WO1990009655A1 - Suppression du bruit dans des vehicules - Google Patents

Suppression du bruit dans des vehicules Download PDF

Info

Publication number
WO1990009655A1
WO1990009655A1 PCT/GB1990/000230 GB9000230W WO9009655A1 WO 1990009655 A1 WO1990009655 A1 WO 1990009655A1 GB 9000230 W GB9000230 W GB 9000230W WO 9009655 A1 WO9009655 A1 WO 9009655A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal source
mixer
entertainment
communication
integrated system
Prior art date
Application number
PCT/GB1990/000230
Other languages
English (en)
Inventor
Anthony Malcolm Mcdonald
David Charles Quinn
David C. Perry
Original Assignee
Group Lotus Plc
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 Group Lotus Plc filed Critical Group Lotus Plc
Publication of WO1990009655A1 publication Critical patent/WO1990009655A1/fr

Links

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
    • G10K11/1787—General system configurations
    • G10K11/17885—General system configurations additionally using a desired external signal, e.g. pass-through audio such as music or speech
    • 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
    • G10K11/17853—Methods, e.g. algorithms; Devices of the filter
    • G10K11/17854—Methods, e.g. algorithms; Devices of the filter the filter being an adaptive filter
    • 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
    • G10K11/17879—General system configurations using both a reference signal and an error signal
    • G10K11/17883—General system configurations using both a reference signal and an error signal the reference signal being derived from a machine operating condition, e.g. engine RPM or vehicle speed
    • 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
    • G10K2210/105—Appliances, e.g. washing machines or dishwashers
    • G10K2210/1053—Hi-fi, i.e. anything involving music, radios or loudspeakers
    • 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
    • G10K2210/108—Communication systems, e.g. where useful sound is kept and noise is cancelled
    • 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
    • G10K2210/128—Vehicles
    • G10K2210/1282—Automobiles
    • 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
    • G10K2210/3045—Multiple acoustic inputs, single acoustic output
    • 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
    • G10K2210/3046—Multiple acoustic inputs, multiple acoustic outputs
    • 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
    • G10K2210/321—Physical
    • G10K2210/3225—Radio or other sources used in ANC for transfer function estimation; Means to avoid interference between desired signals, e.g. from a car stereo, and the ANC signal

Definitions

  • the invention relates to the suppression of unwanted noise in the cabins of vehicles, in particular road vehicles.
  • the driver and passengers of conventional passenger cars are exposed to a great deal of externally generated noise, due primarily to the vehicle engine.
  • Various proposals have been made for cancellation or reduction of such noise by active means, that is, by generating within the vehicle cabin sound vibrations of phase and amplitude such as to cancel, at least partially, the unwanted noise.
  • An effective system of this kind is known from WO 88/02912 the contents of which are incorporated herein by reference.
  • the invention accordingly provides an integrated entertainment and noise reduction system for use in a vehicle cabin, the system comprising a communication and/or entertainment signal source, a noise cancellation signal source, at least one loudspeaker for mounting within the vehicle cabin, and a signal mixing device for mixing signals from the communication and/or signal source and the noise cancellation signal source, the loudspeaker receiving the mixed signal output of the mixing device.
  • the invention can be carried into effect by provision of an integrated noise reduction and communication and/or entertainment system including one or more signal sources, selected for example from radio tuners, microphones, cassette decks or the like, which sources provide electrical outputs to be mixed with an electrical output from a noise reduction unit, preferably an adaptive noise reduction unit, in a mixer, the mixer output being supplied to one or more loudspeakers suitably located in the vehicle cabin.
  • signal sources selected for example from radio tuners, microphones, cassette decks or the like, which sources provide electrical outputs to be mixed with an electrical output from a noise reduction unit, preferably an adaptive noise reduction unit, in a mixer, the mixer output being supplied to one or more loudspeakers suitably located in the vehicle cabin.
  • the active noise reduction system is preferably one which derives a reference signal from the internal combustion engine by which the vehicle is driven.
  • the mixer employed is preferably a balanced mixer, to reduce interference from the vehicle electrical system.
  • the mixer is advantageously positioned in the system to receive the communication and/or entertainment signals downstream of selective control means for adjustment of gain, treble and bass, etc.
  • the system will operate over a plurality of channels and balancer and fader controls can then be provided for the communication and/or entertainment signals, again upstream of the mixer.
  • the number of channels carrying the mixed signals will not of course exceed the number of loudspeakers provided.
  • the illustrated system includes, as entertainment components, at least one of a radio tuner 2, shown connected to an aerial 4, and one or more decks 6 for playing compact discs, digitally recorded tapes, or tape cassettes.
  • the system can include a microphone 7 usable by the driver or other occupant of the vehicle for addressing its other occupants.
  • the outputs from the signal source or sources of the system are fed to a pre ⁇ amplifier 8 fitted with appropriate control arrangements 10 for signal source selection and for output adjustment, such as volume and bass and treble controls, or graphic equalization.
  • the pre-amplifier 8 can operate on a single channel but typically provides its output signals on. a plurality N of output channels, and balance and fader controls will then be provided.
  • the pre-amplifier output signals are supplied to a multi-channel power amplifier unit 12.
  • the system includes a noise cancellation controller which is preferably adaptive and which may then advantageously be of the kind described in WO 88/02912, the contents of which are incorporated herein by reference.
  • the function of the controller 14 is to provide, on a plurality L of output channels, outputs derived from a reference signal by adaptive filtering carried out by a programmed microprocessor and memory unit in dependence on error signals from a plurality of microphones 16.
  • the microphones 16 are located, preferably inconspicuously, at suitable spaced positions within the vehicle cabin.
  • the reference signal may be derived directly from the vehicle engine.
  • the outputs from the amplifier 12 and the controller 14 are fed to a mixer 18, which is preferably a balanced mixer, in which the entertainment and/or communication signals are mixed with the noise cancellation outputs.
  • the mixer 18 provides outputs for a second multi-channel power amplifier unit 20, the outputs of which are used to drive respective ones of a plurality of loudspeakers 20 located within the vehicle cabin at appropriate positions, which may be at the conventional loudspeaker positions.
  • Some or all the loudspeakers 22 may be active loudspeakers if desired, for example, as indicated by loudspeaker 22A.
  • the integrated system of the invention thus provides that the noise reduction signals from the controller 14 are determined solely by the reference signal from which they are derived, under the adaptive control of the outputs of the microphones 16.
  • the pre ⁇ amplifier control means 10 have no effect on them.
  • the system is provided with appropriate on/off and selection switches to provide in the cabin of a passenger motor car one or more of audio communication and entertainment and noise reduction, as the operator of the system may desire.
  • the loudspeakers 22 will normally correspond in number to the number of output channels of the pre ⁇ amplifier 8, but there may be a plurality of M channels between the balanced mixer 18 and the amplifier unit 20, where M is equal to or greater than the larger of the N entertainment channels or the L noise reduction channels.
  • the system described with reference to the drawing can be constituted either as an integrated system suitable as original equipment for a vehicle, or as a system obtained by adaptation of a road vehicle already provided with an "in-car entertainment” system (ICE).
  • ICE in-car entertainment
  • Such an ICE system will comprise one or both of the signal sources 2 and 6 and/or the signal source 7, the pre-amplifier 8, and the loudspeakers 22 together usually with one or other of the power amplifier units 12,20.
  • the integrated or combined system of the invention can readily be obtained by addition of the adaptive noise cancellation controller 14, the microphones 16 at suitable positions within the vehicle cabin, and by insertion of the balanced mixer 12 between the pre-amplifier outputs and the loudspeakers, with the provision of further amplifier means if needed.
  • the power amplifier unit 12 may be omitted or combined as a single unit with the pre-amplifier 8.
  • the amplifier unit 20 also may be omitted of adequate amplification is provided elsewhere in the system.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Soundproofing, Sound Blocking, And Sound Damping (AREA)

Abstract

Un système intégré de réduction de bruit ainsi que de communication et/ou de divertissement pour véhicule comprend une ou plusieurs sources de signaux, choisies parmi des syntonisateurs radio (2), des microphones (7), des magnétophones à cassettes (6) ou analogue, constituant des sorties électriques à mélanger avec une sortie électrique provenant d'une unité (14) de réduction de bruit, dans un mélangeur équilibré (18), la sortie du mélangeur étant amenée à un ou plusieurs haut-parleurs (22, 22A) situés à des emplacements adéquats dans la cabine du véhicule.
PCT/GB1990/000230 1989-02-13 1990-02-13 Suppression du bruit dans des vehicules WO1990009655A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8903201.5 1989-02-13
GB898903201A GB8903201D0 (en) 1989-02-13 1989-02-13 Noise suppression in vehicles

Publications (1)

Publication Number Publication Date
WO1990009655A1 true WO1990009655A1 (fr) 1990-08-23

Family

ID=10651593

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1990/000230 WO1990009655A1 (fr) 1989-02-13 1990-02-13 Suppression du bruit dans des vehicules

Country Status (2)

Country Link
GB (1) GB8903201D0 (fr)
WO (1) WO1990009655A1 (fr)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5131047A (en) * 1990-06-11 1992-07-14 Matsushita Electric Industrial Co., Ltd. Noise suppressor
EP0512445A2 (fr) * 1991-05-08 1992-11-11 Adam Opel Aktiengesellschaft Dispositif actif d'atténuation du bruit utilisant des signaux radio pour le cycle de calibration
EP0555787A2 (fr) * 1992-02-13 1993-08-18 NOKIA TECHNOLOGY GmbH Dérésonateur actif et générateur d'ambiance en combinaison
US5271062A (en) * 1991-03-27 1993-12-14 Tsudakoma Kogyo Kabushiki Kaisha Device for noise attenuation of weaving machine
FR2704084A1 (fr) * 1993-04-14 1994-10-21 Matra Sep Imagerie Inf Installation d'insonorisation active pour véhicule de transport collectif.
GB2280332A (en) * 1993-07-24 1995-01-25 Giles William Tooley Intercom adaptor for in-car audio system
US5559891A (en) * 1992-02-13 1996-09-24 Nokia Technology Gmbh Device to be used for changing the acoustic properties of a room
WO2000014722A1 (fr) * 1998-09-04 2000-03-16 Ultra Electronics Limited Siège réglable insonorisé
WO2000016335A1 (fr) * 1998-09-14 2000-03-23 Trisect Limited Adaptateur pouvant etre loge dans un lecteur de cassettes
EP1124218A1 (fr) * 1999-08-20 2001-08-16 Matsushita Electric Industrial Co., Ltd. Dispositif reducteur de bruit
WO2001065540A1 (fr) * 2000-02-29 2001-09-07 Ericsson Inc Procedes et systemes de reduction de bruit pour sources de signal decalees dans l'espace
WO2007115875A1 (fr) * 2006-04-10 2007-10-18 Robert Bosch Gmbh Arrangement de restitution de bruits aériens
ES2321266A1 (es) * 2006-08-30 2009-06-03 Robert Bosch Gmbh Disposicion para la compensacion activa del ruido para un sistema de limpiaparabrisas controlado electronicamente de un automovil.
EP2352142A2 (fr) 2010-01-30 2011-08-03 MAN Truck & Bus AG Dispositif de compensation du bruit dans un véhicule automobile
US9020158B2 (en) 2008-11-20 2015-04-28 Harman International Industries, Incorporated Quiet zone control system
ITUB20160997A1 (it) * 2016-02-23 2017-08-23 Prinoth Spa Sistema di riduzione del rumore per un veicolo cingolato e veicolo cingolato
DE10116475B4 (de) 2000-04-03 2023-08-03 Panasonic Corporation An einem Fahrzeug montierte Geräuschsteuer/regelvorrichtung

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4052720A (en) * 1976-03-16 1977-10-04 Mcgregor Howard Norman Dynamic sound controller and method therefor
JPS61112496A (ja) * 1984-11-07 1986-05-30 Nissan Motor Co Ltd 車両の車室騒音低減装置
WO1988002912A1 (fr) * 1986-10-07 1988-04-21 Adaptive Control Limited Limitation active des vibrations

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4052720A (en) * 1976-03-16 1977-10-04 Mcgregor Howard Norman Dynamic sound controller and method therefor
JPS61112496A (ja) * 1984-11-07 1986-05-30 Nissan Motor Co Ltd 車両の車室騒音低減装置
WO1988002912A1 (fr) * 1986-10-07 1988-04-21 Adaptive Control Limited Limitation active des vibrations

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN, Vol. 10, No. 297 (E-444)(2353), 9 October 1986; & JP-A-61112496 (Nissan Motor Co. Ltd) 30 May 1986 *

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5131047A (en) * 1990-06-11 1992-07-14 Matsushita Electric Industrial Co., Ltd. Noise suppressor
US5271062A (en) * 1991-03-27 1993-12-14 Tsudakoma Kogyo Kabushiki Kaisha Device for noise attenuation of weaving machine
EP0512445A2 (fr) * 1991-05-08 1992-11-11 Adam Opel Aktiengesellschaft Dispositif actif d'atténuation du bruit utilisant des signaux radio pour le cycle de calibration
EP0512445A3 (en) * 1991-05-08 1993-09-01 Adam Opel Aktiengesellschaft Active noise attenuation system using the radio signal for the calibration cycle
US5559891A (en) * 1992-02-13 1996-09-24 Nokia Technology Gmbh Device to be used for changing the acoustic properties of a room
EP0555787A2 (fr) * 1992-02-13 1993-08-18 NOKIA TECHNOLOGY GmbH Dérésonateur actif et générateur d'ambiance en combinaison
EP0555787A3 (en) * 1992-02-13 1993-11-24 Nokia Technology Gmbh Combined active deresonator and ambience generator
FR2704084A1 (fr) * 1993-04-14 1994-10-21 Matra Sep Imagerie Inf Installation d'insonorisation active pour véhicule de transport collectif.
GB2280332A (en) * 1993-07-24 1995-01-25 Giles William Tooley Intercom adaptor for in-car audio system
WO2000014722A1 (fr) * 1998-09-04 2000-03-16 Ultra Electronics Limited Siège réglable insonorisé
WO2000016335A1 (fr) * 1998-09-14 2000-03-23 Trisect Limited Adaptateur pouvant etre loge dans un lecteur de cassettes
EP1124218A1 (fr) * 1999-08-20 2001-08-16 Matsushita Electric Industrial Co., Ltd. Dispositif reducteur de bruit
US7020288B1 (en) 1999-08-20 2006-03-28 Matsushita Electric Industrial Co., Ltd. Noise reduction apparatus
EP1124218A4 (fr) * 1999-08-20 2002-06-05 Matsushita Electric Ind Co Ltd Dispositif reducteur de bruit
WO2001065540A1 (fr) * 2000-02-29 2001-09-07 Ericsson Inc Procedes et systemes de reduction de bruit pour sources de signal decalees dans l'espace
DE10116475B4 (de) 2000-04-03 2023-08-03 Panasonic Corporation An einem Fahrzeug montierte Geräuschsteuer/regelvorrichtung
WO2007115875A1 (fr) * 2006-04-10 2007-10-18 Robert Bosch Gmbh Arrangement de restitution de bruits aériens
ES2321266A1 (es) * 2006-08-30 2009-06-03 Robert Bosch Gmbh Disposicion para la compensacion activa del ruido para un sistema de limpiaparabrisas controlado electronicamente de un automovil.
US9020158B2 (en) 2008-11-20 2015-04-28 Harman International Industries, Incorporated Quiet zone control system
EP2352142A2 (fr) 2010-01-30 2011-08-03 MAN Truck & Bus AG Dispositif de compensation du bruit dans un véhicule automobile
DE102010006303A1 (de) 2010-01-30 2011-08-04 MAN Truck & Bus AG, 80995 Geräuschkompensationseinrichtung in einem Kraftfahrzeug
ITUB20160997A1 (it) * 2016-02-23 2017-08-23 Prinoth Spa Sistema di riduzione del rumore per un veicolo cingolato e veicolo cingolato
WO2017145090A3 (fr) * 2016-02-23 2017-11-16 Prinoth S.P.A. Système de réduction de bruit pour véhicule à chenilles, et véhicule à chenilles
CN107921872A (zh) * 2016-02-23 2018-04-17 普瑞诺斯股份公司 用于履带车辆的降噪系统和履带车辆
US11267337B2 (en) 2016-02-23 2022-03-08 Prinoth S.P.A. Noise reducing system for a tracked vehicle and tracked vehicle
CN107921872B (zh) * 2016-02-23 2022-03-22 普瑞诺斯股份公司 用于履带车辆的降噪系统和履带车辆

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