Active noise control system, active noise control method and engineering vehicle

Abstract

The invention discloses a noise active control system, a noise active control method and an engineering vehicle, the noise active control method is used for noise control of a noise suppression area of the engineering vehicle, and the noise active control method comprises the steps that at least two sets of original noise data of different sources of the engineering vehicle are obtained according to the current working mode of the engineering vehicle; according to the at least two groups of original noise data, performing partial coherence analysis on each group of original noise data to obtain each group of decoupling noise data after the influence of other groups of original noise data is removed; generating active noise reduction signals respectively corresponding to each group of decoupling noise data; generating a sound production device driving signal according to the active noise reduction signal corresponding to each group of decoupling noise data; and according to the current working mode, sending the sound production device driving signal to a noise suppression sound production device located in the noise suppression area or near the noise suppression area, so that the noise suppression sound production device emits sound waves for suppressing noise in the noise suppression area.

Description

Technical Field

[0001] The present disclosure relates to the field of noise control, and in particular to an active noise control system, an active noise control method and an engineering vehicle. Background Art

[0002] With the development of engineering vehicles, the drivers of engineering vehicles have higher and higher requirements for acoustic and vibration comfort. For many engineering vehicles, some engineering vehicles only have a cab, while others have a cab and a control room. After measuring and analyzing the noise of the cab and the control room, it is found that the noise is mainly medium and low frequency noise (i.e. noise within 500Hz).

[0003] In order to achieve noise reduction in the cab or control room, the current noise reduction technology is mainly divided into passive noise reduction and active noise reduction. Passive noise reduction uses technical means such as sound insulation, sound absorption, noise elimination or damping. However, because low-frequency noise has a longer wavelength and stronger penetration, traditional passive noise reduction has poor processing effect on low-frequency noise. Active noise reduction collects noise frequency and size and performs reverse phase cancellation. In the processing of low-frequency noise, since the phase of low-frequency noise is easy to capture and the signal delay is small, the noise reduction effect is better than that of high-frequency noise.

[0004] In some noise reduction technologies related to engineering vehicles, primary noise signals from multiple noise sources of the engineering vehicle are collected, low-frequency signals are obtained by filtering high-frequency signals, and an inverted signal with the same frequency and opposite phase is output to the amplifier, which is then amplified by the amplifier to a subsound source signal with the same amplitude as the primary noise signal, and then the subsound source signal is sent to the sound-emitting unit to cancel the noise. Summary of the invention

[0005] Research has found that the noise sources of engineering vehicles are characterized by multiple sources, high decibels, and close distances. The superposition of noises of different frequencies and decibels makes the collected noise signal waveform complex. On the one hand, it is difficult to capture the phase for offsetting. On the other hand, the complex noise signal processing calculation amount is large, and it cannot respond quickly. The output delay of the suppressed sound signal is large, and the noise reduction effect is not obvious. At the same time, affected by environmental noise and other noise sources, the noise source sound signal is complex when it is directly collected by sound signal collectors such as microphones, affected by environmental noise and mutual interference between noise sources, which brings great difficulties to the frequency division processing of the noise source. The output suppression signal has a high delay and the noise reduction effect is not obvious.

[0006] In view of this, the embodiments of the present disclosure provide an active noise control system, an active noise control method and an engineering vehicle, which can improve the noise reduction effect.

[0007] In one aspect of the present disclosure, a noise active control method is provided for controlling noise in a noise suppression area of ​​an engineering vehicle, comprising:

[0008] According to the current working mode of the engineering vehicle, obtaining at least two groups of original noise data of the engineering vehicle from different sources;

[0009] According to at least two groups of original noise data, partial coherence analysis is performed on each group of original noise data to obtain each group of decoupled noise data after removing the influence of other groups of original noise data;

[0010] Generate active noise reduction signals corresponding to each group of decoupled noise data;

[0011] Generate a sound device driving signal according to the active noise reduction signals corresponding to each group of decoupled noise data;

[0012] According to the current working mode, the sound-generating device driving signal is sent to the noise suppression sound-generating device located in or near the noise suppression area, so that the noise suppression sound-generating device emits sound waves that suppress the noise in the noise suppression area.

[0013] In some embodiments, the step of obtaining at least two sets of original noise data from different sources of the engineering vehicle includes:

[0014] At least two sets of raw noise data are received from an acoustic vibration source and / or a reference microphone in the engineering vehicle.

[0015] In some embodiments, the acoustic vibration source includes at least one of an engine, a fan, a gearbox, a hydraulic pump, a tire, and a road surface excitation and an operating mechanism.

[0016] In some embodiments, the active noise control method further includes:

[0017] Determining the current working mode of the engineering vehicle according to the received working mode selection instruction of the engineering vehicle; or

[0018] According to the current working condition of the engineering vehicle, the current working mode of the engineering vehicle is determined.

[0019] In some embodiments, the active noise control method further includes:

[0020] Obtaining a first error noise signal collected by an error microphone in the engineering vehicle located in or near the noise suppression area;

[0021] Feedback control is performed on the sound generating device driving signal according to the first error noise signal to reduce the sound pressure level of the noise suppression area.

[0022] In some embodiments, the step of performing feedback control on the sound device driving signal according to the first error noise signal comprises:

[0023] The sound signal transmitted from the noise suppression sound generating device to the error microphone is waveform-superimposed with the first error noise signal to obtain a second error noise signal suppressing interference;

[0024] performing signal processing from an analog signal to a digital signal on the second error noise signal;

[0025] Feedback control is performed on the sound device driving signal according to the first processed signal obtained through signal processing, and the sound device driving signal adjusted by feedback control is processed from a digital signal to an analog signal and then sent to the noise suppression sound device.

[0026] In some embodiments, the step of performing signal processing from an analog signal to a digital signal on the second error noise signal comprises:

[0027] Performing analog-to-digital conversion on the second error noise signal to obtain a digital signal;

[0028] Performing low-pass filtering on the digital signal;

[0029] The digital signal that has been low-pass filtered is downsampled to obtain the first processed signal.

[0030] In some embodiments, the step of processing the sound device driving signal adjusted by feedback control from a digital signal to an analog signal comprises:

[0031] Upsampling the sound-generating device drive signal adjusted by feedback control;

[0032] Performing low-pass filtering on the up-sampled sound-generating device drive signal;

[0033] The low-pass filtered driving signal of the sound-generating device is converted from digital to analog.

[0034] In some embodiments, the engineering vehicle is a loader, the noise suppression area includes the cab of the loader, the error microphone includes two first error microphones respectively located on the left and right sides of the headrest of the driver's seat, and the noise suppression sound generating device includes:

[0035] Two primary speakers, located on the left and right sides of the driver's seat headrest;

[0036] A second speaker located on a ceiling of a cab of the loader; and

[0037] The third speaker is located on the right A-pillar of the cab of the loader.

[0038] In some embodiments, according to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes:

[0039] In response to the current working mode of the loader being the driving mode, obtaining two groups of original noise data from two reference microphones located at the front and rear sides of a cab of the loader, respectively;

[0040] Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the loader being the driving mode, sending the sound device driving signal to the two first speakers.

[0041] In some embodiments, according to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes:

[0042] In response to the current working mode of the loader being the travel+operation mode, two groups of original noise data from two reference microphones located at the front and rear sides of the cab of the loader in a diagonal direction, and original noise data from a vibration sensor at the bottom of the cab of the loader are obtained;

[0043] Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the loader being the driving + working mode, sending the sound device driving signal to the two first speakers, the second speaker and the third speaker.

[0044] In some embodiments, the engineering vehicle is an excavator, the noise suppression area includes a cab of the excavator, the error microphone includes a second error microphone located on the left or right side of a headrest of a driver's seat, and the noise suppression sound generating device includes:

[0045] The fourth speaker is located at the upper rear portion of the interior of the cab of the excavator.

[0046] In some embodiments, according to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes:

[0047] In response to the current working mode of the excavator being the driving mode, obtaining two sets of original noise data from an engine speed sensor and a main pump pressure sensor in the excavator;

[0048] Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the excavator being the driving mode, sending the sound device driving signal to the fourth speaker.

[0049] In some embodiments, according to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes:

[0050] In response to the current working mode of the excavator being the operation mode, multiple groups of original noise data from an engine speed sensor, a bucket hinge force sensor, a boom cylinder pressure sensor, a dipper arm cylinder pressure sensor, and a bucket cylinder pressure sensor in the excavator are obtained;

[0051] Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the excavator being the operation mode, sending the sound device driving signal to the fourth speaker.

[0052] In some embodiments, the engineering vehicle is a crane, the noise suppression area includes a cab and a control room of the crane, the error microphone includes a third error microphone located in the cab of the crane and a fourth error microphone located in the control room, and the noise suppression sound generating device includes:

[0053] two fifth speakers, respectively located at left and right doors of the cab of the crane;

[0054] a sixth speaker located on a ceiling of a cab of the crane;

[0055] a seventh speaker located on the ceiling of the control room; and

[0056] Two eighth speakers are respectively located on the left and right sides of the seat in the control room.

[0057] In some embodiments, according to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes:

[0058] In response to the current working mode of the crane being the travel mode, a plurality of groups of raw noise data from a fan speed sensor, a shaft head vibration sensor, an engine speed sensor, and a gear position sensor in the crane are obtained;

[0059] Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the crane being the driving mode, sending the sound device driving signal to the two fifth speakers and the sixth speaker.

[0060] In some embodiments, according to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes:

[0061] In response to the current working mode of the crane being the maneuvering mode, a plurality of groups of raw noise data from a fan speed sensor, an engine speed sensor, a main pump pressure sensor, a crane inclination angle sensor, a motor reducer noise sensor, a boom displacement sensor, and a winch noise sensor in the crane are obtained;

[0062] Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the crane being the maneuvering mode, sending the sound device driving signal to the seventh speaker and the two eighth speakers.

[0063] In one aspect of the present disclosure, there is provided an active noise control system for controlling noise in a noise suppression area of ​​an engineering vehicle, comprising:

[0064] A noise suppressing sound generating device is located in or near the noise suppressing area; and

[0065] The controller is connected to the noise suppression sound generating device by signal and is configured to execute the aforementioned active noise control method.

[0066] In some embodiments, the engineering vehicle includes an operation panel, the controller is signal-connected to the operation panel, and is configured to determine the current operation mode of the engineering vehicle according to an operation mode selection instruction received from the operation panel.

[0067] In some embodiments, the active noise control system further comprises:

[0068] an error microphone, located in or near the noise suppression area;

[0069] Among them, the controller is connected to the error microphone signal and is configured to obtain a first error noise signal collected by the error microphone, and to perform feedback control on the sound device driving signal according to the first error noise signal to reduce the sound pressure level of the noise suppression area.

[0070] In one aspect of the present disclosure, there is provided an engineering vehicle, comprising: the aforementioned active noise control system.

[0071] According to the embodiment of the present disclosure, after obtaining at least two groups of original noise data from different sources of engineering vehicles, partial coherence analysis is performed on each group of original noise data to remove the influence of other groups of original noise data on this group of original noise data. The obtained decoupled noise data eliminates the interference of other noise data, thereby making the subsequent generation and processing of active noise reduction signals and sound device driving signals more convenient and accurate, so that the sound waves emitted by the noise suppression sounding device can better suppress the sound waves of noise in the noise suppression area, thereby effectively improving the noise reduction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0073] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0074] Figure 1 is a flowchart of some embodiments of the active noise control method disclosed in the present invention;

[0075] Figure 2 It is a schematic diagram of a flow chart of feedback control of a driving signal of a sound-generating device according to an embodiment of the active noise control method disclosed in the present invention;

[0076] Figure 3 is a schematic diagram of signal relationships according to some embodiments of the active noise control system disclosed herein;

[0077] Figure 4 is a schematic diagram of signal relationships according to an embodiment of the active noise control system disclosed herein applied to a loader;

[0078] Figure 5 is a structural schematic diagram of an embodiment of the active noise control system disclosed in the present invention applied to a loader;

[0079] Figure 6 is a schematic diagram of signal relationships when an embodiment of the active noise control system disclosed herein is applied to an excavator;

[0080] Figure 7 is a structural schematic diagram of an embodiment of the active noise control system disclosed in the present invention applied to an excavator;

[0081] Figure 8 is a schematic diagram of signal relationships when an embodiment of the active noise control system disclosed herein is applied to a crane;

[0082] Fig. 9It is a structural schematic diagram of a travel mode of a crane applied to an embodiment of the active noise control system disclosed in the present invention;

[0083] Fig.10 It is a structural schematic diagram of the operation mode of a crane applied to an embodiment of the active noise control system disclosed in the present invention.

[0084] It should be understood that the size of each part shown in the accompanying drawings is not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0085] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0086] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0087] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other device without an intermediate device, or may not be directly connected to the other device but have an intermediate device.

[0088] All terms (including technical terms or scientific terms) used in the present disclosure have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0089] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0090] In some noise reduction technologies related to engineering vehicles, primary noise signals from multiple noise sources of the engineering vehicle are collected, low-frequency signals are obtained by filtering high-frequency signals, and an inverted signal with the same frequency and opposite phase is output to the amplifier, which is then amplified by the amplifier to a subsound source signal with the same amplitude as the primary noise signal, and then the subsound source signal is sent to the sound-emitting unit to cancel the noise.

[0091] Research has found that the noise sources of engineering vehicles are characterized by multiple sources, high decibels, and close distances. The superposition of noises of different frequencies and decibels makes the collected noise signal waveform complex. On the one hand, it is difficult to capture the phase for offsetting. On the other hand, the complex noise signal processing calculation amount is large, and it cannot respond quickly. The output delay of the suppressed sound signal is large, and the noise reduction effect is not obvious. At the same time, affected by environmental noise and other noise sources, the noise source sound signal is complex when it is directly collected by sound signal collectors such as microphones, affected by environmental noise and mutual interference between noise sources, which brings great difficulties to the frequency division processing of the noise source. The output suppression signal has a high delay and the noise reduction effect is not obvious.

[0092] In view of this, the embodiments of the present disclosure provide an active noise control system, an active noise control method and an engineering vehicle, which can improve the noise reduction effect.

[0093] Figure 1 1 is a flow chart of some embodiments of the active noise control method disclosed in the present invention. Figure 1 The embodiment of the present disclosure provides a noise active control method for controlling noise in a noise suppression area of ​​an engineering vehicle. The noise active control method includes steps S1 to S5.

[0094] The noise suppression area of ​​an engineering vehicle refers to the area on the engineering vehicle where noise reduction is desired, such as the cab or the operating room.

[0095] Steps S1 to S5 in the active noise control method may be performed locally by the controller of the engineering vehicle, or remotely by a remote control platform communicating with the controller of the engineering vehicle, or by the local controller and the remote control platform working together.

[0096] In step S1 , at least two groups of original noise data of the engineering vehicle from different sources are obtained according to the current working mode of the engineering vehicle.

[0097] The engineering vehicle may have multiple working modes, and the working modes may be different depending on the type of the engineering vehicle. For different working modes, since the sources of the noise involved may be different, the original noise data obtained according to the current working mode in step S1 may also be different.

[0098] For example, a loader may have a driving mode and a driving + working mode, and the two working modes may have the same noise source or different noise sources. Another example is that an excavator may have a driving mode and a working mode, and a crane may have a driving mode and a maneuvering mode.

[0099] In step S2, based on at least two groups of original noise data, partial coherence analysis is performed on each group of original noise data to obtain each group of decoupled noise data after the influence of other groups of original noise data is removed.

[0100] Considering that noise from different sources in engineering vehicles affects each other, the noise signal obtained is complex and difficult to process. By performing partial coherence analysis on each group of original noise data, the influence of other groups of original noise data can be removed to obtain relatively pure and easier to process decoupled noise data.

[0101] When performing partial coherence analysis, at least two groups of noise data from multiple sources can be obtained through testing. After preprocessing these noise data (such as removing the mean, homogenization, etc.), they are input into existing mathematical models, such as multivariate autoregressive models, neural network models, etc., to obtain the partial coherence function between each group of noise signals and other groups of noise signals. On this basis, a decoupled noise signal is constructed after removing the influence of other groups of noise signals from each group of noise signals.

[0102] In step S3, active noise reduction signals corresponding to each group of decoupled noise data are generated.

[0103] For each set of decoupled noise data, a corresponding active noise reduction signal may be generated according to the frequency, amplitude and phase of the corresponding noise waveform signal, for example, an active noise reduction signal having the same frequency, same amplitude and opposite phase as the noise waveform signal corresponding to the decoupled noise data is generated.

[0104] In step S4, a sound device driving signal is generated according to the active noise reduction signals corresponding to each group of decoupled noise data.

[0105] After obtaining the active noise reduction signals corresponding to each group of decoupled noise data, a sound device driving signal for driving the sound device can be generated based on these active noise reduction signals. For example, the waveforms of these active noise reduction signals are superimposed to form a superimposed waveform that is directly used as the sound device driving signal. For another example, after the waveforms of these active noise reduction signals are superimposed to form a superimposed waveform, the superimposed waveform is adjusted in parameters such as amplitude and phase to form a sound device driving signal for driving the sound device.

[0106] In step S5, according to the current working mode, the sound-generating device driving signal is sent to the noise suppression sound-generating device located in or near the noise suppression area, so that the noise suppression sound-generating device emits sound waves that suppress noise in the noise suppression area.

[0107] The noise suppression sound device may include a speaker, which can emit a sound wave of corresponding frequency, amplitude and phase according to the received sound device driving signal. For different current working modes, the noise source targeted by the noise suppression is different, and the noise suppression area may also be different. Therefore, in step S5, according to the current working mode, the generated sound device driving signal is sent to the corresponding noise suppression sound device in the noise suppression area or near the noise suppression area, so that the noise suppression sound device emits a sound wave that suppresses the noise in the noise suppression area, thereby achieving effective noise suppression in the noise suppression area.

[0108] In this embodiment, after obtaining at least two groups of original noise data from different sources of engineering vehicles, partial coherence analysis is performed on each group of original noise data to remove the influence of other groups of original noise data on this group of original noise data. The obtained decoupled noise data eliminates the interference of other noise data, thereby making the subsequent generation and processing of active noise reduction signals and sound device driving signals more convenient and accurate, so that the sound waves emitted by the noise suppression sounding device can better suppress the sound waves of noise in the noise suppression area, thereby effectively improving the noise reduction effect.

[0109] refer to Figure 1 In some embodiments, the step of obtaining at least two sets of original noise data from different sources of the engineering vehicle in step S1 includes: receiving at least two sets of original noise data from an acoustic vibration source and / or a reference microphone in the engineering vehicle.

[0110] For engineering vehicles, the source of the original noise data can be the acoustic vibration source related to the working mode of the engineering vehicle, such as at least one of the engine, fan, gearbox, hydraulic pump, tire, road excitation and working mechanism. The original noise data can also come from a reference microphone set on the engineering vehicle to directly obtain the original noise signal in the environment. These original noise data can be used as input data of the control system.

[0111] For ease of understanding, the acquisition of raw noise data from common acoustic vibration sources in engineering vehicles is described below.

[0112] The engine and cooling fan can use speed sensors to collect speed signals, the gearbox can use gear sensors to collect gear signals, the hydraulic pump can use pressure sensors to collect pressure signals, and the tire and road excitation can use vibration sensors to collect vibration signals.

[0113] For engine noise, this noise signal is usually composed of intake and exhaust noise, combustion noise and mechanical noise, etc. It is generally composed of a steady-state fundamental frequency and a series of harmonic components superimposed. Its frequency f (Hz) can be expressed as:

[0114] f(Hz)=i*(N*n) / (60τ);

[0115] Among them, N is the number of cylinders (dimensionless), n is the engine speed (r / min), τ is the engine stroke (dimensionless), τ of four-stroke is equal to 2, τ of two-stroke is equal to 1, i is the harmonic number, and its value is 1, 2, 3...

[0116] The relationship between engine speed and sound pressure can be obtained from experiments, and the sound pressure amplitude of engine noise can be calculated accordingly.

[0117] In this way, the active noise reduction waveform signal is further generated according to the frequency and sound pressure amplitude determined by the engine speed characteristics of the engineering vehicle during operation. At this time, the active noise reduction waveform signal may include base frequency and multiple frequency characteristics.

[0118] For the rotation noise of the cooling fan, this noise signal is usually composed of a steady-state fundamental frequency and a series of harmonic components. Its frequency f (Hz) can be expressed as:

[0119] f(Hz)=i*(z*n) / 60;

[0120] Among them, n is the fan speed (r / min), z is the number of fan blades (dimensionless), and i is the harmonic number (dimensionless), which can be 1, 2, 3, etc. When i=1, the frequency is the fundamental frequency of the fan.

[0121] The relationship between the fan speed and the sound pressure can be obtained from the experiment, and the sound pressure amplitude of the cooling fan noise can be calculated accordingly.

[0122] In this way, the active noise reduction waveform signal is further generated according to the frequency and sound pressure amplitude determined by the speed characteristics of the cooling fan of the engineering vehicle during operation. At this time, the active noise reduction waveform signal may include base frequency and multiple frequency characteristics.

[0123] For gearbox noise, this noise signal is usually generated by bearings, gears and other components. According to the gear information, the excitation frequency generated by each gear, bearing and other components in the current gear can be obtained. For example, the damage frequency of the bearing rolling parts can be calculated as follows:

[0124]

[0125] Where RPM is the speed of the shaft where the bearing is located (r / min), N is the number of rolling elements in the bearing (dimensionless), and P d is the pitch diameter of the bearing (mm), B d is the diameter of the bearing rolling element (mm), ψ is the contact angle of the bearing rolling element (degrees).

[0126] The gear meshing frequency can be calculated as follows:

[0127] f(Hz)=Z*RPM / 60;

[0128] Where Z is the number of gear teeth (dimensionless) and RPM is the speed of the shaft on which the gear is located (r / min).

[0129] According to the experiment, the relationship between each gear position of the gearbox and the sound pressure can be obtained, and the sound pressure amplitude of the gearbox noise can be calculated accordingly.

[0130] In this way, the bearing frequency and sound pressure amplitude, as well as the gear frequency and sound pressure amplitude determined according to the gear position characteristics of the engineering vehicle during operation, are used to further generate the corresponding active noise reduction waveform signals. At this time, the active noise reduction waveform signals may include base frequency and multiple frequency characteristics.

[0131] For hydraulic pump noise, this noise signal is usually generated by gears, plungers, blades and other components. The frequencies of these components can be calculated as follows:

[0132] f(Hz)=Z*RPM / 60;

[0133] Where Z is the number of gear teeth, plungers, or blades (dimensionless), and RPM is the speed of the shaft where the gear, plunger, or blade is located (r / min).

[0134] According to the experiment, the relationship between the main pump pressure and the sound pressure of the hydraulic pump can be obtained, and the sound pressure amplitude of the hydraulic pump noise can be calculated accordingly.

[0135] In this way, the corresponding active noise reduction waveform signals are further generated according to the main pump pressure characteristics of the engineering vehicle during operation and the frequency and sound pressure amplitude determined by the rotation speed of each component. At this time, the active noise reduction waveform signals can include base frequency and multiple frequency characteristics.

[0136] For the noise excited by tires and road surfaces, the tire noise is usually composed of a steady-state fundamental frequency and a series of harmonic components. Its frequency f (Hz) can be expressed as

[0137] The tire excitation frequency is:

[0138] f(Hz)=i*V / (2πR);

[0139] Among them, V is the crane speed (m / s), R is the tire radius (m), and i is the harmonic number (dimensionless), with values ​​of 1, 2, 3…

[0140] The road excitation frequency can be calculated by the following formula: x (n), G x (n) is the road surface power spectrum density value at the reference spatial frequency n;

[0141]

[0142] Among them, n is the spatial frequency (i.e. the reciprocal of the wavelength λ), indicating how many wavelengths are contained in each meter of length, and n0 is the reference spatial frequency (0.1m -1 ), G x (n0) is the road surface power spectrum density value at the reference spatial frequency n0.

[0143] The sound pressure amplitudes of tire excitation and road excitation can be equivalently obtained through vibration sensors. In this way, the corresponding active noise reduction waveform signals can be generated according to the vibration characteristics of the engineering vehicle during driving, and the active noise reduction waveform signals can include the fundamental frequency and multiple frequency characteristics.

[0144] In addition to the above acoustic vibration sources, the engineering vehicle may also include other acoustic vibration sources, such as noise data determined based on displacement, force or inclination signals collected by a displacement sensor, a force sensor or an inclination sensor.

[0145] In some embodiments, a reference microphone may be provided on the engineering vehicle to directly obtain noise signals in the environment. Depending on the location of the reference microphone, the noise conditions of different parts of the engineering vehicle may be obtained. In other embodiments, the engineering vehicle may not be provided with a reference microphone.

[0146] The current working mode of the engineering vehicle can be obtained in a variety of ways. In some embodiments, the active noise control method may further include: determining the current working mode of the engineering vehicle according to the received working mode selection instruction of the engineering vehicle.

[0147] Accordingly, the operator of the engineering vehicle can form the working mode selection instructions provided to the controller by operating the operation panel of the engineering vehicle, such as pressing a button or rotating a knob to achieve the selection of the working mode, or can form the working mode selection instructions provided to the controller through control operations of a remote control device or a remote control platform.

[0148] The active noise control method may further include: determining a current working mode of the engineering vehicle according to the current working condition of the engineering vehicle. The controller may automatically determine the current working mode according to the current working condition, thereby performing corresponding active noise control.

[0149] For example, when the loader is in driving mode, the corresponding operating conditions include fixed idle speed, fixed rated speed, fixed maximum throttle, forward 1st gear, forward 2nd gear, reverse 1st gear, reverse 2nd gear, etc.; in driving + operation mode, the corresponding operating conditions include V-type operation, lifting, transportation, etc.

[0150] When the excavator is in driving mode, the corresponding working conditions include forward turtle gear, forward rabbit gear, reverse turtle gear, reverse rabbit gear, fixed idle speed, fixed rated speed, fixed maximum throttle and other working conditions; in operation mode, the corresponding working conditions include lifting the boom, retracting the arm, retracting the bucket, rotating, lifting the boom, extending the arm, straightening the bucket, lowering the boom, retracting the bucket and other working conditions.

[0151] When the crane is in driving mode, the corresponding operating conditions include idling, full throttle acceleration, vehicle speed of 40km / h, vehicle speed of 60km / h, 80km / h, etc.; in operating mode, the corresponding operating conditions include raising and lowering the arm, extending and retracting, rotating, lifting, etc.

[0152] Figure 2 1 is a flow chart of feedback control of the driving signal of the sound-generating device according to the embodiment of the active noise control method disclosed in the present invention. Figure 2 In some embodiments, the active noise control method further includes step S6 and step S7.

[0153] Step S6 and step S7 may be performed locally by the controller of the engineering vehicle, or remotely by a remote control platform communicating with the controller of the engineering vehicle, or by the local controller and the remote control platform working together.

[0154] In step S6, a first error noise signal collected by an error microphone located in or near the noise suppression area of ​​the engineering vehicle is obtained.

[0155] The error microphone is arranged in the noise suppression area or near the noise suppression area, for example, in the driving room or outside the driving room near the driving room. More specifically, the error microphone can also be arranged near the driver's ears, such as on both sides of the headrest. The error microphone can monitor the residual noise level after the active noise reduction process in real time, and the controller can perform corresponding processing according to the first error noise signal received from the error microphone.

[0156] In step S7, feedback control is performed on the sound generating device driving signal according to the first error noise signal to reduce the sound pressure level of the noise suppression area.

[0157] The controller can adjust the sound device driving signal output to the noise suppression sound device according to the received first error noise signal based on the existing feedback control algorithm, such as the least mean squares algorithm (LMS), the normalized least mean squares algorithm (NLMS), the recursive least squares algorithm (RLS), etc., so as to update the sound wave waveform emitted by the noise suppression sound device on demand or in real time, thereby reducing the sound pressure level in the noise suppression area and improving the active noise control effect. The feedback control process can be repeated until the sound pressure level in the noise suppression area drops to a reasonable range.

[0158] refer to Figure 2 In some embodiments, the step of performing feedback control on the sound device driving signal according to the first error noise signal in step S7 includes: waveform superposition of the sound signal of the sound wave emitted by the noise suppression sound device to the error microphone and the first error noise signal to obtain a second error noise signal that suppresses interference; performing signal processing from an analog signal to a digital signal on the second error noise signal; performing feedback control on the sound device driving signal according to the first processed signal obtained by signal processing, and performing signal processing from a digital signal to an analog signal on the sound device driving signal adjusted by the feedback control, and then sending it to the noise suppression sound device.

[0159] When designing the arrangement of the noise suppression sound device and the error microphone, there may be a certain spatial distance between the two. When the sound waves emitted by the noise suppression sound device propagate to the error microphone, they will also interfere with the noise signal collected by the error microphone. Therefore, the transfer function from the noise suppression sound device to the error microphone can be obtained through testing, so that the sound signal of the sound wave emitted by the noise suppression sound device propagating to the error microphone is calculated based on the transfer function, and the sound signal is waveform-superimposed with the first error noise signal collected by the error microphone. Since there is a phase difference between the two signals, the influence of the sound wave emitted by the noise suppression sound device can be removed to a certain extent by waveform superposition, thereby obtaining a second error noise signal that suppresses interference.

[0160] After obtaining the second error noise signal, the second error noise signal is subjected to signal processing from an analog signal to a digital signal. In some embodiments, the signal processing process may include performing analog-to-digital conversion on the second error noise signal to obtain a digital signal; performing low-pass filtering on the digital signal; and downsampling the low-pass filtered digital signal to obtain the first processed signal.

[0161] In this process, the digital signal after analog-to-digital conversion is low-pass filtered to filter out high-frequency interference signals contained in the digital signal. Downsampling the low-pass filtered digital signal can reduce the sampling rate of the digital signal, thereby reducing the amount of data and the computing resources required for subsequent processing.

[0162] Feedback control is performed on the sound device drive signal according to the first processed signal obtained by signal processing, and the sound device drive signal adjusted by feedback control is signal processed from a digital signal to an analog signal, and then sent to the noise suppression sound device. In some embodiments, the step of signal processing the sound device drive signal adjusted by feedback control from a digital signal to an analog signal may include: upsampling the sound device drive signal adjusted by feedback control; low-pass filtering the up-sampled sound device drive signal; and digital-to-analog conversion of the low-pass filtered sound device drive signal.

[0163] In this process, the driving signal of the sound device adjusted by feedback control is upsampled, which can increase the sample points to improve the quality of the output signal. The high-frequency interference signal generated in the upsampling process can be filtered out by low-pass filtering, and then converted into an analog signal for driving the noise suppression sound device through digital-to-analog conversion.

[0164] Figure 3 Schematic diagram of signal relationships according to some embodiments of the active noise control system disclosed in the present invention. Figure 3The embodiment of the present disclosure provides a noise active control system, comprising a noise suppression sound generating device 2 and a controller 1. The noise suppression sound generating device 2 is located in the noise suppression area or near the noise suppression area. The controller 1 is connected to the noise suppression sound generating device 2 by signal, and is configured to execute the noise active control method of the above embodiment.

[0165] The noise suppression device 2 may include a speaker. The controller 1 in the active noise control system may be an independent controller in the engineering vehicle, or may be an active noise control module integrated in the main controller of the engineering vehicle. In implementation, the controller 1 may include circuits such as input channels, chips, output channels, and power amplifiers. The chip may have a built-in active noise control algorithm.

[0166] The input channel can be connected to the input unit and the chip. The input unit may include a reference microphone for collecting noise signals of the engineering vehicle, and may also include a vibration sensor, a pressure sensor, a speed sensor, a displacement sensor, a force sensor, a gear position sensor or an inclination sensor, etc., which can reflect the excitation of the acoustic vibration source.

[0167] Vibration sensors are used to collect vibrations of engineering vehicles, such as shaft head vibration sensors used to collect tire and road excitation frequency and amplitude. Pressure sensors are used to collect pressure signals of engineering vehicles, such as main pump pressure sensors used to collect main pump pressure. Speed ​​sensors are used to collect speed signals of engineering vehicles, such as fan speed sensors used to collect cooling fan speed, and engine speed sensors used to collect engine speed.

[0168] The displacement sensor is used to collect the displacement signal of the engineering vehicle. For example, the boom displacement sensor arranged on the boom is used to collect the displacement of the boom. The force sensor is used to collect the force signal of the engineering vehicle. The gear position sensor is used to collect the gear position information of the engineering vehicle, such as collecting the gear position of the gearbox. The inclination sensor is used to collect the inclination signal of the engineering vehicle. For example, the crane inclination sensor is arranged near the lifting cylinder to collect the working angle of the boom.

[0169] The output channel can be connected to the chip through circuits such as a power amplifier, and connected to the noise suppression sound device 2. The noise suppression sound device 2 can be used to emit noise suppression sound waves, such as door speakers, seat headrest speakers, and interior speakers in the cab. The output unit door speakers are arranged on the doors, mainly used in the door closing sound quality scene, and emit the sound that needs to be offset for the door closing sound quality; the seat headrest speakers are arranged on both sides of the seat back near the head, and the interior speakers in the cab are arranged on the ceiling and A-pillars.

[0170] refer to Figure 3In some embodiments, the engineering vehicle includes an operation panel 4, and the controller 1 is signal-connected to the operation panel 4, and is configured to determine the current working mode of the engineering vehicle according to the working mode selection instruction received from the operation panel 4.

[0171] The operation panel 4 may be provided with physical or virtual keys, buttons or knobs, or may be a touch screen capable of performing touch control.

[0172] refer to Figure 3 In some embodiments, the active noise control system further includes an error microphone 3, which is located in or near the noise suppression area. The controller 1 is signal-connected to the error microphone 3, and is configured to obtain a first error noise signal collected by the error microphone 3, and perform feedback control on the sound-generating device driving signal according to the first error noise signal to reduce the sound pressure level of the noise suppression area.

[0173] The error microphone 3 can be used as a feedback unit of the chip of the controller 1, such as a door error microphone, a seat headrest error microphone, and a cab interior error microphone. The door error microphone is arranged on the door, mainly used in the door closing sound quality scene, to collect the door closing sound quality signal; the seat headrest error microphone is arranged on both sides of the seat back near the head, and the cab interior error microphone is arranged on the ceiling and A-pillar.

[0174] exist Figure 3 In addition to the above-mentioned noise suppression sound generating device 2, error microphone 3 and operation panel 4, the engineering vehicle may also include a reference microphone 5 and / or at least one acoustic vibration source 6, which may be used as an input unit of the controller 1 to provide an input of an original noise signal. The controller 1 may be connected to the reference microphone 5 and / or at least one acoustic vibration source 6 signal to obtain at least two sets of original noise data from different sources of the engineering vehicle.

[0175] In addition, the controller 1 can also be connected to other components in the engineering vehicle by signals for control, such as connecting to components related to vehicle driving or operation by signals to achieve driving or operation control.

[0176] Based on the active noise control system in the above embodiment, the embodiment of the present disclosure further provides an engineering vehicle, including the above active noise control system. The engineering vehicle can be a loader, an excavator or a crane, or other engineering vehicles, such as a pump truck, a drilling rig, etc.

[0177] Figure 4 It is a schematic diagram of signal relationships according to an embodiment of the active noise control system disclosed in the present invention applied to a loader. Figure 5Schematic diagram of the structure of the active noise control system according to the embodiment of the present disclosure applied to a loader. Figure 4 and Figure 5 In some embodiments, the engineering vehicle is a loader, the noise suppression area includes the cab EC1 of the loader, and the error microphone 3 includes two first error microphones 31 respectively located on the left and right sides of the headrest of the driver's seat.

[0178] The noise suppression device 2 includes: two first speakers 21, a second speaker 22 and a third speaker 23. The two first speakers 21 are respectively located on the left and right sides of the headrest of the driver's seat. The second speaker 22 is located on the ceiling of the cab EC1 of the loader. The third speaker 23 is located on the right A-pillar of the cab EC1 of the loader.

[0179] On this basis, corresponding to the driving mode of the loader, Figure 1 Step S1 in the embodiment may include: in response to the current working mode of the loader being the driving mode, obtaining two groups of original noise data from two reference microphones 5 in the loader, which are respectively located at the front and rear sides of the cab EC1 of the loader. Figure 1 Step S5 may include: in response to the current working mode of the loader being the driving mode, sending the sound device driving signal to the two first speakers 21.

[0180] On this basis, corresponding to the driving + operation mode of the loader, Figure 1 Step S1 in the method may include: in response to the current working mode of the loader being the driving + working mode, obtaining two sets of original noise data from two reference microphones 5 located at the front and rear sides of the cab EC1 of the loader in the diagonal direction, and original noise data from a vibration sensor 601 at the bottom of the cab EC1 of the loader. Figure 1 Step S5 in the method may include: in response to the current working mode of the loader being the travel+operation mode, sending the sound device driving signal to the two first speakers 21 , the second speaker 22 and the third speaker 23 .

[0181] Figure 6 It is a schematic diagram of signal relationships according to an embodiment of the active noise control system disclosed in the present invention applied to an excavator. Figure 7 Schematic diagram of the structure of an active noise control system according to the present disclosure applied to an excavator. Figure 6 and Figure 7In some embodiments, the engineering vehicle is an excavator, the noise suppression area includes the cab EC2 of the excavator, the error microphone 3 includes a second error microphone 32 located on the left or right side of the headrest of the driver's seat, and the noise suppression sound device 2 includes a fourth speaker 2 located on the upper rear part of the interior of the cab EC2 of the excavator.

[0182] On this basis, corresponding to the driving mode of the excavator, Figure 1 Step S1 in the method may include: in response to the current working mode of the excavator being the driving mode, obtaining two sets of original noise data from an engine speed sensor 611 and a main pump pressure sensor 616 in the excavator. Figure 1 Step S5 may include: in response to the current working mode of the excavator being the driving mode, sending the sound device driving signal to the fourth speaker 24.

[0183] On this basis, corresponding to the operation mode of the excavator, Figure 1 Step S1 in the method may include: in response to the current working mode of the excavator being the operation mode, obtaining multiple sets of original noise data from the engine speed sensor 611, the bucket hinge force sensor 612, the boom cylinder pressure sensor 613, the arm cylinder pressure sensor 614 and the bucket cylinder pressure sensor 615 in the excavator. Figure 1 Step S5 may include: in response to the current working mode of the excavator being the operation mode, sending the sound device driving signal to the fourth speaker 24.

[0184] Figure 8 It is a schematic diagram of signal relationships when the active noise control system embodiment of the present disclosure is applied to a crane. Fig. 9 It is a structural schematic diagram of the driving mode of a crane applied to an embodiment of the active noise control system disclosed in the present invention. Fig.10 Schematic diagram of the structure of the active noise control system according to the embodiment of the present disclosure applied to the crane operation mode. Figure 8-Figure 10 In some embodiments, the engineering vehicle is a crane, the noise suppression area includes the cab EC3 and the control room CR of the crane, and the error microphone 3 includes a third error microphone 33 located in the cab EC3 of the crane and a fourth error microphone 34 located in the control room.

[0185] The noise suppression device 2 includes: two fifth speakers 25, a sixth speaker 26, a seventh speaker 27 and two eighth speakers 28. The two fifth speakers 25 are respectively located on the left and right doors of the cab EC3 of the crane. The sixth speaker 26 is located on the ceiling of the cab EC3 of the crane. The seventh speaker 27 is located on the ceiling of the control room CR. The two eighth speakers 28 are respectively located on the left and right sides of the seat of the control room CR.

[0186] On this basis, corresponding to the driving mode of the crane, Figure 1 Step S1 in may include: in response to the current working mode of the crane being the travel mode, obtaining multiple groups of original noise data from a fan speed sensor 621, a shaft head vibration sensor 622, an engine speed sensor 623 and a gear position sensor 624 in the crane. Figure 1 Step S5 may include: in response to the current working mode of the crane being the travel mode, sending the sound device driving signal to the two fifth speakers 25 and the sixth speaker 26.

[0187] On this basis, corresponding to the crane's operating mode, Figure 1 Step S1 in the method may include: in response to the current working mode of the crane being the maneuvering mode, obtaining multiple sets of original noise data from a fan speed sensor 621, an engine speed sensor 623, a main pump pressure sensor 625, a crane inclination sensor 627, a motor reducer noise sensor 626, a boom displacement sensor 627 and a winch noise sensor 629 in the crane. Figure 1 Step S5 may include: in response to the current working mode of the crane being the maneuvering mode, sending the sound device driving signal to the seventh speaker 27 and the two eighth speakers 28.

[0188] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0189] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A noise active control method for noise control in a noise suppression area of ​​an engineering vehicle, comprising: According to the current working mode of the engineering vehicle, obtaining at least two groups of original noise data of the engineering vehicle from different sources; According to at least two groups of original noise data, partial coherence analysis is performed on each group of original noise data to obtain each group of decoupled noise data after removing the influence of other groups of original noise data; Generate active noise reduction signals corresponding to each group of decoupled noise data; Generate a sound device driving signal according to the active noise reduction signals corresponding to each group of decoupled noise data; According to the current working mode, the sound-generating device driving signal is sent to the noise suppression sound-generating device located in or near the noise suppression area, so that the noise suppression sound-generating device emits sound waves that suppress the noise in the noise suppression area.

2. The active noise control method according to claim 1, wherein: The step of obtaining at least two sets of original noise data from different sources of the engineering vehicle comprises: At least two sets of raw noise data are received from an acoustic vibration source and / or a reference microphone in the engineering vehicle.

3. The active noise control method according to claim 2, wherein: The acoustic vibration source includes at least one of an engine, a fan, a gearbox, a hydraulic pump, a tire, and a road surface excitation and an operating mechanism.

4. The active noise control method according to claim 1, further comprising: Determining a current working mode of the engineering vehicle according to the received working mode selection instruction of the engineering vehicle; or According to the current working condition of the engineering vehicle, the current working mode of the engineering vehicle is determined.

5. The active noise control method according to claim 1, further comprising: Obtaining a first error noise signal collected by an error microphone in the engineering vehicle located in or near the noise suppression area; Feedback control is performed on the sound generating device driving signal according to the first error noise signal to reduce the sound pressure level of the noise suppression area.

6. The active noise control method according to claim 5, wherein: The step of performing feedback control on the sound device driving signal according to the first error noise signal comprises: The sound signal transmitted from the noise suppression sound generating device to the error microphone is waveform-superimposed with the first error noise signal to obtain a second error noise signal suppressing interference; performing signal processing from an analog signal to a digital signal on the second error noise signal; Feedback control is performed on the sound device driving signal according to the first processed signal obtained through signal processing, and the sound device driving signal adjusted by feedback control is processed from a digital signal to an analog signal and then sent to the noise suppression sound device.

7. The active noise control method according to claim 6, wherein: The step of performing signal processing from an analog signal to a digital signal on the second error noise signal comprises: Performing analog-to-digital conversion on the second error noise signal to obtain a digital signal; Performing low-pass filtering on the digital signal; The digital signal that has been low-pass filtered is downsampled to obtain the first processed signal.

8. The active noise control method according to claim 7, wherein: The step of processing the driving signal of the sound generating device adjusted by feedback control from a digital signal to an analog signal comprises: Upsampling the sound-generating device drive signal adjusted by feedback control; Performing low-pass filtering on the up-sampled sound-generating device drive signal; The low-pass filtered driving signal of the sound-generating device is converted from digital to analog.

9. The active noise control method according to any one of claims 5 to 8, wherein: The engineering vehicle is a loader, the noise suppression area includes the cab of the loader, the error microphone includes two first error microphones respectively located on the left and right sides of the headrest of the driver's seat, and the noise suppression sound generating device includes: Two primary speakers, located on the left and right sides of the driver's seat headrest; A second speaker located on a ceiling of a cab of the loader; and The third speaker is located on the right A-pillar of the cab of the loader.

10. The active noise control method according to claim 9, wherein: According to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes: In response to the current working mode of the loader being the driving mode, obtaining two groups of original noise data from two reference microphones located at the front and rear sides of a cab of the loader, respectively; Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the loader being the driving mode, sending the sound device driving signal to the two first speakers.

11. The active noise control method according to claim 9, wherein: According to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes: In response to the current working mode of the loader being the travel+operation mode, two groups of original noise data from two reference microphones located at the front and rear sides of the cab of the loader in a diagonal direction, and original noise data from a vibration sensor at the bottom of the cab of the loader are obtained; Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the loader being the driving + working mode, sending the sound device driving signal to the two first speakers, the second speaker and the third speaker.

12. The active noise control method according to any one of claims 5 to 8, wherein: The engineering vehicle is an excavator, the noise suppression area includes the cab of the excavator, the error microphone includes a second error microphone located on the left or right side of the headrest of the driver's seat, and the noise suppression sound generating device includes: The fourth speaker is located at the upper rear portion of the interior of the cab of the excavator.

13. The active noise control method according to claim 12, wherein: According to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes: In response to the current working mode of the excavator being the driving mode, obtaining two sets of original noise data from an engine speed sensor and a main pump pressure sensor in the excavator; Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the excavator being the driving mode, sending the sound device driving signal to the fourth speaker.

14. The active noise control method according to claim 12, wherein: According to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes: In response to the current working mode of the excavator being the operation mode, multiple groups of original noise data from an engine speed sensor, a bucket hinge force sensor, a boom cylinder pressure sensor, a dipper arm cylinder pressure sensor, and a bucket cylinder pressure sensor in the excavator are obtained; Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the excavator being the operation mode, sending the sound device driving signal to the fourth speaker.

15. The active noise control method according to any one of claims 5 to 8, wherein: The engineering vehicle is a crane, the noise suppression area includes a cab and a control room of the crane, the error microphone includes a third error microphone located in the cab of the crane and a fourth error microphone located in the control room, and the noise suppression sound generating device includes: two fifth speakers, respectively located at left and right doors of the cab of the crane; a sixth speaker located on a ceiling of a cab of the crane; a seventh speaker located on the ceiling of the control room; and Two eighth speakers are respectively located on the left and right sides of the seat in the control room.

16. The active noise control method according to claim 15, wherein: According to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes: In response to the current working mode of the crane being the travel mode, a plurality of groups of raw noise data from a fan speed sensor, a shaft head vibration sensor, an engine speed sensor, and a gear position sensor in the crane are obtained; Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the crane being the driving mode, sending the sound device driving signal to the two fifth speakers and the sixth speaker.

17. The active noise control method according to claim 15, wherein: According to the current working mode of the engineering vehicle, the step of obtaining at least two sets of original noise data of the engineering vehicle from different sources includes: In response to the current working mode of the crane being the maneuvering mode, a plurality of groups of raw noise data from a fan speed sensor, an engine speed sensor, a main pump pressure sensor, a crane inclination angle sensor, a motor reducer noise sensor, a boom displacement sensor, and a winch noise sensor in the crane are obtained; Among them, according to the current working mode, the step of sending the sound device driving signal to the noise suppression sound device located in or near the noise suppression area includes: in response to the current working mode of the crane being the maneuvering mode, sending the sound device driving signal to the seventh speaker and the two eighth speakers.

18. An active noise control system for noise control in the noise suppression area of ​​an engineering vehicle, comprising: A noise suppression sound generating device is located in the noise suppression area or near the noise suppression area; and A controller is signal-connected to the noise suppressing sound generating device and is configured to execute the active noise control method according to any one of claims 1-17.

19. The active noise control system according to claim 18, wherein: The engineering vehicle comprises an operation panel, and the controller is connected to the operation panel signal and is configured to determine the current operation mode of the engineering vehicle according to the operation mode selection instruction received from the operation panel.

20. The active noise control system according to claim 18, further comprising: an error microphone, located in or near the noise suppression area; Among them, the controller is connected to the error microphone signal and is configured to obtain a first error noise signal collected by the error microphone, and to perform feedback control on the sound device driving signal according to the first error noise signal to reduce the sound pressure level of the noise suppression area.

21. An engineering vehicle, comprising: The active noise control system according to any one of claims 18 to 20.

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