EP4345812A1 - Procédé et agencement pour l'insonorisation dans un environnement d'une ou plusieurs machines - Google Patents

Procédé et agencement pour l'insonorisation dans un environnement d'une ou plusieurs machines Download PDF

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Publication number
EP4345812A1
EP4345812A1 EP22197966.9A EP22197966A EP4345812A1 EP 4345812 A1 EP4345812 A1 EP 4345812A1 EP 22197966 A EP22197966 A EP 22197966A EP 4345812 A1 EP4345812 A1 EP 4345812A1
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EP
European Patent Office
Prior art keywords
sound
machine
propagation
induced
noise
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22197966.9A
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German (de)
English (en)
Inventor
Hermann Georg Mayer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Schweiz AG
Original Assignee
Siemens Schweiz AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Schweiz AG filed Critical Siemens Schweiz AG
Priority to EP22197966.9A priority Critical patent/EP4345812A1/fr
Publication of EP4345812A1 publication Critical patent/EP4345812A1/fr
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
    • G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
    • G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
    • G10K11/17821—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the input signals only
    • G10K11/17823—Reference signals, e.g. ambient acoustic environment
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
    • G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
    • G10K11/1785—Methods, e.g. algorithms; Devices
    • G10K11/17857—Geometric disposition, e.g. placement of microphones
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
    • G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
    • G10K11/1787—General system configurations
    • G10K11/17873—General system configurations using a reference signal without an error signal, e.g. pure feedforward
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
    • G10K2210/10—Applications
    • G10K2210/12—Rooms, e.g. ANC inside a room, office, concert hall or automobile cabin
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
    • G10K2210/30—Means
    • G10K2210/301—Computational
    • G10K2210/3052—Simulation

Definitions

  • noise can also be reduced by actively cancelling out sound vibrations through destructive interference.
  • a well-known example is noise-cancelling headphones, which can actively reduce some background noises by countering noise.
  • the use of such headphones is often not very effective or even disruptive in many work environments, particularly in industrial workplaces. For example, sudden machine noises are difficult to predict and therefore often cannot be effectively compensated for.
  • wearing headphones makes acoustic communication more difficult, which can pose a safety risk, particularly in industrial environments.
  • a location in the environment that is to be protected from noise is determined. Furthermore, operating signals of the at least one machine are recorded during operation. According to the invention, movements of the at least one machine are determined based on the recorded operating signals and a propagation of a sound induced by the movements is simulated. In particular, vibrations, rotations, housing vibrations, impact movements or other sound-generating movements of the at least one machine or a component thereof can be determined as movements. Furthermore, depending on the simulation, several loudspeakers distributed in the environment are controlled in such a way that the movement-induced sound is reduced by counter-sound generated by the loudspeakers at the location to be protected from noise through destructive interference.
  • an arrangement for noise protection in an environment of one or more machines, a computer program product and a computer-readable, preferably non-volatile storage medium are provided.
  • the method according to the invention, the arrangement according to the invention and the computer program product according to the invention can be carried out in particular by means of one or more computers, one or more processors, application-specific integrated circuits (ASICs), digital signal processors (DSPs), a cloud infrastructure and/or so-called “field programmable gate arrays” (FPGAs).
  • ASICs application-specific integrated circuits
  • DSPs digital signal processors
  • FPGAs field programmable gate arrays
  • a particular advantage of the invention is that it is not necessary to wear noise-cancelling headphones or hearing protection to reduce noise.
  • the invention is particularly effective for low-frequency noise levels, insofar as their interference-related compensation often requires fewer loudspeakers and/or a less time-critical simulation and/or allows noise reduction in a larger spatial area.
  • the invention thus advantageously complements conventional sound insulation measures that have a preferential effect on higher-frequency noise contributions.
  • non-periodic noise components can also be effectively compensated for, insofar as corresponding movements of the at least one machine can be determined or predicted based on the operating signals.
  • a position of a person preferably a position of their head in the environment, can be detected and determined as a location to be protected from noise.
  • one or preferably several cameras can be provided that take pictures in the environment. The recorded images can then be evaluated by known optical pattern recognition methods in order to recognize the person and determine their preferably spatial position.
  • the position of the person can also be detected by detecting or locating an RFID transponder worn by the person.
  • the position of the person can be continuously recorded so that the area to be protected from noise can be adjusted to the currently recorded position.
  • noise reduction can also be achieved for moving people.
  • a propagation of a sound induced by movements of the at least one machine can be detected sensorily, for example by microphones distributed in the environment.
  • a machine learning module for example a neural network
  • the simulation can then be carried out using the trained machine learning module.
  • a variety of known learning methods can be used to train the machine learning module, in particular supervised learning methods.
  • a connection between operating signals of the at least one machine and a dependent propagation of motion-induced sound can be learned with sufficient accuracy in many cases.
  • the sound propagation can then be simulated in an efficient manner, with considerably less computational effort generally being required than with a detailed physical simulation of the movements of the machine and/or the sound propagation.
  • the movement-induced sound and/or the counter-sound can be detected by sensors, in particular during ongoing operation of the at least one machine.
  • the propagation of the motion-induced sound and/or a propagation of the counter-sound can be simulated.
  • the sound detection can be carried out, for example, by several microphones, acceleration sensors or other sensors distributed in the environment or attached to the at least one machine.
  • the sound detected by sensors can be used in particular to calibrate, refine, improve or otherwise adapt the simulation of sound propagation.
  • a future sound-generating movement sequence of the at least one machine can be predicted based on the detected operating signals.
  • a simulation of a sequence-specific sound propagation induced by the future sound-triggering movement sequence can then be carried out started and/or prioritized. In this way, simulations or calculations of sound propagation can be started before the sound actually occurs, in particular as soon as it can be seen from the operating signals that a sound-generating movement is planned.
  • a timing of the destructively interfering counter-sound can be determined.
  • the future sound-generating movement sequence can be predicted based on control signals contained in the operating signals of a control device that controls the at least one machine.
  • the behavior of machines can be predicted over a longer time horizon using control signals than using current sensor signals.
  • all possible sound-generating movement sequences can be calculated in advance for a planned control action and stored for the simulation.
  • the results can in many cases be used directly in the simulation. If a movement sequence is dependent on external influences, for example on the arrival time of material in a production facility, the timing of the simulation can be triggered by the external influences.
  • a process-specific sound propagation induced thereby can be simulated in advance and a associated process-specific simulation result can be saved in association with the relevant sound-generating movement sequence.
  • a future sound-generating movement sequence can be predicted based on the recorded operating signals, and a process-specific simulation result associated with the predicted sound-generating movement sequence can be selected. This allows the propagation of the movement-induced sound to be simulated based on the selected process-specific simulation result. In this way, in many cases, a large part of the simulation computation effort can already be carried out in advance.
  • the propagation of the movement-induced sound, a propagation of the counter-sound and/or the movements of the at least one machine can be simulated at least partially in real time.
  • a respective simulation can preferably be implemented as a concurrent simulation, i.e. a simulation that runs during operation of the at least one machine and in particular as a digital twin of the at least one machine or one of its components.
  • the propagation of the counter-sound generated by the loudspeakers can be simulated in advance.
  • a respective control of the loudspeakers can be determined, by which the respective counter-sound amplitude curve is at least approximately generated at the point to be protected from noise.
  • a propagation of the counter-sound generated by this loudspeaker can initially be simulated separately for each individual loudspeaker.
  • a time-resolved impulse response can be determined for each loudspeaker, particularly in an area around the point to be protected from noise.
  • a respective control of the loudspeakers can then be determined for a given
  • the respective control of the loudspeakers can be determined from the anti-noise amplitude curve, which at least approximately generates this anti-noise amplitude curve in a spatial area around the point to be protected from noise. As a rule, this spatial area or a relevant frequency range can be enlarged the more loudspeakers are used.
  • the environment can be a building, an area of the building or a room of the building, and a digital, in particular semantic, building model of the building or the room can be read in.
  • the propagation of the movement-induced sound and/or the counter-sound in the building or in the room can then be simulated using the digital building model.
  • the digital building model can preferably be a so-called BIM model (BIM: Building Information Modeling).
  • BIM Building Information Modeling
  • an interference-related reduction in the movement-induced sound can be determined by simulation for different positions and/or numbers of loudspeakers in the environment.
  • the loudspeakers can then be positioned in such a way that the interference-related reduction is optimized.
  • Optimizing is also understood to mean, in particular, getting closer to an optimum.
  • FIG. 1 shows a schematic representation of an arrangement according to the invention for noise protection.
  • the machine R can be, for example, a robot, a manufacturing robot, a machine tool, a turbine, a press, a production machine or a component thereof.
  • the machine R can be, among other things, an air conditioning system or a heater.
  • the machine R can also be a motor vehicle, a tractor, a rail vehicle or another mobile, noise-producing machine.
  • the machine R is coupled to a machine controller MC for controlling the machine R.
  • the machine controller MC can also be fully or partially integrated into the machine R.
  • the machine R is a production robot in whose vicinity there are one or more industrial workstations.
  • a person P who is to be protected from noise is also present at the workstation(s).
  • the machine R is installed in a room, e.g. in a factory hall, which is delimited by walls W and other room boundaries such as floors, ceilings, doors or windows.
  • the walls W are shown in the figure by thickened lines.
  • the room contains furnishings E or other inventory.
  • sound-damping devices D e.g. foam coverings or other porous materials, are attached to the room boundaries or to the machine R.
  • the sound-damping devices D can reduce at least a higher-frequency portion of the noise emanating from the machine R.
  • the room is structurally specified by a digital, semantic building model BIM.
  • the BIM digital building model is preferably designed as a so-called BIM model (BIM: Building Information Modeling) and describes a geometry of the room as well as a large number of its room and building elements in machine-readable form.
  • the digital building model specifies and quantifies in particular a position and orientation of the walls W, the other room boundaries, the furnishings E, the soundproofing devices D and, if possible, all other objects that significantly influence sound propagation in the room.
  • the digital building model BIM also contains material parameters relevant to sound propagation of objects that influence sound propagation. The material parameters can be used to quantify in particular sound absorption, sound reflection, sound refraction and/or phase shift.
  • the digital building model BIM also contains the respective position of the workstation(s) as well as the positions and orientations of the machine R, of loudspeakers L intended for generating counter-sound and of microphones M to record the sound generated by the machine R.
  • the optical evaluation device OPT uses the transmitted images to specifically determine a spatial position PP of the person P, preferably of their head and optionally their orientation. A large number of known optical pattern recognition methods are available for this purpose.
  • the determined position PP is determined as the location to be protected from noise.
  • the specific location of the person P can also be dispensed with.
  • a head position on a motor vehicle seat can be specified as the location to be protected from noise.
  • the operating signals BS preferably include control signals for controlling the machine R, planning data on future planned control actions and/or sensor signals or measurement data of the machine R.
  • the detected operating signals BS are transmitted from the machine control MC to a simulator SIM.
  • the simulator SIM is computer-controlled and has one or more processors for carrying out the method steps according to the invention and one or more memories for storing data to be processed.
  • the simulator SIM further has a first simulator component for simultaneously simulating a behavior, in particular a movement behavior, of the running machine R.
  • the first simulator component is preferably implemented as a so-called digital twin of the machine R.
  • the behavior simulation is based on a digital model of the machine R and is continuously adapted to a currently measured or otherwise recorded behavior of the machine R based on the current operating signals BS, in particular based on current sensor data.
  • a variety of known methods and digital machine models are available for such simulations, e.g. so-called finite element methods.
  • the ongoing behavior simulation makes it possible to determine the behavior of the machine R during operation at points where no sensor data is recorded and to predict future behavior of the machine R.
  • sound-generating movements of the machine R and/or components of the machine R for example vibrations, rotations, impact movements, natural frequencies and/or oscillations, in particular housing vibrations, can be determined or predicted with phase accuracy using the first simulator component.
  • the propagation of sound induced by the movements in the environment of the machine R is simulated with phase accuracy by a second simulator component of the simulator SIM.
  • the simulation is carried out using the digital building model BIM, which is read in by the simulator SIM for this purpose.
  • the digital building model BIM contains the geometric parameters and material parameters of the room in which the machine R is located that are relevant for the sound propagation.
  • the simulator SIM advantageously also uses control signals and planning data contained in the operating signals BS about future planned control actions for the predictive simulation of future sound-generating movement sequences of the machine R.
  • a respective simulation of a future movement sequence is already started by the first simulator component as soon as it can be deduced from the operating signals BS that this movement sequence will occur, if necessary, in a predetermined time interval. In this way, the future movement sequence can in many cases be simulated before it actually occurs.
  • the second simulator component starts a phase-accurate simulation of sound propagation in the room induced by the simulated movement sequence as soon as the simulated movement sequence has been determined.
  • the location to be protected from noise is of particular interest.
  • the current position PP is transmitted from the optical evaluation device OPT to the simulator. Accordingly, the second simulator component in particular determines an amplitude curve of the movement-induced sound at the point PP.
  • a timing of the counter-sound to be generated by the loudspeakers L can be determined.
  • the loudspeakers L are coupled to a loudspeaker control LC, which enables the loudspeakers L to emit counter sound can be excited with loudspeaker-individual amplitude and phase.
  • the propagation of the counter-sound is preferably simulated in advance by the second simulator component.
  • a respective control of the loudspeakers L is determined, through which the respective counter-sound amplitude profile is at least approximately caused at the point to be protected from noise, here PP.
  • the loudspeakers L can be controlled by the loudspeaker control LC in such a way that the counter-sound emitted by the loudspeakers L at least approximately compensates for the motion-induced sound at the point PP to be protected from noise by destructive amplitude interference.
  • the simulator SIM transmits a control signal LS to the loudspeaker control LC, which controls the loudspeakers L accordingly.
  • the spatial area around the point PP in which the movement-induced sound can be significantly reduced, increases with a falling frequency of the movement-induced sound and with an increasing number of loudspeakers L.
  • Higher frequency components of the movement-induced sound can be effectively eliminated with conventional damping measures, here D, be reduced.
  • microphones M are distributed in the room, preferably in the vicinity of the machine R.
  • the microphones M record the sound emitted by the machine R with precise phase.
  • the recorded sound amplitudes and phases are signaled by the microphones M to the simulator SIM and taken into account in the simulations.
  • the recorded sound amplitudes and sound phases are compared with the simulated sound amplitudes and phases at the respective position of a microphone M.
  • the simulation of the propagation of the motion-induced sound can then be adapted or calibrated in such a way that deviations between the recorded and the simulated sound amplitudes and phases are minimized.
  • a movement-specific sound propagation caused by the respective movement sequence is simulated in advance for several possible sound-generating movement sequences of the machine R.
  • a respective movement-specific simulation result SR1 or SR2, SR3, ... is stored in association with the respective movement sequence.
  • a respective simulation result SR1 or SR2, SR3, ... can in particular quantify a movement-specific sound amplitude curve at the point PP.
  • the simulator SIM checks whether a movement sequence that at least approximately matches the predicted movement sequence is stored. If this is the case, the simulation result SR1 or SR2, SR3, ... assigned to the saved movement sequence is selected and used to simulate the sound propagation. In this way, in many cases a large part of the simulative computing effort can be carried out in advance.
  • the simulator SIM can have a machine learning module NN, for example an artificial neural network, to efficiently execute the simulations.
  • the machine learning module NN is trained using the operating signals BS and the sound amplitudes and phases recorded by the microphones M to derive the sound amplitudes and phases from the operating signals BS.
  • a variety of known learning methods can be used, in particular supervised learning methods.
  • the operating signals BS serve as input variables, often referred to as feature vectors
  • the recorded sound amplitudes and phases serve as output variables, often referred to as labels.
  • the machine learning module NN can learn a connection between the operating signals BS and the propagation of the motion-induced sound with sufficient accuracy. Based on the learned connection, the sound propagation can then be efficiently simulated using the trained machine learning module NN. In particular, the trained machine learning module NN then fulfills the functions of both simulator components.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Soundproofing, Sound Blocking, And Sound Damping (AREA)
EP22197966.9A 2022-09-27 2022-09-27 Procédé et agencement pour l'insonorisation dans un environnement d'une ou plusieurs machines Pending EP4345812A1 (fr)

Priority Applications (1)

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EP22197966.9A EP4345812A1 (fr) 2022-09-27 2022-09-27 Procédé et agencement pour l'insonorisation dans un environnement d'une ou plusieurs machines

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Application Number Priority Date Filing Date Title
EP22197966.9A EP4345812A1 (fr) 2022-09-27 2022-09-27 Procédé et agencement pour l'insonorisation dans un environnement d'une ou plusieurs machines

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EP4345812A1 true EP4345812A1 (fr) 2024-04-03

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4215910C2 (de) * 1991-05-15 1996-12-19 Ricoh Kk Bilderzeugungsgerät
US5805714A (en) * 1995-11-13 1998-09-08 Fuji Xerox Co., Ltd. Noise suppressor in image forming apparatus and noise suppressing method
WO2017048464A1 (fr) * 2015-09-18 2017-03-23 Amazon Technologies, Inc. Atténuation active du bruit aérien
EP3875337A1 (fr) * 2020-03-02 2021-09-08 Hitachi Rail Ltd. Réduction du niveau de bruit d'un véhicule ferroviaire
WO2022175535A1 (fr) * 2021-02-22 2022-08-25 Valeo Systèmes d'Essuyage Annulation du bruit d'un système d'essuie-glace dans un véhicule

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4215910C2 (de) * 1991-05-15 1996-12-19 Ricoh Kk Bilderzeugungsgerät
US5805714A (en) * 1995-11-13 1998-09-08 Fuji Xerox Co., Ltd. Noise suppressor in image forming apparatus and noise suppressing method
WO2017048464A1 (fr) * 2015-09-18 2017-03-23 Amazon Technologies, Inc. Atténuation active du bruit aérien
EP3875337A1 (fr) * 2020-03-02 2021-09-08 Hitachi Rail Ltd. Réduction du niveau de bruit d'un véhicule ferroviaire
WO2022175535A1 (fr) * 2021-02-22 2022-08-25 Valeo Systèmes d'Essuyage Annulation du bruit d'un système d'essuie-glace dans un véhicule

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