Elastic wave sensor, positioning device, positioning system and positioning method

Abstract

The embodiments of the present disclosure provide an elastic wave sensor, a positioning device, a positioning system and a positioning method. The elastic wave sensor comprises a first piezoelectric sensor, a second piezoelectric sensor and a signal adjusting circuit, wherein: the first piezoelectric sensor is used for converting a detected elastic wave signal into a first charge signal, and the first charge signal is used for a controller to determine whether a collision is detected; the second piezoelectric sensor is used for converting a detected elastic wave signal into a second charge signal and inputting the second charge signal into the signal adjusting circuit; and the signal adjusting circuit is used for converting the second charge signal into a first voltage signal and outputting the first voltage signal through a second output port, wherein the first voltage signal output by the signal adjusting circuit of the current elastic wave sensor is different from the first voltage signal output by the signal adjusting circuit of other elastic wave sensors, and is used for the controller to determine the elastic wave sensor in which the collision is detected, so that the positioning based on the elastic wave sensor is realized by using fewer circuit devices, the implementation is simple, and the cost is saved.

Description

TECHNICAL FIELD

[0001] The embodiments of the present disclosure relate to, but are not limited to, the technical field of sensor, and in particular to an elastic wave sensor, and a positioning device, a positioning system and a positioning method based on the elastic wave sensor. BACKGROUND

[0002] The elastic wave sensor can monitor a collision signal. For example, a plurality of sensors can be arranged at different positions on a vehicle. When a plurality of sensors are arranged on a vehicle, in order to determine which sensor generates a collision, a signal processing circuit needs to be matched for each sensor. SUMMARY

[0003] The technical problem to be solved by the embodiments of the present disclosure is to provide an elastic wave sensor, and a positioning device, a positioning system and a positioning method based on the elastic wave sensor, so as to realize positioning based on the elastic wave sensor with fewer circuit devices, achieve simplicity and save cost.

[0004] In a first aspect, the embodiments of the present disclosure provide an elastic wave sensor, comprising a first piezoelectric sensor, a second piezoelectric sensor and a signal adjustment circuit, wherein:

[0005] The first piezoelectric sensor is configured to detect an elastic wave signal, convert the detected elastic wave signal into a first charge signal, and output the first charge signal through a first output port, wherein the first charge signal is used for a controller to determine whether a collision is detected.

[0006] The second piezoelectric sensor is configured to detect an elastic wave signal, convert the detected elastic wave signal into a second charge signal, and input the second charge signal into the signal adjustment circuit.

[0007] The signal adjustment circuit is configured to convert the second charge signal into a first voltage signal and output the first voltage signal through a second output port, wherein the first voltage signal output by the signal adjustment circuit of the current elastic wave sensor is different from the first voltage signal output by the signal adjustment circuit of other elastic wave sensors, and is used for the controller to determine the elastic wave sensor that detects the collision.

[0008] In an exemplary embodiment, the signal adjustment circuit comprises a first transistor, a second transistor, a first resistor and a second resistor, wherein:

[0009] The control electrode of the first transistor is an input terminal of the signal adjustment circuit, the first electrode of the first transistor is connected with the first end of the first resistor and the control electrode of the second transistor, the second electrode of the first transistor is connected with the first end of the second resistor and a first power supply terminal, the first electrode of the second transistor is connected with the second end of the first resistor and simultaneously as an output terminal of the signal adjustment circuit, and the second electrode of the second transistor is connected with the second end of the second resistor.

[0010] In an example embodiment, the first voltage signal output by the signal adjustment circuit of the current elastic wave sensor is different from the first voltage signal output by the signal adjustment circuit of another elastic wave sensor, comprising:

[0011] The second resistor of the signal adjustment circuit of the current elastic wave sensor is different from the second resistor of the signal adjustment circuit of another elastic wave sensor.

[0012] In an example embodiment, the first transistor is an NMOS transistor and the second transistor is a PMOS transistor.

[0013] In an example embodiment, the first piezoelectric sensor and the second piezoelectric sensor are both piezoelectric ceramic sensors.

[0014] In a second aspect, the embodiments of the present disclosure further provide an elastic wave sensor-based positioning device, comprising a plurality of elastic wave sensors as described above and at least one signal processing circuit, wherein the plurality of elastic wave sensors are respectively connected with the signal processing circuit, and the signal processing circuit comprises a first processing sub-circuit and a second processing sub-circuit.

[0015] The first processing sub-circuit receives signals output by the first output port of the plurality of elastic wave sensors, compares the received signals with reference signals, and outputs comparison results, wherein the comparison results are used for a controller to determine whether an elastic wave sensor detects a collision.

[0016] The second processing sub-circuit receives first voltage signals output by the second output port of the plurality of elastic wave sensors and outputs second voltage signals, wherein the second voltage signals are used for the controller to determine which elastic wave sensor detects a collision.

[0017] In an example embodiment, the first processing sub-circuit comprises a comparator for comparing the received signals with reference signals and outputting comparison signals.

[0018] The second processing sub-circuit comprises a pull-up resistor, wherein the first end of the pull-up resistor is connected with the second output port of the plurality of elastic wave sensors, and the second end of the pull-up resistor is an output terminal of the second processing sub-circuit.

[0019] In a third aspect, the embodiments of the present disclosure further provide a positioning system based on an elastic wave sensor, comprising a positioning device as described above and a controller, the positioning device comprises a plurality of elastic wave sensors and at least one signal processing circuit, the plurality of elastic wave sensors are respectively connected with the signal processing circuit, and the signal processing circuit is connected with the controller, wherein

[0020] The controller is configured to receive the comparison result output by the signal processing circuit, determine whether an elastic wave sensor detects a collision, and determine which elastic wave sensor detects the collision according to the second voltage signal output by the signal processing circuit after determining that an elastic wave sensor detects the collision.

[0021] In an exemplary embodiment, the controller determines which elastic wave sensor detects the collision according to the second voltage signal output by the signal processing circuit, comprising:

[0022] The controller has pre-stored positions of each elastic wave sensor and corresponding second voltage value ranges, and when it is determined that an elastic wave sensor detects the collision, the position of the elastic wave sensor that detects the collision is determined according to the received second voltage value and the pre-stored corresponding relationship between the second voltage value range and the position of the elastic wave sensor.

[0023] In a fourth aspect, the embodiments of the present disclosure further provide a positioning method based on an elastic wave sensor, the elastic wave sensor being an elastic wave sensor as described above, and the method comprising:

[0024] receiving a comparison result output by a signal processing circuit to determine whether an elastic wave sensor detects a collision;

[0025] In response to determining that an elastic wave sensor detects the collision, determining which elastic wave sensor detects the collision according to a second voltage signal output by the signal processing circuit.

[0026] The exemplary embodiments of the present disclosure disclose an elastic wave sensor, a positioning device based on an elastic wave sensor, a positioning system and a positioning method. By arranging a second piezoelectric sensor and a signal adjusting circuit, when the second piezoelectric sensor senses the elastic wave signal generated by the collision, an electric charge signal is generated, which triggers the signal adjusting circuit to output a first voltage signal. Since the first voltage signal generated by the current signal adjusting circuit is different from the first voltage signal output by the signal adjusting circuit of other elastic wave sensors, the controller can determine which elastic wave sensor senses the collision by the voltage signal. Therefore, one controller can monitor multiple elastic wave sensors without additional signal processing circuits, so that the positioning based on the elastic wave sensor is realized by fewer circuit devices, which is simple and cost-saving.

[0027] Other features and advantages of the present application will be set forth in the following description, and in part will be apparent from the description, or can be learned by practice of the application. The objects and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings are included to provide a further understanding of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and serve to explain the principles of the present application, and should not be considered limiting of the present application. The drawings illustrate various embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0029] Figure 1 Structure diagram of an elastic wave sensor according to an embodiment of the present application;

[0030] Figure 2 Structure diagram of a signal adjustment circuit according to an embodiment of the present application;

[0031] Figure 3 Structure diagram of an elastic wave sensor-based positioning device according to an embodiment of the present application;

[0032] Figure 4 Structure diagram of a signal processing circuit according to an embodiment of the present application;

[0033] Figure 5 Structure diagram of an elastic wave sensor-based positioning system according to an embodiment of the present application;

[0034] Figure 6 Flowchart of an elastic wave sensor-based positioning method according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the objects, technical solutions and advantages of the present application clearer, below the embodiments of the present application will be described in detail with reference to the drawings. It should be noted that the embodiments can be implemented in many different forms. One skilled in the art can easily understand that the manners and contents can be changed into various forms without departing from the spirit and scope of the present application. Therefore, the present application should not be interpreted as being limited to the contents described in the following embodiments. The embodiments in the present application and the features in the embodiments can be combined with each other as long as there is no conflict.

[0036] In the drawings, the size, the thickness, or the region of each component is sometimes exaggerated or reduced in order to make the drawing clearer. Therefore, one embodiment of the present disclosure is not necessarily limited to such a scale. The drawings are schematic views showing ideal examples, and the present disclosure is not limited to shapes or values shown in the drawings.

[0037] In the present specification, ordinal terms such as "first", "second", and "third" are used to avoid confusion among components, and are not used to constitute a limitation as to the number thereof in the specification.

[0038] In the present specification, terms of direction or position relationship such as "middle", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like are used to describe the positional relationship of components with reference to the drawings, for the convenience of the description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as a limitation on the present disclosure. The positional relationship of components is appropriately changed according to the direction in which each component is described. Therefore, it is not limited to the terms described in the specification, and can be appropriately changed depending on the situation.

[0039] In the present specification, unless explicitly specified and limited otherwise, the terms "mount", "connected", and "linked" are to be interpreted broadly. For example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate part, or communication inside two elements. The specific meaning of the above terms in the present disclosure can be understood by those skilled in the art according to the specific situation.

[0040] In the present specification, a transistor refers to an element including at least a gate electrode, a drain electrode, and a source electrode. The transistor has a channel region between the drain electrode (a drain electrode terminal, a drain region, or a drain electrode) and the source electrode (a source electrode terminal, a source region, or a source electrode), and current can flow through the drain electrode, the channel region, and the source electrode. Note that in the present specification, the channel region refers to a region where current mainly flows.

[0041] In the present specification, the first electrode can be a drain electrode and the second electrode can be a source electrode, or the first electrode can be a source electrode and the second electrode can be a drain electrode. In the case of using a transistor with opposite polarity or in the case of changing the direction of current in the circuit operation, the functions of "source electrode" and "drain electrode" are sometimes exchanged with each other. Therefore, in the present specification, "source electrode" and "drain electrode" can be exchanged with each other.

[0042] In this specification, "electrical connection" includes the situation where components are connected together by elements that have a certain electrical function. There are no particular limitations on what constitutes an "electrical function," as long as it allows for the transmission and reception of electrical signals between the connected components. Examples of "electrical functions" include not only electrodes and wiring, but also switching elements such as transistors, resistors, inductors, capacitors, and other elements with various functions.

[0043] As mentioned earlier, in related technologies, when multiple sensors are set up, a signal processing circuit needs to be configured for each sensor in order to achieve positioning. Each signal processing circuit is connected to one analog-to-digital (AD) acquisition channel of the microcontroller unit (MCU). In this way, N sensors would require N signal processing circuits and N AD acquisition channels, which is extremely costly.

[0044] Therefore, this disclosure provides an elastic wave sensor 100, such as... Figure 1 As shown, it includes a first piezoelectric sensor 110, a second piezoelectric sensor 120, and a signal conditioning circuit 130, wherein:

[0045] The first piezoelectric sensor 110 is used to detect elastic wave signals, convert the detected elastic wave signals into first charge signals, and output the first charge signals through the first output port. The first charge signals are used by the controller to determine whether a collision has been detected.

[0046] The second piezoelectric sensor 120 is used to detect elastic wave signals, convert the detected elastic wave signals into second charge signals, and input the second charge signals into the signal adjustment circuit 130;

[0047] The signal adjustment circuit 130 is used to convert the second charge signal into a first voltage signal and output it through the second output port. The first voltage signal output by the current elastic wave sensor signal adjustment circuit is different from the first voltage signal output by the signal adjustment circuit of other elastic wave sensors, and is used by the controller to determine the elastic wave sensor that has detected a collision.

[0048] By setting a second piezoelectric sensor and a signal adjustment circuit, when the second piezoelectric sensor senses the elastic wave signal generated by the collision, it generates a charge signal. This charge signal triggers the signal adjustment circuit to output a first voltage signal. Since the first voltage signal generated by the current signal adjustment circuit is different from the first voltage signal output by the signal adjustment circuits of other elastic wave sensors, the controller can determine which elastic wave sensor sensed the collision by using the voltage signal. This allows a single controller to monitor multiple elastic wave sensors simultaneously without additional signal processing circuitry, simplifying implementation and saving costs.

[0049] In the exemplary embodiment, the piezoelectric sensor can be implemented by an existing piezoelectric sensor, such as a piezoelectric ceramic sensor. The first piezoelectric sensor and the second piezoelectric sensor can be the same or different, as long as the elastic wave detection can be achieved.

[0050] In the exemplary embodiment, as shown in FIG. 1, the signal adjustment circuit 130 includes a first transistor Q1, a second transistor Q2, a first resistor R1 and a second resistor R2, wherein: the control electrode of the first transistor Q1 is the input end of the signal adjustment circuit 130, the first electrode of the first transistor Q1 is connected to the first end of the first resistor R1 and the control electrode of the second transistor Q2, the second electrode of the first transistor Q1 is connected to the first end of the second resistor R2 and the first power supply end G1, the first electrode of the second transistor Q2 is connected to the second end of the first resistor R1 and simultaneously as the output end of the signal adjustment circuit 130, and the second electrode of the second transistor Q2 is connected to the second end of the second resistor R2. Figure 2 In the exemplary embodiment, the two-stage transistors are provided to ensure the stability of the second transistor Q2. When the second transistor Q2 is turned on, the output voltage of the signal adjustment circuit is different from that when the second transistor Q2 is turned off. The output voltage value depends on the resistance value of the second resistor R2. Therefore, by changing the resistance value of the second resistor R2 in the signal adjustment circuit of different elastic wave sensors, the voltage values output by the signal adjustment circuits of each elastic wave sensor can be different.

[0051] The above signal adjustment circuit is only an example, and other circuits can be used in other embodiments, as long as the charge signal can be converted into a voltage signal.

[0052] In the exemplary embodiment, the first power supply end G1 can be grounded, for example.

[0053] In the exemplary embodiment, the first transistor Q1 is an NMOS transistor, and the second transistor Q2 is a PMOS transistor.

[0054] In the exemplary embodiment, the first power supply end G1 can be grounded, for example.

[0055] For example, the G grounding, the output of the second piezoelectric sensor 120 is the input of the signal adjustment circuit 130, the charge signal output by the second piezoelectric sensor 120 will drive Q1 to turn on, and R1 will be pulled to the ground. At this time, the second transistor Q2 is in the on state, and the first voltage output by the signal adjustment circuit depends on the second resistor R2. The greater the resistance of R2, the higher the first voltage output. By setting different resistance values for the second resistor R2 in different signal adjustment circuits of different elastic wave sensors, the signal adjustment circuit of each elastic wave sensor can output different voltage values. In this way, the voltage value can be used to determine which signal adjustment circuit of the elastic wave sensor outputs the signal, and in combination with the position of the elastic wave sensor, it can be determined which position has a collision.

[0056] The signal adjustment circuit described in the embodiments of the present disclosure can convert the charge signal output by the second piezoelectric sensor into a voltage signal. By setting different resistance values for the second resistor R2 in each signal adjustment circuit of multiple elastic wave sensors connected to the same controller, the voltage signal output by the signal adjustment circuit of each elastic wave sensor can be different from the voltage signal output by other elastic wave sensors, so that one controller can monitor multiple elastic wave sensors at the same time, saving costs.

[0057] The embodiments of the present disclosure also provide a positioning device based on an elastic wave sensor, as shown in FIG. 3, which includes a plurality of elastic wave sensors 100 as described above and at least one signal processing circuit 200, the plurality of elastic wave sensors are respectively connected to the signal processing circuit 200, and the signal processing circuit 200 includes a first processing sub-circuit 210 and a second processing sub-circuit 220, wherein:

[0058] The first processing sub-circuit 210 receives the signal output by the first output port of the plurality of elastic wave sensors 100, compares the received signal with a reference signal, and outputs a comparison result, which is used by the controller to determine whether an elastic wave sensor detects a collision;

[0059] The second processing sub-circuit 220 receives the first voltage signal output by the second output port of the plurality of elastic wave sensors 100 and outputs a second voltage signal, which is used by the controller to determine which elastic wave sensor detects a collision.

[0060] The positioning device described in the present embodiment has multiple elastic wave sensors connected in parallel to a signal processing circuit, and does not need to set a signal processing circuit for each elastic wave sensor, which can greatly save costs.

[0061] In the exemplary embodiments, as Figure 4As shown, the first processing sub-circuit 210 includes a comparator for comparing the received signal with a reference signal (reference source in the figure) and outputting the compared signal.

[0062] In an exemplary embodiment, the first processing sub-circuit can further include a voltage conversion circuit for converting the received charge signal into a voltage signal and comparing the voltage signal with the reference signal.

[0063] In an exemplary embodiment, as shown in Figure 4 As shown, the second processing sub-circuit 210 includes a pull-up circuit R3, a first end of the pull-up resistor R3 is connected to the second output port of the plurality of elastic wave sensors, and a second end of the pull-up resistor R3 is the output end of the second processing sub-circuit 220. The pull-up resistor R3 is used to supply power for the signal adjustment circuit, and outputs a second voltage signal which is the signal after voltage division of the second resistor and the pull-up resistor.

[0064] In an exemplary embodiment, if the number of elastic wave sensors is greater than a preset number, a plurality of signal processing circuits can be provided, and each signal processing circuit is connected to a plurality of elastic wave sensors.

[0065] The embodiments of the present disclosure also provide an elastic wave sensor-based positioning system, as shown in FIG. 5, which includes a positioning device (a plurality of elastic wave sensors 100 and at least one signal processing circuit 200) as described above and a controller (for example, a micro control unit MCU) 300, the plurality of elastic wave sensors are respectively connected to the signal processing circuit 200, the signal processing circuit 200 is connected to the controller 300, and wherein:

[0066] The controller 300 is configured to receive the comparison result output by the signal processing circuit 200, determine whether there is an elastic wave sensor 100 detecting a collision, and after determining that there is an elastic wave sensor 100 detecting a collision, determine which elastic wave sensor 100 detects a collision according to the second voltage signal output by the signal processing circuit 200.

[0067] For example, a plurality of elastic wave sensors 100 can be arranged at different positions of a vehicle, including but not limited to one or more of the following positions: left side of front bumper, middle of front bumper, right side of front bumper, left side of front door, left side of rear door, right side of front door, right side of rear door, left side of rear bumper, middle of rear bumper, right side of rear bumper. The second resistance value in the signal adjustment circuit of the elastic wave sensor at different positions is different, so that the signal adjustment circuit of the elastic wave sensor at different positions outputs different first voltage values, and since the pull-up resistance in the signal processing circuit is fixed, when the signal processing circuit receives different first voltage values, the second voltage value output by the signal processing circuit is fixed, that is, the second voltage value output by the signal processing circuit is different for different elastic wave sensors. The position of each elastic wave sensor and the corresponding second voltage value (such as voltage range) can be pre-stored in the controller. When it is judged that an elastic wave sensor detects a collision, according to the received second voltage signal and the pre-stored corresponding relationship between the second voltage value and the position of the elastic wave sensor, it can be determined which position of the elastic wave sensor detects the collision, so as to provide an alarm signal for the driver.

[0068] The above is only described by taking the application of the positioning system based on the elastic wave sensor to the vehicle as an example. The positioning system can be applied to other products and scenes that need to detect a collision, which is not limited herein.

[0069] The embodiments of the present disclosure also provide a positioning method based on an elastic wave sensor, as shown in the following steps. Figure 6 The embodiments of the present disclosure also provide a positioning method based on an elastic wave sensor, as shown in the following steps.

[0070] Step 1: receiving the comparison result output by the signal processing circuit 200, and judging whether an elastic wave sensor 100 detects a collision;

[0071] For example, when the difference between the signal output by the first output port of the elastic wave sensor 100 and the reference signal, that is, the comparison result, is greater than a preset threshold, it is considered that an elastic wave sensor detects a collision.

[0072] Step 2: in response to judging that an elastic wave sensor 100 detects a collision, judging which elastic wave sensor 100 detects a collision according to the second voltage signal output by the signal processing circuit 200.

[0073] As described above, since the corresponding relationship between the second voltage signal and the elastic wave sensor at different positions is pre-stored, it can be determined which position of the elastic wave sensor detects a collision according to the received voltage signal value.

[0074] Those skilled in the art can understand that all or some of the steps in the method disclosed above and the functional modules / units in the system and device can be implemented by software, firmware, hardware, or a combination thereof. In a hardware implementation, the division between the functional modules / units referred to in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the components can be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on computer-readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and can include any information delivery media.

[0075] Although the embodiments disclosed by the present disclosure are as described above, the content described is only the embodiments adopted for the purpose of facilitating the understanding of the present disclosure, and is not intended to limit the present disclosure. Any person skilled in the art of the present disclosure can make any modification and change in the form and details without departing from the spirit and scope of the present disclosure, but the patent protection scope of the present application shall be subject to the scope defined by the appended claims.

Claims

1. An elastic wave sensor, characterized in that, It includes a first piezoelectric sensor, a second piezoelectric sensor, and a signal conditioning circuit, wherein: The first piezoelectric sensor is used to detect elastic wave signals, convert the detected elastic wave signals into first charge signals, and output the first charge signals through the first output port. The first charge signals are used by the controller to determine whether a collision has been detected. The second piezoelectric sensor is used to detect elastic wave signals, convert the detected elastic wave signals into a second charge signal, and input the second charge signal into the signal adjustment circuit; The signal adjustment circuit is used to convert the second charge signal into a first voltage signal and output it through the second output port. The first voltage signal output by the current elastic wave sensor's signal adjustment circuit is different from the first voltage signal output by the signal adjustment circuits of other elastic wave sensors, and is used by the controller to determine the elastic wave sensor that has detected a collision.

2. The elastic wave sensor according to claim 1, characterized in that, The signal conditioning circuit includes a first transistor, a second transistor, a first resistor, and a second resistor, wherein: The control terminal of the first transistor is the input terminal of the signal adjustment circuit. The first terminal of the first transistor is connected to the first terminal of the first resistor and the control terminal of the second transistor. The second terminal of the first transistor is connected to the first terminal of the second resistor and the first power supply terminal. The first terminal of the second transistor is connected to the second terminal of the first resistor and also serves as the output terminal of the signal adjustment circuit. The second terminal of the second transistor is connected to the second terminal of the second resistor.

3. The elastic wave sensor according to claim 2, characterized in that, The first voltage signal output by the signal conditioning circuit of the current elastic wave sensor is different from the first voltage signal output by the signal conditioning circuit of other elastic wave sensors, including: The second resistor of the signal conditioning circuit of the current elastic wave sensor is different from the second resistor of the signal conditioning circuit of other elastic wave sensors.

4. The elastic wave sensor according to claim 2, characterized in that, The first transistor is an NMOS transistor, and the second transistor is a PMOS transistor.

5. The elastic wave sensor according to claim 1, characterized in that, Both the first piezoelectric sensor and the second piezoelectric sensor are piezoelectric ceramic sensors.

6. A positioning device based on an elastic wave sensor, characterized in that, The system includes a plurality of elastic wave sensors as described in any one of claims 1-5, and at least one signal processing circuit, wherein the plurality of elastic wave sensors are respectively connected to the signal processing circuit, and the signal processing circuit includes a first processing sub-circuit and a second processing sub-circuit, wherein: The first processing sub-circuit receives signals output from the first output ports of the plurality of elastic wave sensors, and compares the received signals with a reference signal, outputting a comparison result. The comparison result is used by the controller to determine whether an elastic wave sensor has detected a collision. The second processing sub-circuit receives a first voltage signal from the second output port of the plurality of elastic wave sensors and outputs a second voltage signal. The second voltage signal is used by the controller to determine which elastic wave sensor detected the collision.

7. The positioning device according to claim 6, characterized in that, The first processing sub-circuit includes a comparator for comparing the received signal with a reference signal and outputting the compared signal; The second processing sub-circuit includes a pull-up resistor. The first end of the pull-up resistor is connected to the second output port of the plurality of elastic wave sensors, and the second end of the pull-up resistor is the output terminal of the second processing sub-circuit.

8. A positioning system based on an elastic wave sensor, characterized in that, Including the positioning device and controller as described in claim 6 or 7, the positioning device includes a plurality of elastic wave sensors and at least one signal processing circuit, the plurality of elastic wave sensors being respectively connected to the signal processing circuit, and the signal processing circuit being connected to the controller, wherein, The controller is used to receive the comparison result output by the signal processing circuit, determine whether an elastic wave sensor has detected a collision, and after determining that an elastic wave sensor has detected a collision, determine which elastic wave sensor has detected the collision based on the second voltage signal output by the signal processing circuit.

9. The positioning system according to claim 8, characterized in that, The controller determines which elastic wave sensor detected the collision based on the second voltage signal output by the signal processing circuit, including: The controller pre-stores the position of each elastic wave sensor and the corresponding range of second voltage values. When it is determined that an elastic wave sensor has detected a collision, it determines which elastic wave sensor at which position detected the collision based on the received second voltage value and the pre-stored correspondence between the range of second voltage values ​​and the position of the elastic wave sensor.

10. A positioning method based on an elastic wave sensor, characterized in that, The elastic wave sensor is an elastic wave sensor as described in any one of claims 1-5, and the method includes: The comparison result output by the receiving signal processing circuit is used to determine whether an elastic wave sensor has detected a collision. In response to the determination that an elastic wave sensor has detected a collision, the system determines which elastic wave sensor has detected the collision based on the second voltage signal output by the signal processing circuit.

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