳秒级别。本发明所使用的设备比较常见，系统容易搭建，稳定性高，可操作性强等特点，在相关空化研究实验方面具有重要的推广价值。The invention can photograph the complete process of cavitation initiation and growth, and can extract cavitation and shock wave speeds through double exposure images, and the time precision reaches the nanosecond level. The equipment used in the present invention is relatively common, the system is easy to set up, the stability is high, and the operability is strong, and it has important promotion value in the relevant cavitation research experiments.
附图说明Description of drawings
图1为本发明实施例图像测量系统的结构示意图。FIG. 1 is a schematic structural diagram of an image measurement system according to an embodiment of the present invention.
图2为利用图1所示图像测量系统进行的双曝光图拍摄原理示意图。FIG. 2 is a schematic diagram of the principle of taking a double exposure image by using the image measurement system shown in FIG. 1 .
图3为图1所示图像测量系统拍摄的空泡生长过程双曝光图像示意图。FIG. 3 is a schematic diagram of a double-exposure image of the cavitation growth process captured by the image measurement system shown in FIG. 1 .
具体实施方式Detailed ways
为使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步的详细说明。应当理解，此处所描述的具体实施方式仅仅用以解释本发明，并不限定本发明的保护范围。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and do not limit the protection scope of the present invention.
为了更好地理解本发明，以下详细阐述本发明提出的一种用于空化研究的纳秒级图像测量系统的应用实例。For a better understanding of the present invention, an application example of a nanosecond image measurement system for cavitation research proposed by the present invention is described in detail below.
本发明实施例的一种用于空化研究的纳秒级图像测量系统，其结构如图1所示，该系统包括共第一光轴设置的照明激光器1、照明透镜组8和工业相机4，共第二光轴设置的点火激光器5和聚焦点火透镜组3，与照明激光器1和点火激光器5连接的同步器6，装有蒸馏水的透明玻璃池2，三维摄影控制台9和计算机7。第一光轴和第二光轴垂直设置，照明透镜组8、工业相机4和聚焦点火透镜组3分列于透明玻璃池2的三侧，照明透镜组8由共第一光轴设置的一片凹透镜和一片凸透镜组成，该凹透镜的焦点和凸透镜的焦点重合，且该凹透镜的焦点位于凹透镜偏照明激光器1一侧。聚焦点火透镜组3由共第二光轴设置的一片凹透镜和两片凸透镜组成，安装时凹透镜的焦点与第一片凸透镜的焦点重合，将第二片凸透镜的焦点移动到设定的空泡激发位置去，设第二片凸透镜的焦点至透明玻璃池2相应侧的距离为a，设第一光轴至设有聚焦点火透镜组3的透明玻璃池相应侧的距离为b，a＞b；具体为：照明激光器1安装在透明玻璃池2一侧，在照明激光器1的出光孔与透明玻璃池2之间布置照明透镜组8；点火激光器5安装在垂直于照明激光器1的透明玻璃池2另一侧；在点火激光器5的出光孔与透明玻璃蒸馏水池2之间布置聚焦点火透镜组3。透明玻璃池2内蒸馏水的水位高度高于聚焦点火透镜组3焦点的高度。工业相机4固定于三维摄影控制台9上，三维摄影控制台9安装在正对照明激光器1的透明玻璃池2另一侧，三维摄影控制台9包括垂直升降台、微距滑轨和近摄皮腔，可实现对工业相机镜头的三个方向的独立移动，方便将空泡图像移动到图片中心，拍摄空泡时近摄皮腔拉到最长放大物像。本实施例中照明激光器1采用固体双腔脉冲激光器，点火激光器5采用固体单腔脉冲激光器，对于其他类型的脉冲激光器本发明同样适用。同步器6的相应接口分别与照明激光器1和点火激光器5的各激光腔体以及工业相机4连接，以此控制点火激光器5和照明激光器1的各激光腔体发出脉冲激光束的时间和能量密度，并控制工业相机4的拍摄曝光时间；同步器6上的接口包括三个光源接口和四个触发接口，三个光源接口分别连接照明激光器1和点火激光器5内相应的一个激光腔体，以控制各激光光源的开关，四个触发接口分别连接照明激光器1和点火激光器5内相应的一个激光腔体以及工业相机4，以控制各脉冲激光束和工业相机的触发时间；其中，点火激光器5发出的脉冲激光束在经聚焦点火透镜组3先扩束再聚焦形成的聚焦点处的能量密度超过蒸馏水的击穿阈值，以在焦点处形成高温高压的空泡；照明激光器1中第一激光腔体发出脉冲激光束，该脉冲激光束与点火激光器5发出的脉冲激光束的时间间隔通过同步器6设定(具体需根据实验需要调整)。照明激光器1发出的脉冲激光束均为工业相机可感知的可见光。照明激光器1发出的脉冲激光束经过照明透镜组8扩散为平行光束达到照明的效果。照明激光器1中第二激光腔体发出的脉冲激光束的时间晚于照明激光器1中第一激光腔体发出的脉冲激光束的时间，且时间间隔小于10ns；第二脉冲激光束的能量应调整到与第一脉冲激光束相同；控制工业相机4的快门打开时刻和持续时间使照明激光器1发射的两次脉冲激光束均在设置好的工业相机4的单张图片曝光时间内，得到空泡生长过程的双曝光图像，并在计算机7上显示。A nanosecond image measurement system for cavitation research according to an embodiment of the present invention, its structure is shown in FIG. 1 , the system includes an illumination laser 1 , an illumination lens group 8 and an industrial camera 4 that are arranged in the same first optical axis , the ignition laser 5 and the focusing ignition lens group 3 set in the second optical axis, the
参见图2，对本图像测量系统的工作原理进行描述：Referring to Figure 2, the working principle of this image measurement system is described:
同步器6可设置控制照明激光器1光源开关的时间，照明激光器1光源开启之后，照明激光器1开始蓄能，点火激光器5的光源随后也在同步器6的控制下被开启，点火激光器5通过聚焦点火透镜组3将脉冲激光束首先扩束后再聚焦，聚焦点处能量密度超过蒸馏水击穿阈值，形成高温高压空泡。空泡的初生以及生长有一个时间过程，利用同步器6控制照明激光器1第一次发出脉冲激光束和点火激光器5发出脉冲激光束的时间间隔，实现对空泡不同发展阶段的测量。照明激光器1的光源开启后，通过一段时间蓄能，Q开关触发便发射出照明激光。再由同步器6控制照明激光器第一次和第二次激光脉冲的时间间隔Δt小于10ns，控制工业相机4快门打开时刻和持续时间使照明激光器1发射两次激光脉冲均在设置好的工业相机4单张图片曝光时间内，得到空泡生长过程的双曝光图像，由于两次曝光时间间隔小于10ns，实现纳秒时间分辨率。The
本图像测量系统的空化过程双曝光图拍摄实验构过程包括以下步骤：The experimental construction process of the cavitation process of the image measurement system for the double exposure image capture includes the following steps:
1)打开点火激光器5诱导空泡形成，通过同步器6设置照明激光器1第一次出光时间以及让其只出一次光；1) Turn on the ignition laser 5 to induce the formation of cavitation, set the first light emission time of the illumination laser 1 through the
2)调整同步器6设置点火激光器5出光的初始时间，调小初始时间，让图像采集软件画幅中的空泡变大，再调焦使工业相机4拍摄的图像清晰；2) Adjust the
3)使用同步器6调大点火激光器出光的初始时间，让图像采集软件画幅中的空泡移到初生阶段，看到有明显变化时，使照明激光器1二次出光来拍摄双曝光图像，双曝光图像两帧之间出光间隔通过同步器6可调整，控制在10ns以下，实现纳秒时间分辨率。3) Use the
下面以点火激光器5标准电压为570v时进行实验为例对本文的详细实验过程进行说明。本实施例中照明激光器、照明光路、点火激光器、聚焦点火光路、透明玻璃蒸馏水池、三维摄影控制台、工业相机都架设在光学平台上，光学平台置于实验室地面，并调整高度使得台面水平，光学平台表面粗糙度0.8μm，平面度0.02-0.05mm/600mm*600mm，M6国标公制螺纹，孔距25mm，可用螺丝与台面各设备连接，固定台面设备。点火激光器5为Plite-200型激光器，点火激光器为Nd:YAG固体单脉冲激光器，电压范围为475V到780V、单脉冲能量最大300MJ，可通过设置电压调整激光能量，实验中激光经过聚焦点火透镜组3将脉冲激光束首先扩束后再聚焦，聚焦点处能量密度超过蒸馏水击穿阈值，形成高温高压空泡。照明激光器1为美国NewWave公司生产的Nd:YAG固体双脉冲激光器，该激光器可打出能量为532nm的绿光，且出光时间间隔可通过同步器6调整。工业相机4采用火星(MARS)家族的MARS-U3系列数字相机，1230万像素，USB3.0数据传输接口，通过高速摄像机配套软件Galaxy Windows SDK采集图像序列。工业相机4的镜头为尼康50mmf/1.8D，135mm全画幅标准，光圈范围F1.8-22，对焦方式为AF自动对焦，最近对焦距离0.45m，曝光时间24μs-1s。照明透镜组8由一片凹透镜和一片凸透镜组成，安装时使得凹透镜的焦点与凸透镜的焦点重合。聚焦点火透镜组3由一片凹透镜和两片凸透镜组成，安装时凹透镜的焦点与第一片凸透镜的焦点重合，将第二片凸透镜的焦点移动到设定的空泡激发位置。三维摄影控制9台包括垂直升降台、微距滑轨和近摄皮腔，可实现对相机机身与镜头的三个方向独立移动方便将空泡图像移动到图片中心，拍摄空泡时近摄皮腔拉到最长放大物像。The detailed experimental process of this paper is described below by taking the experiment performed when the standard voltage of the ignition laser 5 is 570v as an example. In this embodiment, the illuminating laser, illuminating optical path, ignition laser, focusing ignition optical path, transparent glass distilled water tank, three-dimensional photography console, and industrial camera are all set up on the optical table, which is placed on the laboratory floor, and the height is adjusted so that the table is horizontal , The surface roughness of the optical table is 0.8μm, the flatness is 0.02-0.05mm/600mm*600mm, the M6 national standard metric thread, the hole distance is 25mm, and the tabletop equipment can be connected with screws to fix the tabletop equipment. The ignition laser 5 is a Plite-200 type laser, the ignition laser is a Nd:YAG solid-state single-pulse laser, the voltage range is 475V to 780V, and the single-pulse energy is up to 300MJ. The laser energy can be adjusted by setting the voltage. In the experiment, the laser passes through the focusing ignition lens group. 3. The pulsed laser beam is first expanded and then focused, and the energy density at the focusing point exceeds the breakdown threshold of distilled water, forming high temperature and high pressure air bubbles. The illumination laser 1 is a Nd:YAG solid-state double-pulse laser produced by NewWave Company in the United States. The laser can emit green light with an energy of 532 nm, and the light-emitting time interval can be adjusted by a
本实例测得双曝光图像如图3所示，图上时间代表空泡初生至测量时时间。本图像测量系统清晰拍摄到空泡初生及其激波传播过程。从图中可以看到，初生空泡阶段(图a-d)时间极短，激光诱导空泡迅速向外膨胀形成横向长轴、纵向短轴的类椭圆形，并辐射冲击波。空泡高速膨胀阶段(图e-f)，空泡迅速生长膨胀，由类椭圆形状膨胀为圆形，伴随激波的从空泡周围的迅速脱离，并以椭圆环形波高速传播，在此阶段可以看到，冲击波速度远大于空泡边壁速度。最后是空泡稳定膨胀阶段(图g-f)，空泡增长速度趋于零，激波传播速度趋于恒定值，激波由椭圆环形波逐渐演化为近圆环型波。双曝光图像可以比较直观地看到空泡激波的半径和速度的变化过程，通过对双曝光图像的处理，可以提取空泡和激波的半径以及速度，对进一步的空化研究十分重要。The double-exposure image measured in this example is shown in Figure 3, and the time on the graph represents the time from the initiation of the cavitation to the measurement. The image measurement system clearly captures the formation of cavitation and its shock wave propagation process. It can be seen from the figure that the initial vacuolation stage (Figures a-d) is extremely short, and the laser-induced vacuoles rapidly expand outward to form an elliptical-like shape with a transverse long axis and a longitudinal short axis, and radiate shock waves. In the high-speed expansion stage of the cavitation (Fig. e-f), the cavitation grows and expands rapidly, and expands from an elliptical shape to a circle. With the rapid separation of the shock wave from the surrounding of the cavitation, it propagates at a high speed as an elliptical annular wave. The shock wave velocity is much greater than the velocity of the cavitation wall. The last stage is the stable expansion stage of the cavitation (Fig. g-f), the growth rate of the cavitation tends to zero, the shock wave propagation velocity tends to a constant value, and the shock wave gradually evolves from an elliptical annular wave to a near-circular wave. The double exposure image can intuitively see the change process of the radius and velocity of the cavitation shock. By processing the double exposure image, the radius and velocity of the cavitation and shock can be extracted, which is very important for further cavitation research.
以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
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