Positioning method and positioning device

Abstract

A positioning method and a positioning device (20). The positioning device (20) may comprise a transducer module (10, 10a, 10b, 10c, 10d, 10e); the transducer module (10, 10a, 10b, 10c, 10d, 10e) may comprise a plurality of transducers (11, 12, 41, 42, 43, 51, 52, 53) sharing the same piezoelectric material piece (110, 210, 310, 410, 510); the plurality of transducers (11, 12, 41, 42, 43, 51, 52, 53) may be used for receiving a sound signal emitted by a sound source (S, S1); on the basis of the sound signal received by the plurality of transducers (11, 12, 41, 42, 43, 51, 52, 53), the positioning device may determine the position of the sound source (S, S1). The effective working area of the plurality of transducers (11, 12, 41, 42, 43, 51, 52, 53) sharing the same piezoelectric material is larger, and the larger effective working area enables the transducers (11, 12, 41, 42, 43, 51, 52, 53) to receive sound signals of lower frequencies. In the process of positioning the sound source (S, S1), the positioning device (20) can use a low sampling frequency to sample sound signals of low frequencies, such that the amount of data that needs to be processed per unit time is smaller, and power consumption is lower. The transducer module (10, 10a, 10b, 10c, 10d, 10e) can be applied to positioning devices having limited accommodating spaces, and the accuracy of using the transducer module (10, 10a, 10b, 10c, 10d, 10e) to position the sound source (S, S1) is higher.

Description

Positioning methods and positioning devices

[0001] This application claims priority to Chinese Patent Application No. 202410911723.0, filed on July 8, 2024, entitled "Method and Apparatus for Positioning", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of terminal device hardware, and more specifically, to a positioning method and positioning device. Background Technology

[0003] In diving scenarios, underwater positioning is crucial for completing underwater operations and other diving activities. In emergencies, timely location of divers is a prerequisite for initiating effective rescue operations. Under normal circumstances, divers can use portable positioning devices for underwater positioning, but positioning devices that are too bulky or consume too much power are not suitable for prolonged use during underwater operations.

[0004] How to achieve underwater positioning functionality within a device with limited size, and how to perform underwater positioning efficiently, is a problem worth considering. Summary of the Invention

[0005] This application provides a positioning method and a positioning device. The transducer module in the positioning device may include multiple transducers sharing the same piezoelectric material sheet. Multiple transducers can have a larger effective working area. The multiple transducers in this transducer module can receive sound signals and locate the sound source based on the received sound signals. The transducer module is suitable for small-sized positioning devices, and the power consumption is low during underwater positioning.

[0006] In a first aspect, a positioning method is provided, applied to a positioning device, the positioning device including a transducer module, the transducer module including a piezoelectric material sheet, a first electrode pair and a second electrode pair, the first electrode pair and the second electrode pair being spaced apart and both located on the piezoelectric material sheet, the first electrode pair and a first portion of the piezoelectric material sheet forming a first transducer, the second electrode pair and a second portion of the piezoelectric material sheet forming a second transducer, the method including: the first transducer receiving a first sound signal from a sound source; the second transducer receiving a second sound signal from the sound source; and determining that the sound source is located in a first space based on the first sound signal and the second sound signal.

[0007] In one possible implementation, the piezoelectric material sheet can be in sheet, block, plate, or film form, etc.

[0008] In one possible implementation, the first electrode pair may include an upper electrode and a lower electrode, and a first portion of the piezoelectric material may be the portion sandwiched between the upper and lower electrodes of the first electrode pair. Similarly, a second portion of the piezoelectric material may refer to the portion sandwiched between the upper and lower electrodes of the second electrode pair.

[0009] In some scenarios, the first space can refer to the precise location of the sound source, such as the location indicated by the longitude, latitude, and depth of the sound source, or the location indicated by the coordinates of the sound source relative to the positioning device. In other scenarios, the first space can refer to the ambiguous location of the sound source, such as the sound source being located in the upper left front of the positioning device.

[0010] In this technical solution, multiple transducers in the transducer module share the same piezoelectric material sheet. Each transducer has a relatively large effective working area. Transducers with larger effective working areas can receive sound signals of lower frequencies. Correspondingly, in the process of using sound signals to locate the sound source, the sampling frequency of the positioning device is lower, the number of signals to be processed is less, and the energy consumption of the positioning device is lower. This is beneficial to improving the energy utilization efficiency of the positioning device in diving scenarios and improving the safety of users working underwater.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, determining that the sound source is located in the first space based on the first sound signal and the second sound signal includes: determining that the sound source is located in the first space based on the difference between the first sound signal and the second sound signal, wherein the difference includes one or more of the following: difference in arrival time, difference in arrival intensity, or difference in arrival phase.

[0012] One possibility is that the transducer module may contain multiple transducers with essentially the same effective working area and performance. In this case, the positioning device can locate the sound source by utilizing the differences in the sound signals received by the multiple transducers.

[0013] One possibility is that the transducer module may contain multiple transducers with different performance (e.g., effective working area). In this case, the positioning device can locate the sound source based on the differences in the performance of different transducers and the differences in the sound signals received by different transducers.

[0014] In one possible implementation, the positioning device can also locate the sound source by combining the distance between different transducers and the differences in the sound signals received by different transducers.

[0015] This technical solution provides a variety of methods that can be used to perform sound source localization, which is beneficial to the realization of the localization method and localization device provided in this application, and helps to improve the adaptability of the localization method and localization device in different scenarios.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the effective working area S1 of the first transducer and the effective working area S2 of the second transducer satisfy: |S1-S2|≤σ1, σ1≥0.

[0017] In some scenarios, the effective working area of ​​a transducer can refer to the area of ​​the transducer capable of energy conversion. For example, if the piezoelectric material sheet of the transducer is large enough, the effective working area of ​​the transducer can refer to the area of ​​the overlapping portion between the projections of the upper and lower electrodes of the transducer onto the piezoelectric material sheet.

[0018] For example, the threshold σ1 here can be 0.1×S1 or 0.05×S2, etc.

[0019] Having the effective working areas of the two transducers as equal as possible helps to reduce the difference in sound signals received by different transducers due to performance differences, and helps to improve the accuracy of sound source localization using the localization method provided in this application.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the first electrode pair and the second electrode pair are arranged symmetrically.

[0021] Here, the symmetrical arrangement of the first electrode pair and the second electrode pair may include: the shape of the electrode in the first electrode pair is the same as the shape of the electrode in the second electrode pair, the area of ​​the electrode in the first electrode pair is the same as the area of ​​the electrode in the second electrode pair, and the positions of the electrodes in the first electrode pair and the electrodes in the second electrode pair on the piezoelectric material sheet are symmetrical.

[0022] For example, the first electrode pair and the second electrode pair are axially symmetric, for instance, the first electrode pair and the second electrode pair may be axially symmetric about the axis of symmetry of the piezoelectric material sheet.

[0023] For example, the first electrode pair and the second electrode pair are centrally symmetrical, for instance, the first electrode pair and the second electrode pair may be centrally symmetrical about the center of symmetry of the piezoelectric material sheet.

[0024] For example, the upper electrode of the first electrode pair and the lower electrode of the second electrode pair are centrally symmetric about the symmetry of the piezoelectric material sheet, and the lower electrode of the first electrode pair and the upper electrode of the second electrode pair are centrally symmetric about the symmetry of the piezoelectric material sheet.

[0025] The symmetrical arrangement of the first electrode pair and the second electrode pair helps to reduce the difference between the effective working area of ​​the first transducer and the effective area of ​​the second transducer, which helps to improve the accuracy of sound source localization using the localization method provided in this application.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the transducer module further includes a third electrode pair, wherein the first electrode pair, the second electrode pair, and the third electrode pair are spaced apart and are all located on a piezoelectric material sheet, and the third electrode pair and a third part of the piezoelectric material sheet constitute a third transducer. The method further includes: the third transducer receiving a third sound signal from a sound source; determining that the sound source is located in a first space based on the first sound signal and the second sound signal, including: determining that the sound source is located in the first space based on the first sound signal, the second sound signal, and the third sound signal.

[0027] In this technical solution, the positioning device can use the sound signals received by the three transducers on the transducer module to locate the sound source. Compared with using the sound signals received by only two transducers to locate the sound source, this solution has a higher accuracy in locating the sound source.

[0028] In conjunction with the first aspect, in certain implementations of the first aspect, determining that a sound source is located in a first space based on a first sound signal, a second sound signal, and a third sound signal includes: correcting the first sound signal and / or the second sound signal using the third sound signal; determining that the sound source is located in the first space based on the corrected first sound signal and the corrected second sound signal; or, determining that the sound source is located in the first space based on the first sound signal and the corrected second sound signal; or, determining that the sound source is located in the first space based on the corrected first sound signal and the second sound signal.

[0029] One possibility is that the three transducers on the transducer module are located on the same straight line. Another possibility is that the three transducers on the transducer module are not located on the same straight line. For example, here, the three transducers being located on the same straight line can be understood as the geometric centers of the three transducers being located on the same straight line.

[0030] Using the sound signal received by the third transducer to correct the first sound signal and / or the second sound signal helps improve the accuracy and efficiency of the positioning device in locating the sound source.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the first transducer, the second transducer, and the third transducer are not located on the same straight line. Determining that the sound source is located in the first space based on the first sound signal, the second sound signal, and the third sound signal includes: determining the position of the sound source based on the arrival phase difference between the first sound signal, the second sound signal, and the third sound signal, wherein the position is located in the first space.

[0032] Here, the location of the sound source can refer to the precise location of the sound source, such as the longitude, latitude, and depth of the sound source, or the coordinates of the sound source relative to the positioning device.

[0033] In one possible implementation, the positioning device can determine the location of the sound source by combining the distance between the three transducers and the arrival phase difference of the three sound signals.

[0034] In this technical solution, the positioning device can determine the accurate location of the sound source by using the arrival phase difference of the three sound signals received by the three transducers, which is beneficial to improving the accuracy and efficiency of the positioning device in locating the sound source.

[0035] In conjunction with the first aspect, in some implementations of the first aspect, the effective working area S3 of the third transducer and the effective working area S1 of the first transducer satisfy: |S1-S3|≤σ2, σ2≥0.

[0036] In some scenarios, the above scheme can also be understood as minimizing the difference between the effective working area of ​​the third transducer and the effective working area of ​​the first transducer (or the effective working area of ​​the second transducer).

[0037] In this technical solution, the effective working areas of the three transducers are as equal as possible, which helps to reduce the difference in sound signals received by different transducers due to the difference in effective working areas, and helps to improve the accuracy of sound source localization of the positioning method provided in this application.

[0038] In conjunction with the first aspect, in some implementations of the first aspect, the first electrode pair, the second electrode pair, and the third electrode pair are arranged in a centrally symmetrical manner.

[0039] The central symmetry of the three electrode pairs can be understood as the three electrode pairs having basically the same shape and size, and the positions of the three electrode pairs being roughly centrally symmetrical.

[0040] In this technical solution, three electrode pairs are centrally symmetrically distributed on a piezoelectric material sheet. The performance of the three transducers, including these three electrode sheets, is basically the same. The implementation of this technical solution is beneficial to improving the efficiency of the positioning device in locating sound sources.

[0041] In conjunction with the first aspect, in some implementations of the first aspect, when the first transducer receives the first sound signal, the positioning device is located in a first position and / or in a first orientation, the method further includes: when the positioning device is located in a second position and / or in a second orientation, the first transducer receives a fourth sound signal from the sound source, and the second transducer receives a fifth sound signal from the sound source; determining that the sound source is located in a second space based on the fourth sound signal and the fifth sound signal, wherein the first space includes the second space.

[0042] In some scenarios, positioning the device in a first position and / or in a first orientation can also be understood as positioning the device in a first state, and positioning the device in a second position and / or in a second orientation can also be understood as positioning the device in a second state.

[0043] In this technical solution, the sound source can be located multiple times by adjusting the position and orientation of the positioning device. Based on the results of multiple positioning, a more accurate position of the sound source can be determined. The implementation of this technical solution is beneficial to improving the accuracy of sound source positioning using the positioning method provided in this application.

[0044] In conjunction with the first aspect, in some implementations of the first aspect, one of the first position and the second position is in front of the user, and the other is behind the user; one of the first orientation and the second orientation is the orientation of the positioning device when the piezoelectric material sheet is parallel to the horizontal plane, and the other is the orientation of the positioning device when the piezoelectric material sheet is perpendicular to the horizontal plane.

[0045] For example, "in front of the user" can refer to the area in front of the user's chest and near the lungs. Alternatively, "in front of the user" can refer to the front of the buoyancy control device worn by the user, and "behind the user" can refer to the rear of the buoyancy control device.

[0046] One possibility is that the positioning device may also include multiple sensors such as gyroscopes and inertial measurement units, and the positioning device may combine one or more of these sensors to determine the position and orientation of the positioning device.

[0047] Here, the orientation of the positioning device can also be understood as the direction the positioning device is facing. For example, the positioning device may include a display screen, in which case the orientation of the positioning device can be understood as the direction the display screen is facing.

[0048] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: determining the depth of the sound source and / or the distance between the sound source and the positioning device based on the first sound signal and / or the second sound signal.

[0049] One possibility is that the sound signal emitted by the sound source can carry the depth information of the sound source, and the positioning device can obtain the depth information based on the sound signal received from the sound source.

[0050] One possibility is that the positioning device can determine the distance between the sound source and the positioning device based on the time it takes for the sound signal to reach the positioning device after it is emitted from the sound source and the speed at which the sound signal travels in the environment.

[0051] In this technical solution, the positioning device can also use the received sound signals to determine the depth and distance information of the sound source, which is beneficial to improving the accuracy and efficiency of the positioning device in locating the sound source.

[0052] In conjunction with the first aspect, in some implementations of the first aspect, the positioning device further includes a reference sensor, which includes one or more of the following: a microphone, an optical fiber hydrophone, or a depth pressure sensor, which determines that the sound source is located in the first space based on the first sound signal and the second sound signal, and further includes: determining that the sound source is located in the first space based on the first sound signal, the second sound signal, and the reference sensor.

[0053] For example, the reference sensor may also include a micro-electromechanical system hydrophone.

[0054] In some scenarios, microphones and fiber optic hydrophones can also be understood as a type of transducer.

[0055] The various sensors in the above scheme can all detect sound signals. The positioning device can combine the various sensors it contains to determine the location of the sound source, which helps to improve the accuracy of the positioning device in locating the sound source.

[0056] In a second aspect, a positioning device is provided, comprising: a transducer module and a processor. The transducer module includes a piezoelectric material sheet, a first electrode pair and a second electrode pair, wherein the first electrode pair and the second electrode pair are spaced apart and are both located on the piezoelectric material sheet. The first electrode pair and a first portion of the piezoelectric material sheet constitute a first transducer, and the second electrode pair and a second portion of the piezoelectric material sheet constitute a second transducer. The transducer module is configured to receive sound signals from a sound source and convert the sound signals into at least two sets of electrical signals. The processor is configured to determine the location of the sound source based on the at least two sets of electrical signals.

[0057] In one possible implementation, the piezoelectric material sheet can be in sheet, block, plate, or film form, etc.

[0058] In one possible implementation, the first electrode pair may include an upper electrode and a lower electrode, and a first portion of the piezoelectric material may be the portion sandwiched between the upper and lower electrodes of the first electrode pair. Similarly, a second portion of the piezoelectric material may refer to the portion sandwiched between the upper and lower electrodes of the second electrode pair.

[0059] In this technical solution, multiple transducers in the transducer module share the same piezoelectric material sheet. Each transducer has a relatively large effective working area. Transducers with larger effective working areas can receive sound signals of lower frequencies. Correspondingly, in the process of using sound signals to locate the sound source, the sampling frequency of the positioning device is lower, the number of signals to be processed is less, and the energy consumption of the positioning device is lower. This is beneficial to improving the energy utilization efficiency of the positioning device in diving scenarios and improving the safety of users working underwater.

[0060] In conjunction with the second aspect, in some implementations of the second aspect, the effective working area S1 of the first transducer and the effective working area S2 of the second transducer satisfy: |S1-S2|≤σ1, σ1≥0.

[0061] In some scenarios, the effective working area of ​​a transducer can refer to the area of ​​the transducer capable of energy conversion. For example, if the piezoelectric material sheet of the transducer is large enough, the effective working area of ​​the transducer can refer to the area of ​​the overlapping portion between the projections of the upper and lower electrodes of the transducer onto the piezoelectric material sheet.

[0062] For example, the threshold σ1 here can be 0.1×S1 or 0.05×S2, etc.

[0063] Having the effective working areas of the two transducers as equal as possible helps to reduce the difference in sound signals received by different transducers due to performance differences, and helps to improve the accuracy of sound source localization using the localization method provided in this application.

[0064] In conjunction with the second aspect, in some implementations of the second aspect, the first electrode pair is symmetrically arranged with the second electrode.

[0065] Here, the symmetrical arrangement of the first electrode pair and the second electrode pair may include: the shape of the electrode in the first electrode pair is the same as the shape of the electrode in the second electrode pair, the area of ​​the electrode in the first electrode pair is the same as the area of ​​the electrode in the second electrode pair, and the positions of the electrodes in the first electrode pair and the electrodes in the second electrode pair on the piezoelectric material sheet are symmetrical.

[0066] For example, the first electrode pair and the second electrode pair are axially symmetric, for instance, the first electrode pair and the second electrode pair may be axially symmetric about the axis of symmetry of the piezoelectric material sheet.

[0067] For example, the first electrode pair and the second electrode pair are centrally symmetrical, for instance, the first electrode pair and the second electrode pair may be centrally symmetrical about the center of symmetry of the piezoelectric material sheet.

[0068] For example, the upper electrode of the first electrode pair and the lower electrode of the second electrode pair are centrally symmetric about the symmetry of the piezoelectric material sheet, and the lower electrode of the first electrode pair and the upper electrode of the second electrode pair are centrally symmetric about the symmetry of the piezoelectric material sheet.

[0069] The symmetrical arrangement of the first electrode pair and the second electrode pair helps to reduce the difference between the effective working area of ​​the first transducer and the effective area of ​​the second transducer, which helps to improve the accuracy of the sound source localization of the localization method provided in this application.

[0070] In conjunction with the second aspect, in some implementations of the second aspect, the transducer module further includes a third electrode pair, wherein the first electrode pair, the second electrode pair and the third electrode pair are spaced apart and are all located on the piezoelectric material sheet, and the third electrode pair and the third part of the piezoelectric material sheet constitute a third transducer.

[0071] In this technical solution, the positioning device can use the sound signals received by the three transducers on the transducer module to locate the sound source. Compared with using the sound signals received by only two transducers to locate the sound source, this solution has a higher accuracy in locating the sound source.

[0072] In conjunction with the second aspect, in some implementations of the second aspect, the effective working area S3 of the third transducer and the effective working area S1 of the first transducer satisfy: |S1-S3|≤σ2, σ2≥0.

[0073] In some scenarios, the above scheme can also be understood as minimizing the difference between the effective working area of ​​the third transducer and the effective working area of ​​the first transducer (or the effective working area of ​​the second transducer).

[0074] In this technical solution, the effective working areas of the three transducers are as equal as possible, which helps to reduce the difference in sound signals received by different transducers due to the difference in effective working areas, and helps to improve the accuracy of sound source localization of the localization method provided in this application.

[0075] In conjunction with the second aspect, in some implementations of the second aspect, the first electrode pair, the second electrode pair, and the third electrode pair are arranged in a centrally symmetrical manner.

[0076] The central symmetry of the three electrode pairs can be understood as the three electrode pairs having basically the same shape and size, and the positions of the three electrode pairs being roughly centrally symmetrical.

[0077] In this technical solution, three electrode pairs are centrally symmetrically distributed on a piezoelectric material sheet. The performance of the three transducers, including these three electrode sheets, is basically the same. The implementation of this technical solution is beneficial to improving the efficiency of the positioning device in locating sound sources.

[0078] In conjunction with the second aspect, in some implementations of the second aspect, the positioning device further includes a housing and a propagation medium, with the transducer module and processor located in a receiving cavity enclosed by the housing, the transducer module being disposed close to the inner wall of the housing, and the propagation medium being located between the transducer module and the inner wall of the housing.

[0079] In conjunction with the second aspect, in some implementations of the second aspect, the acoustic impedance R1 of the propagation medium and the acoustic impedance R2 of the shell satisfy: |R1-R2|≤σ3, where σ3≥0.

[0080] This technical solution can also be understood as minimizing the difference in acoustic impedance between the propagation medium and the shell.

[0081] When a sound signal passes through the interface between the propagation medium and the shell, the smaller the difference in acoustic impedance between the propagation medium and the shell, the higher the transmittance of the sound signal through the interface. In other words, the implementation of this technical solution is beneficial to reducing the loss of the sound signal during the propagation process between the sound source and the positioning device, to increasing the intensity of the sound signal received by the positioning device, and to improving the accuracy of the positioning device in locating the sound source using the sound signal.

[0082] In conjunction with the second aspect, in some implementations of the second aspect, the shell includes a first functional layer and a second functional layer, wherein the acoustic impedance R21 of the first functional layer and the acoustic impedance R22 of the second functional layer satisfy: |R21-R22|≤σ4, where σ4>0.

[0083] One possibility is that the first functional layer and the second functional layer can contain different materials.

[0084] This technical solution can also be understood as: minimizing the difference in acoustic impedance between the first functional layer and the second functional layer.

[0085] When a sound signal passes through the interface between the first functional layer and the second functional layer, the smaller the difference in acoustic impedance between the first functional layer and the second functional layer, the higher the transmittance of the sound signal through the interface between them. In other words, the implementation of this technical solution is beneficial to reducing the loss of the sound signal during its propagation between the sound source and the positioning device, to increasing the intensity of the sound signal received by the positioning device, and to improving the accuracy of the positioning device in locating the sound source using the sound signal.

[0086] In conjunction with the second aspect, in some implementations of the second aspect, the transmittance Tr of the positioning device for the sound signal satisfies: Tr≥σ5, σ5>0, and Tr is determined according to R1, R21 and R22.

[0087] One possibility is that the first functional layer and the propagation medium are located on opposite sides of the second functional layer.

[0088] For example, the transmittance of the sound signal at the interface between the first functional layer and the second functional layer is Tr1, and the transmittance of the sound signal at the interface between the second functional layer and the propagation medium is Tr2. The transmittance Tr of the sound signal by the positioning device can be determined based on the aforementioned Tr1 and Tr2.

[0089] One possible scenario is that...

[0090] In conjunction with the second aspect, in some implementations of the second aspect, the transducer module is bonded to the inner wall of the housing by an adhesive material.

[0091] Using adhesive materials to bond transducer modules simplifies the processing and installation of the positioning device. Compared to using liquid materials as the transmission medium, this solution eliminates the risk of leakage, reduces the chance of electronic components inside the positioning device being contaminated by liquid materials, and ensures high reliability of the positioning device's function.

[0092] In conjunction with the second aspect, in some implementations of the second aspect, the propagation medium includes a liquid material, the inner wall of the housing includes a receiving tank, the liquid material is located in the receiving tank, the transducer module is covered on the receiving tank, and the side of the transducer module facing the receiving tank is in contact with the liquid material.

[0093] Using liquid materials as the propagation medium is beneficial for achieving acoustic impedance matching between the shell and the propagation medium, and for improving the transmittance of the positioning device for sound signals.

[0094] The implementation of this technical solution is conducive to improving the utilization rate of the internal space of the positioning device and reducing the space occupied by components such as transducer modules.

[0095] In conjunction with the second aspect, in some implementations of the second aspect, the processor is also configured to apply the same voltage signal to the first electrode pair and the second electrode pair; the transducer module is also configured to convert the voltage signal into a sound signal.

[0096] In one possible implementation, the first electrode pair is connected in parallel with the second electrode pair. Alternatively, the first transducer and the second transducer are connected in parallel.

[0097] The transducer module in the positioning device can also be used to emit sound signals. In other words, the sound source emitting the sound signal in the technical solution provided in this application can also be other devices with a similar structure to the positioning device. The implementation of this technical solution is beneficial for enriching the functions of the positioning device and expanding its application range.

[0098] One possibility is that the positioning device may include multiple transducer modules as described above. At least one of these transducer modules can be used to receive sound signals emitted by a sound source and use the sound signals to locate the sound source. At least one of these transducer modules can also be used to emit sound signals, for example, to communicate with other devices using the emitted sound signals.

[0099] In conjunction with the second aspect, in some implementations of the second aspect, the positioning device further includes a waterborne positioning module, which is used to perform waterborne positioning of the positioning device.

[0100] In some scenarios, positioning devices can be used in conjunction with airbags; for example, positioning devices can act as buoy relays.

[0101] When the positioning device includes a waterborne positioning module, the positioning device can perform underwater positioning using the transducer module or waterborne positioning using the waterborne positioning module. The implementation of this technical solution is conducive to expanding the application range of the positioning device and improving the user experience.

[0102] In conjunction with the second aspect, in some implementations of the second aspect, the positioning device further includes a communication module for transmitting the location of the sound source.

[0103] In one possible implementation, the communication module can be used to transmit the location of the sound source to the rescue vessel. In another possible implementation, the communication module can also transmit information contained in the sound signal, such as the depth of the sound source and the vital signs of the user at the sound source, to the rescue vessel.

[0104] Thirdly, a wearable device is provided, including the positioning device of the second aspect and any possible implementation thereof.

[0105] In one possible implementation, the wearable device can be a watch or a bracelet, and the transducer module and processor in the positioning device can be located inside the watch or bracelet.

[0106] Fourthly, a positioning method is provided, applied to an electronic device, which determines the location of a sound source based on a sound signal. The method includes: displaying a first prompt message when the electronic device is in a first posture and / or a first position, the first prompt message indicating that the sound source is located in a first space; detecting a target operation that changes the posture and / or position of the electronic device; and displaying a second prompt message when the electronic device is in a second posture and / or a second position, the second prompt message indicating that the sound source is located in a subspace of the first space.

[0107] In conjunction with the fourth aspect, in some implementations of the fourth aspect, one of the first and second positions is the user's chest, and the other is the user's back.

[0108] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the subspace of the first space is the upper space or the lower space of the first space, or the subspace of the first space is the left space or the right space of the first space, or the subspace of the first space is the front space or the rear space of the first space.

[0109] Fifthly, a positioning device is provided, which may include modules for implementing the methods of the first aspect and any possible implementation thereof, or the fourth aspect and any possible implementation thereof.

[0110] In a sixth aspect, an electronic device is provided, comprising a processor and a memory for storing program instructions, the processor for executing the program instructions to implement the methods of the first aspect and any possible implementation thereof, or the fourth aspect and any possible implementation thereof.

[0111] In a seventh aspect, a computer program product is provided, comprising computer program code that, when executed on a computer, causes the methods in the first aspect and any possible implementation thereof, or the fourth aspect and any possible implementation thereof, to be performed.

[0112] Eighthly, a computer-readable storage medium is provided that stores computer program code, which, when run on a computer, causes the methods in the first aspect and any possible implementation thereof, or the fourth aspect and any possible implementation thereof, to be executed.

[0113] A ninth aspect provides a chip including a processor for reading instructions stored in a memory, wherein when the processor executes the instructions, the chip implements the methods of the first aspect and any possible implementation thereof, or the fourth aspect and any possible implementation thereof. Attached Figure Description

[0114] Figure 1 is a schematic diagram of a positioning scenario provided in an embodiment of this application.

[0115] Figure 2 is a structural schematic diagram of a transducer module provided in an embodiment of this application.

[0116] Figure 3 is a schematic diagram of another transducer module provided in an embodiment of this application.

[0117] Figure 4 is a structural schematic diagram of another transducer module provided in an embodiment of this application.

[0118] Figure 5 is a structural schematic diagram of another transducer module provided in an embodiment of this application.

[0119] Figure 6 is a structural schematic diagram of another transducer module provided in an embodiment of this application.

[0120] Figures 7 and 8 are schematic diagrams illustrating the principle of positioning via transducer modules according to embodiments of this application.

[0121] Figures 9 and 10 are schematic diagrams illustrating another principle of positioning via transducer modules provided in the embodiments of this application.

[0122] Figure 11 is a schematic diagram of another principle of positioning by transducer module provided in an embodiment of this application.

[0123] Figure 12 is a schematic diagram of the structure of a positioning device provided in an embodiment of this application.

[0124] Figure 13 is a schematic diagram of another bit device provided in an embodiment of this application.

[0125] Figure 14 is a schematic diagram of another bit device provided in an embodiment of this application.

[0126] Figure 15 is a schematic diagram of a wearable electronic device provided in an embodiment of this application.

[0127] Figure 16 is a schematic diagram of a water surface marking buoy provided in an embodiment of this application.

[0128] Figure 17 is a schematic diagram of a positioning method provided in an embodiment of this application.

[0129] Figures 18 to 42 are schematic diagrams of the graphical user interface provided in the embodiments of this application.

[0130] Figure 43 is a schematic diagram of the positioning device provided in an embodiment of this application.

[0131] Figure 44 is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0132] The embodiments of this application are described in detail below, and examples of these embodiments are illustrated in the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0133] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. In the description of this application, it should be understood that the terms “center,” “longitudinal,” “lateral,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0134] In the embodiments of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more, and "at least one" and "one or more" refer to one, two, or more than two. The singular expressions "a," "an," "the," "the," "this," and "this" are intended to also include expressions such as "one or more," unless the context explicitly indicates otherwise.

[0135] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0136] In underwater operations such as underwater video and photography, recreational diving, and submarine rescue, timely location information for divers is crucial for ensuring personnel safety. For example, in Figure 1, the rescue vessel RV needs to be able to obtain the location information of divers DV-1 and DV-2 so that the RV can provide timely assistance should either divers encounter danger or call for help. Furthermore, to improve the ability to handle emergencies, divers can work in buddy pairs. In Figure 1, divers DV-1 and DV-2 working in buddy pairs need to be able to obtain each other's location information. Finally, before divers DV-1 and DV-2 complete their work and begin their return to the rescue vessel RV, they also need to be able to obtain the RV's location.

[0137] Due to the significant attenuation of high-frequency electromagnetic waves during underwater propagation, terrestrial positioning systems such as BeiDou and GPS are unsuitable for underwater positioning scenarios. Generally, the person to be located (e.g., diver DV-2) or the object to be located (e.g., rescue vessel RV) can emit sound waves, which can then be used to locate them. For example, diver DV-2 can emit sound waves by striking a portable object (e.g., a metal rod, air cylinder). Alternatively, diver DV-2 can emit sound waves using a portable positioning device (e.g., a wearable device).

[0138] In some scenarios, the aforementioned acoustic signals can also be referred to as sound signals, underwater acoustic signals, etc.

[0139] To reduce the size of the sound signal emitting positioning device and improve the efficiency of underwater positioning, this application provides a transducer module. This transducer module can include multiple transducers sharing the same piezoelectric material sheet. These transducers can both receive sound signals from the environment and emit sound signals that can propagate underwater under an applied voltage. In other words, the positioning device including the aforementioned transducer module can function as a receiving device, receiving sound signals from the environment and locating the sound source based on the received sound signals, or as a transmitting device, emitting sound signals into the environment.

[0140] Figure 2 shows a structural schematic diagram of a transducer module 10a provided in an embodiment of this application. Schematic diagram 2-1 is a front view of the transducer module 10a, schematic diagram 2-2 is a cross-sectional view of the transducer module 10a, and schematic diagram 2-3 is a rear view of the transducer module 10a.

[0141] In some examples, transducer module 10a may include a piezoelectric material sheet 110, an upper electrode sheet 121, an upper electrode sheet 123, a lower electrode sheet 125, and a lower electrode sheet 127. Upper electrode sheets 121 and 123 are located on the connecting surface 111 of the piezoelectric material sheet 110, and lower electrode sheets 125 and 127 are located on the connecting surface 113 of the piezoelectric material sheet 110. The connecting surface 111 and 113 are two surfaces of the piezoelectric material sheet 110 that are disposed opposite to each other.

[0142] Exemplarily, the piezoelectric material sheet 110 can be generally circular, and the upper electrode sheet 121, upper electrode sheet 123, lower electrode sheet 125, and lower electrode sheet 127 can be generally fan-shaped. In some scenarios, the upper electrode sheet 121, the lower electrode sheet 125, and a portion of the piezoelectric material sheet 110 sandwiched between them can constitute a transducer 11. Similarly, the upper electrode sheet 123, the lower electrode sheet 127, and a portion of the piezoelectric material sheet 110 sandwiched between them can constitute a transducer 12. In this scenario, the transducer module 10a can be considered to include transducers 11 and 12.

[0143] One possible configuration is that one of the upper electrode plate 121 and the lower electrode plate 125 can serve as the positive electrode of the transducer 11, and the other as the negative electrode. Similarly, one of the upper electrode plate 123 and the lower electrode plate 127 can serve as the positive electrode of the transducer 12, and the other as the negative electrode. When the transducer module 10a is electrically connected to an external power supply module, one of the upper electrode plate 121 and the lower electrode plate 125 is electrically connected to the positive electrode of the power supply module, and the other to the negative electrode; and one of the upper electrode plate 123 and the lower electrode plate 127 is electrically connected to the positive electrode of the power supply module, and the other to the negative electrode.

[0144] In scenarios involving the transmission of sound signals, to improve the efficiency of sound signal generation by transducer module 10a, it is advisable to use transducers 11 and 12 to emit sound signals of the same frequency. In scenarios involving the reception of sound signals, to better utilize the received sound signals for sound source localization, it is advisable to use transducers 11 and 12 with essentially the same sound signal sensing capabilities.

[0145] In some examples, the effective working area S11 of transducer 11 and the effective working area S12 of transducer 12 can satisfy: |S11-S12|≤T11, T11≥0. In other words, the effective working area S11 of transducer 11 and the effective working area S12 of transducer 12 are as equal as possible.

[0146] Here, the effective working area of ​​a transducer can refer to the area of ​​the transducer where energy conversion can occur. In the embodiments of this application, multiple transducers share the same piezoelectric material sheet, or in other words, the transducer has a sufficiently large piezoelectric material sheet. In this case, the size of the effective working area of ​​the transducer depends on the size of the electrode sheets located on both sides of the piezoelectric material sheet.

[0147] As one possible implementation, referring to schematic diagram 2-1 in Figure 2, the upper electrode sheet 121 and the upper electrode sheet 123 can be symmetrical about the axis of symmetry O1O1 of the piezoelectric material sheet 110. Alternatively, the upper electrode sheet 121 and the upper electrode sheet 123 have the same shape, with the inner and outer diameters of the upper electrode sheet 121 being equal to those of the upper electrode sheet 123, respectively. The upper electrode sheets 121 and 123 are symmetrically distributed on the connecting surface 111.

[0148] In some examples, referring to schematic diagram 2-2 in Figure 2, the lower electrode 125 and the upper electrode 121 can be set accordingly, and the lower electrode 127 and the upper electrode 123 can be set accordingly.

[0149] One possibility is that the lower electrode 125 and the upper electrode 121 can be substantially the same in shape and size. The lower electrode 127 and the upper electrode 123 can also be substantially the same in shape and size. The lower electrode 125 can be located opposite the upper electrode 121, and the lower electrode 127 can be located opposite the upper electrode 124. In other words, the projection of the upper electrode 121 onto the piezoelectric material sheet 110 can coincide with the projection of the lower electrode 125 onto the plane of the piezoelectric material sheet 110, and the projection of the upper electrode 123 onto the piezoelectric material sheet 110 can coincide with the projection of the lower electrode 127 onto the plane of the piezoelectric material sheet 110.

[0150] Referring to schematic diagram 2-3 in Figure 2, the lower electrode 125, corresponding to the upper electrode 121, and the lower electrode 127, corresponding to the upper electrode 123, are symmetrical about the axis of symmetry O1O1 of the piezoelectric material sheet 110. Alternatively, the lower electrode 125 and lower electrode 127 have the same shape, with the inner and outer diameters of the lower electrode 125 equal to those of the lower electrode 127. The lower electrode 125 and lower electrode 127 are symmetrically distributed on the connecting surface 113.

[0151] Based on the above description of the shape, size, and position of the electrode sheets and the shape and size of the piezoelectric material sheets in the transducer module 10a, in some examples, the transducers 11 and 12 in the transducer module 10a can be symmetrically arranged. Alternatively, the upper electrode sheet 121 and lower electrode 125 of transducer 11 can be symmetrically arranged with the upper electrode sheet 123 and lower electrode sheet 127 of transducer 12.

[0152] For example, the upper electrode 121 of the transducer 11 may be axially symmetrical with the upper electrode 123 of the transducer 12, and the lower electrode 125 of the transducer 11 may be axially symmetrical with the lower electrode 127 of the transducer 12. For example, the two upper electrode plates and the two lower electrode plates are axially symmetrical about the axis of symmetry O1O1 of the piezoelectric material sheet 110, respectively.

[0153] For example, the upper electrode 121 of the transducer 11 may be centrally symmetrical with the upper electrode 123 of the transducer 12, and the lower electrode 125 of the transducer 11 may be centrally symmetrical with the lower electrode 127 of the transducer 12. For example, the two upper electrode plates and the two lower electrode plates are centrally symmetrical about the center of symmetry O of the piezoelectric material sheet 110, respectively.

[0154] For example, the upper electrode 121 of transducer 11 and the lower electrode 127 of transducer 12 are centrally symmetrical about the center of symmetry O of piezoelectric material sheet 110, and the lower electrode 125 of transducer 11 and the upper electrode 123 of transducer 12 are centrally symmetrical about the center of symmetry O of piezoelectric material sheet 110.

[0155] To reduce the mutual interference between the upper electrode 121 and the upper electrode 123, the spacing between the two electrode plates can be increased.

[0156] One possible implementation is that the upper electrode 121 and the upper electrode 123 can be disposed close to the edge of the piezoelectric material sheet 110, or the distance between the side of the upper electrode 121 or the upper electrode 123 close to the edge of the piezoelectric material sheet 110 and the edge of the piezoelectric material sheet 110 is less than or equal to the threshold Th1, or the distance between the upper electrode 121 and the upper electrode 123 can be greater than or equal to the threshold Th2.

[0157] Similarly, the lower electrode sheet 125 and the lower electrode sheet 127 can be disposed close to the edge of the piezoelectric material sheet 110, or the distance between the side of the lower electrode sheet 125 or the lower electrode sheet 127 close to the edge of the piezoelectric material sheet 110 and the edge of the piezoelectric material sheet 110 is less than or equal to the threshold Th3, or the distance between the lower electrode sheet 125 and the lower electrode sheet 127 can be greater than or equal to the threshold Th4.

[0158] The piezoelectric material sheet 110 can convert mechanical vibrations into electrical energy or electrical energy into mechanical vibrations through the piezoelectric effect. In some examples, the piezoelectric material sheet may be composed of one or more of the following materials: polyvinylidene fluoride and its copolymers, barium titanate, lead zirconate titanate, lithium niobate, or lithium tantalate, etc. Exemplarily, the piezoelectric material sheet may be a piezoelectric ceramic sheet.

[0159] When the upper electrode 121 and lower electrode 125 are electrically connected to the power supply module, an electric field can be generated between them. This electric field can act on a portion of the piezoelectric material sheet 110 sandwiched between them. Under the influence of the electric field, the piezoelectric material between the two electrode sheets will generate mechanical vibration, the frequency of which can be related to the strength of the electric field. In other words, the frequency of the sound signal generated by the transducer 11 can be adjusted by controlling the magnitude of the voltage applied between the upper electrode 121 and lower electrode 125. Similarly, the frequency of the sound signal generated by the transducer 12 can be adjusted by controlling the magnitude of the voltage applied between the upper electrode 123 and lower electrode 127.

[0160] The electrode sheet located on the piezoelectric material sheet 110 can be composed of conductive metal material or conductive non-metal material. For example, the upper electrode sheet 121, upper electrode sheet 123, lower electrode sheet 125 and lower electrode sheet 127 can be composed of one or more of the following materials: copper, nickel, zinc, silver, graphene, conductive nanotubes or conductive polymers, etc.

[0161] As one possible implementation, the piezoelectric material sheet 110 and the electrode sheet can be fixedly connected by means of adhesive bonding, welding, or other methods. For example, conductive adhesive can be provided between the piezoelectric material sheet 110 and the electrode sheet, which can achieve relative fixation between the piezoelectric material sheet 110 and the electrode sheet.

[0162] To facilitate wiring or improve the utilization efficiency of the space within the positioning device, in some examples, the piezoelectric material sheet 110 may have through holes or notches, and the electrode sheets disposed on the piezoelectric material sheet 110 may avoid these through holes or notches. For example, referring to FIG2, the middle region of the piezoelectric material sheet 110 may include a through hole 115, and the upper electrode sheet 121, upper electrode sheet 123, lower electrode sheet 125, and lower electrode sheet 127 may surround or avoid the through hole 115.

[0163] During the process of emitting sound signals using a transducer, an electric field is generated between the positive and negative electrodes of the transducer, which can drive the piezoelectric material of the transducer to produce mechanical vibration. Normally, the charge will concentrate at the edges or corners of the electrodes. In order to make the electric field intensity generated in the middle and edge regions of the transducer electrodes relatively consistent, this application provides another transducer module 10b.

[0164] Figure 3 shows a structural schematic diagram of transducer module 10b, wherein schematic diagram 3-1 is a front view of transducer module 10b, schematic diagram 3-2 is a cross-sectional view of transducer module 10b (BB section), and schematic diagram 3-3 is a rear view of transducer module 10b.

[0165] Similar to transducer module 10a, transducer module 10b may include a piezoelectric material sheet 210, an upper electrode sheet 221, an upper electrode sheet 223, a lower electrode sheet 225, and a lower electrode sheet 227. The piezoelectric material sheet 210 may be approximately circular, while the upper electrode sheets 221 and 223 are approximately fan-shaped. The upper electrode sheets 221 and 223 are positioned about the axis of symmetry O2O2 of the piezoelectric material sheet 210 and are located on the connecting surface 211. The lower electrode sheets 225 and 227 are located on the connecting surface 213 of the piezoelectric material sheet 210. The lower electrode 225 is set in correspondence with the upper electrode 221, and the lower electrode 227 is set in correspondence with the upper electrode 223. The upper electrode 221, the lower electrode 225, and a portion of the piezoelectric material sheet 210 between them can form a transducer, and the upper electrode 223, the lower electrode 227, and a portion of the piezoelectric material sheet 210 between them can form another transducer.

[0166] Unlike transducer module 10a, the upper electrode 221 may have an arc-shaped chamfer (chamfer ch1, chamfer ch2, chamfer ch3, and chamfer ch4) at the transition portion between its radial edge and outer peripheral edge (or inner peripheral edge). This reduces the difference in electric field intensity between the upper electrode 221 at the aforementioned transition portion and other portions, resulting in better uniformity of the electric field generated by different portions of the upper electrode 221. Similarly, the lower electrode 223 may have an arc-shaped chamfer (chamfer ch5, chamfer ch6, chamfer ch7, and chamfer ch8) at the transition portion between its radial edge and outer peripheral edge (or inner peripheral edge).

[0167] One possible configuration is that the area of ​​the lower electrode 225 can be slightly larger than the area of ​​the upper electrode 221, and the area of ​​the lower electrode 227 can be slightly larger than the area of ​​the upper electrode 223. In other words, the projection of the upper electrode 221 onto the plane of the piezoelectric material sheet 210 lies within the range of the projection of the lower electrode 225 onto the plane of the piezoelectric material sheet 210. Similarly, the projection of the upper electrode 223 onto the plane of the piezoelectric material sheet 210 lies within the range of the projection of the lower electrode 227 onto the plane of the piezoelectric material sheet 210.

[0168] The shape and size of the lower electrode 225 may be the same as or different from the shape and size of the upper electrode 221, and the shape and size of the lower electrode 227 may be the same as or different from the shape and size of the upper electrode 223. This application does not impose any restrictions on this.

[0169] Referring to schematic diagram 3-3 in Figure 3, the lower electrode 225 is roughly fan-shaped, and the dashed fan-shaped frame within the fan-shaped area can represent the outline of the upper electrode 221. The outline of the lower electrode 225 surrounds the outline of the electrode 221. Similarly, the lower electrode 227 is roughly fan-shaped, and the dashed fan-shaped frame within the fan-shaped area can represent the outline of the upper electrode 223. The outline of the lower electrode 227 surrounds the outline of the electrode 223.

[0170] As one possible implementation, the lower electrode sheet 225 and the lower electrode sheet 227 can be symmetrically arranged about the axis of symmetry O2O2 of the piezoelectric material sheet 210, which helps to simplify the processing of the transducer module 10b and improve the production efficiency of the transducer 10b. As another possible implementation, the size and shape of the lower electrode sheet 225 and the lower electrode sheet 227 can be different, and this application does not limit this.

[0171] When a voltage is applied to the upper electrode 221 and the lower electrode 225, or to the upper electrode 223 and the lower electrode 227, the electric field formed between the edge region of the upper electrode 221 and the lower electrode 225 is smaller than the electric field formed between the middle region of the upper electrode 221 and the lower electrode 225 due to the smooth edge of the upper electrode 221. This results in a larger area of ​​uniform electric field being formed between the upper electrode 221 and the lower electrode 225. Similarly, due to the smooth edge of the upper electrode 223, a larger area of ​​uniform electric field is formed between the upper electrode 223 and the lower electrode 227, which is beneficial for the transducer module 10b to generate more accurate sound signals.

[0172] The piezoelectric material sheet 210 in the transducer module 10b can be composed of one or more of the following materials: polyvinylidene fluoride and its copolymers, barium titanate, lead zirconate titanate, lithium niobate, or lithium tantalate, etc. The electrode sheet can be composed of one or more of the following materials: copper, nickel, zinc, silver, graphene, conductive nanotubes, or conductive polymers, etc.

[0173] As an example and not a limitation, the piezoelectric material sheet 210 can be a single-layer structure composed of piezoelectric materials, or it can be a multi-layer structure formed by combining multiple piezoelectric materials.

[0174] As an example and not a limitation, the piezoelectric material sheet 210 and the electrode sheet can be fixedly connected by means of adhesive bonding, welding, etc.

[0175] When using a transducer module containing two transducers for positioning, the positioning device can use the sound signals received by the two transducers to determine the approximate direction of the sound source emitting the sound signal. Based on this, the specific location of the sound source can be roughly determined through multiple positioning operations. In order to improve the efficiency of using the transducer module to determine the sound source and shorten the time consumed in the positioning process, another transducer module 10c is provided in the embodiments of this application.

[0176] Figure 4 shows a structural schematic diagram of transducer module 10c, wherein schematic diagram 4-1 is a front view of transducer module 10c, schematic diagram 4-2 is a cross-sectional view of transducer module 10c (CC section), and schematic diagram 4-3 is a rear view of transducer module 10c.

[0177] In some examples, the transducer module 10c may include a piezoelectric material sheet 310, an upper electrode sheet 321, an upper electrode sheet 323, an upper electrode sheet 325, a lower electrode sheet 322, an upper electrode sheet 324, and a lower electrode sheet 326. The upper electrode sheets 321, 323, and 325 are located on the connecting surface 311 of the piezoelectric material sheet 310, while the lower electrode sheets 322, 324, and 326 are located on the connecting surface 313 of the piezoelectric material sheet 310. The connecting surface 311 and the connecting surface 313 are two surfaces of the piezoelectric material 310 that are disposed opposite to each other.

[0178] For example, the piezoelectric material sheet 310 can be generally circular, and the upper electrode sheets 321, 323, 325, 322, 324, and 326 can be generally fan-shaped. In some scenarios, the upper electrode sheet 321, the lower electrode sheet 322, and a portion of the piezoelectric material sheet 310 sandwiched between them can form a transducer 31. The upper electrode sheet 323, the lower electrode sheet 324, and a portion of the piezoelectric material sheet 310 sandwiched between them can form a transducer 32. The upper electrode sheet 325, the lower electrode sheet 326, and a portion of the piezoelectric material sheet 310 sandwiched between them can form a transducer 33. Based on this, the transducer module 10c can be considered to include transducers 31, 32, and 33.

[0179] One possible configuration is that one of the upper electrode 321 and the lower electrode 322 can serve as the positive electrode of transducer 31, and the other as the negative electrode; one of the upper electrode 323 and the lower electrode 324 can serve as the positive electrode of transducer 32, and the other as the negative electrode; one of the upper electrode 325 and the lower electrode 326 can serve as the positive electrode of transducer 33, and the other as the negative electrode. When the transducer module 10c is electrically connected to an external power supply module, one of the upper electrode 321 and the lower electrode 322 is electrically connected to the positive electrode of the power supply module, and the other to the negative electrode; one of the upper electrode 323 and the lower electrode 324 is electrically connected to the positive electrode of the power supply module, and the other to the negative electrode; one of the upper electrode 325 and the lower electrode 326 is electrically connected to the positive electrode of the power supply module, and the other to the negative electrode.

[0180] To improve the efficiency of sound signal generation in transducer module 10c and to better utilize the received sound signal for sound source localization, it is advisable to set multiple transducers in transducer module 10c to have the same or similar shape and structure.

[0181] In some examples, transducers 31, 32, and 33 can have effective working areas of substantially the same size. In other words, the effective working areas S31 of transducer 31, S32 of transducer 32, and S33 of transducer S33 can satisfy: |S31-S32|≤T21, |S31-S33|≤T22, |S32-S33|≤T23, where T21≥0, T22≥0, and T23≥0.

[0182] As one possible implementation, if the piezoelectric material sheet 310 is large enough, referring to schematic diagram 4-1 in Figure 4, the upper electrode sheets 321, 323, and 325 can be centrally symmetrical about the center O of the piezoelectric material sheet 310. Alternatively, the upper electrode sheets 321, 323, and 325 have the same shape, and their inner and outer diameters are also equal.

[0183] In some examples, referring to schematic diagram 4-2 in Figure 4, the lower electrode 322 and the upper electrode 321 can be set to correspond, the lower electrode 324 and the upper electrode 323 can be set to correspond, and the lower electrode 326 and the upper electrode 325 can be set to correspond.

[0184] One possible scenario is that the lower electrode 322 and the upper electrode 321 can be substantially the same in shape and size, the lower electrode 324 and the upper electrode 323 can be substantially the same in shape and size, and the lower electrode 326 and the upper electrode 325 can be substantially the same in shape and size. The lower electrode 322 is located on the opposite side of the upper electrode 321, the lower electrode 324 is located on the opposite side of the upper electrode 323, and the lower electrode 326 is located on the opposite side of the upper electrode 325. In other words, the projection of the upper electrode 321 onto the plane of the piezoelectric material sheet 310 can coincide with the projection of the lower electrode 322 onto the plane of the piezoelectric material sheet 310, the projection of the upper electrode 323 onto the plane of the piezoelectric material sheet 310 can coincide with the projection of the lower electrode 324 onto the plane of the piezoelectric material sheet 310, and the projection of the upper electrode 325 onto the plane of the piezoelectric material sheet 310 can coincide with the projection of the lower electrode 326 onto the plane of the piezoelectric material sheet 310.

[0185] Referring to schematic diagram 4-3 in Figure 4, the lower electrode plates 322, 324, and 326 are centrally symmetrical about the center O of the piezoelectric material sheet 310. Alternatively, the lower electrode plates 322, 324, and 326 have the same shape, and their inner and outer diameters are all equal.

[0186] To reduce mutual interference between multiple upper electrode plates located on the connecting surface 311, it is advisable to increase the spacing between two adjacent electrode plates.

[0187] One possible implementation is that the upper electrode pieces 321, 323, and 325 can all be positioned close to the edge of the piezoelectric material sheet 310, or in other words, adjacent upper electrode pieces can be positioned as far apart as possible. Alternatively, the distance between the side of the upper electrode piece 321, 323, or 325 closest to the edge of the piezoelectric material sheet 310 and the edge of the piezoelectric material sheet 310 is less than or equal to a threshold Th5; or the distance between adjacent upper electrode pieces can be greater than or equal to a threshold Th6.

[0188] Similarly, lower electrode plates 322, 324, and 326 can be positioned close to the edge of the piezoelectric material sheet 310, or in other words, adjacent lower electrode plates can be positioned as far apart as possible. Alternatively, the distance between the side of lower electrode plate 322, 324, or 326 closest to the edge of the piezoelectric material sheet 310 and the edge of the piezoelectric material sheet 310 is less than or equal to the threshold Th7, or the distance between adjacent lower electrode plates can be greater than or equal to the threshold Th8.

[0189] In some examples, the piezoelectric material sheet 310 may be composed of one or more of the following materials: polyvinylidene fluoride and its copolymers, barium titanate, lead zirconate titanate, lithium niobate, or lithium tantalate, etc. Exemplarily, the piezoelectric material sheet may be a piezoelectric ceramic sheet.

[0190] By way of example and not limitation, the piezoelectric material sheet 310 may be a single-layer structure composed of piezoelectric materials, or it may be a multi-layer structure formed by combining multiple piezoelectric materials.

[0191] In some examples, the upper electrode 321, upper electrode 323, upper electrode 325, lower electrode 322, upper electrode 324 and lower electrode 326 may be composed of one or more of the following materials: copper, nickel, zinc, silver, graphene, conductive nanotubes or conductive polymers, etc.

[0192] As one possible implementation, the piezoelectric material sheet 310 and the electrode sheet can be fixedly connected by means of adhesive bonding, welding, or other methods. For example, conductive adhesive can be provided between the piezoelectric material sheet 310 and the electrode sheet, which can achieve relative fixation between the piezoelectric material sheet 310 and the electrode sheet.

[0193] To facilitate wiring or improve the utilization efficiency of the space within the positioning device, in some examples, the piezoelectric material sheet 310 may have through holes or notches, and the electrode sheets disposed on the piezoelectric material sheet 310 may avoid these through holes or notches. For example, referring to FIG4, the middle region of the piezoelectric material sheet 310 may include a through hole 315, and the electrode sheets on the connecting surface 311 and the connecting surface 313 may surround or avoid the through hole 315.

[0194] In order to generate a larger area of ​​relatively uniform electric field between the positive and negative electrodes of the transducer, and to enable the transducer module to produce more accurate sound signals, in some examples, the transition part between two adjacent sides of the electrode plate in the transducer module 10c can be provided with an arc chamfer.

[0195] For example, the upper electrode 321 may have an arc-shaped chamfer at the transition between its radial edge and outer peripheral edge, and the lower electrode 322 may have an arc-shaped chamfer at the transition between its radial edge and outer peripheral edge.

[0196] Similarly, the upper electrode 321 may have an arc-shaped chamfer at the transition between its radial edge and inner peripheral edge, and the lower electrode 322 may have an arc-shaped chamfer at the transition between its radial edge and inner peripheral edge.

[0197] The upper electrode plates 321, 323 and 325 may have the same or different shapes and sizes. In other words, the three lower electrode plates may be centrally symmetrical about the center O of the piezoelectric material plate 310 or may not be centrally symmetrical about the center O of the piezoelectric material plate 310. This application does not impose any restrictions on this.

[0198] Similarly, the shapes and sizes of the lower electrode plates 322, 324 and 326 may be the same or different. In other words, the three lower electrode plates may be centrally symmetrical about the center O of the piezoelectric material plate 310 or may not be centrally symmetrical about the center O of the piezoelectric material plate 310. This application does not impose any restrictions on this.

[0199] During the process of applying voltage to the upper and lower electrode plates, the electric field formed between the edge region of the upper electrode plate and the lower electrode plate is smaller than that formed between the middle region of the upper electrode plate and the lower electrode plate due to the smooth edge region of the upper electrode plate. This is conducive to forming a larger area of ​​uniform electric field between the upper and lower electrode plates, which is beneficial for the transducer module 10c to generate more accurate sound signals.

[0200] Figure 5 shows a schematic diagram of another transducer module 10d provided in this application embodiment. Unlike the circular piezoelectric material sheet in the aforementioned transducer module, the piezoelectric material sheet in the transducer module 10d can be rectangular.

[0201] Figure 5 shows a front view of the transducer module 10d, which may include a piezoelectric material sheet 410, three upper electrode sheets, and three lower electrode sheets. The three upper electrode sheets are upper electrode sheet 421, upper electrode sheet 423, and upper electrode sheet 425. The three lower electrode sheets (not shown in the figure) are arranged opposite to the three upper electrode sheets.

[0202] In some scenarios, the three upper electrode sheets, the three lower electrode sheets, and a portion of the piezoelectric material sheet 410 sandwiched between the upper and lower electrode sheets can each form three transducers, for example, referred to as transducer 41, transducer 42, and transducer 43, respectively. Based on this, the transducer module 10d can be considered to include transducers 41, 42, and 43.

[0203] Generally, the higher the frequency of a sound signal, the greater its propagation loss during propagation. The frequency of the sound signal generated by the transducer is negatively correlated with the effective working area of ​​the transducer. In other words, in order to reduce the loss of sound signals during propagation, a transducer with a larger effective working area can be used in the positioning device.

[0204] Here, the effective working area of ​​a transducer can refer to the area of ​​the transducer capable of energy conversion. In the embodiments of this application, multiple transducers share the same piezoelectric material sheet, or in other words, the transducer has a sufficiently large piezoelectric material sheet. In this case, the size of the effective working area of ​​the transducer is limited by the size of the electrode sheets located on both sides of the piezoelectric material sheet. In other words, the effective working area of ​​the transducer can be increased to a certain extent by increasing the area of ​​the electrode sheets.

[0205] Taking the transducer modules shown in Figures 2 to 4 above as an example, the piezoelectric material sheets in these transducer modules are all circular. In this case, the electrode sheets can be set as fan-shaped or fan-ring-shaped. This is not a limitation, but rather an example. The difference between the diameter d1 of the fan-shaped electrode sheet or the outer diameter d2 of the fan-ring-shaped electrode sheet and the diameter D of the circular piezoelectric material sheet can be as small as possible, so that the outer edge of the electrode sheet can be as close as possible to the outer periphery of the piezoelectric material sheet, thereby maximizing the area of ​​the electrode sheet. In other words, the diameter d1 of the fan-shaped electrode sheet or the outer diameter d2 of the fan-ring-shaped electrode sheet and the diameter D of the circular piezoelectric material sheet can satisfy the following relationship: D - d1 ≤ δ1; D - d2 ≤ δ2. Where δ1 > 0, δ2 > 0.

[0206] Taking the transducer module shown in Figure 5 as an example, the piezoelectric material sheet 410 in this transducer module is rectangular. In this case, the three upper electrode sheets and the three lower electrode sheets can all be set as rectangles. The two adjacent right-angled sides of the rectangular electrode sheet can be parallel to the two adjacent right-angled sides of the rectangular piezoelectric material sheet 410, so that the electrode sheet can be set as close as possible to the edge area of ​​the piezoelectric material sheet, which can increase the area of ​​the electrode sheet to a certain extent.

[0207] For example, the three upper electrode plates or three lower electrode plates in the transducer module can be arranged as dispersed as possible to increase the distance between two adjacent upper electrode plates or two adjacent lower electrode plates, thereby reducing the mutual interference between two adjacent transducers. For example, in Figure 5, the upper electrode plate 423 can be close to the lower left corner of the piezoelectric material plate 410, the upper electrode plate 425 can be close to the lower right corner of the piezoelectric material plate 410, and the upper electrode plate 421 can be located in the middle of the upper region of the piezoelectric material plate 410. By way of example and not limitation, the upper electrode plates 421, 423, and 425 can be arranged in a centrally symmetrical manner.

[0208] Similar to the transducer module mentioned above, the piezoelectric material sheet 410 of the transducer module 10d can also have a through hole 415, and the upper electrode sheet or the lower electrode sheet on the transducer module 10d can avoid the through hole 415.

[0209] The composition of the piezoelectric material sheet 410, the composition of the electrode sheet in the transducer module 10d, and the connection method between the electrode sheet and the piezoelectric material sheet are similar to those of the transducer module 10c in Figure 4. For relevant descriptions, please refer to the relevant content in Figure 4, which will not be repeated here.

[0210] Unlike the transducer modules shown in Figures 4 and 5, where the three transducers are roughly located at the three vertices of a triangle, Figure 6 shows another transducer module 10e provided in this application embodiment, in which multiple transducers are arranged roughly along a straight line.

[0211] In some scenarios, multiple transducers arranged in a straight line can also be understood as multiple transducers being roughly located on the same straight line, or multiple transducers having their geometric centers roughly located on the same straight line.

[0212] Referring to Figure 6, the transducer module 10e may include a piezoelectric material sheet 510, three upper electrode sheets, and three lower electrode sheets. The three upper electrode sheets are designated as upper electrode sheet 521, upper electrode sheet 523, and upper electrode sheet 525. The three lower electrode sheets (not shown in the figure) are arranged opposite to the three upper electrode sheets.

[0213] In some scenarios, the three upper electrode sheets, the three lower electrode sheets, and a portion of the piezoelectric material sheet 510 sandwiched between the upper and lower electrode sheets can each form three transducers, for example, referred to as transducer 51, transducer 52, and transducer 53, respectively. Based on this, the transducer module 10e can be considered to include transducers 51, 52, and 53.

[0214] In Figure 6, the upper electrode plates 521, 523, and 525 can be arranged in a roughly linear manner. In some scenarios, it can also be understood that the transducer 51 containing the upper electrode plate 521, the transducer 52 containing the upper electrode plate 523, and the transducer 53 containing the upper electrode plate 525 are arranged in a roughly linear manner.

[0215] Referring to Figures 5 and 6, in transducer modules 10d and 10e, the piezoelectric material sheets 410 and 510 can both be squares with a side length of a0, the upper electrode sheets 421, 423, and 425 can all be squares with a side length of a1, and the upper electrode sheets 521, 523, and 525 are all rectangles with a length of a2 and a width of a3. In transducer module 10d, there is a gap between the upper electrode sheets 423 and 425, and the left and right sides of the upper electrode sheet 421 have large empty areas. In transducer module 10e, the upper electrode sheets 521, 523, and 525 are only spaced in the vertical direction. In other words, the effective working area of ​​the transducer in transducer module 10e is larger than that of the transducer in transducer module 10d.

[0216] Figure 6 illustrates this by using the example of upper electrode 521, upper electrode 523, and upper electrode 525, all of which are rectangles of the same shape and size. It should be noted that these electrode pieces can also be rectangles of different shapes and sizes, and this application does not impose any restrictions on this.

[0217] Similar to the transducer module mentioned above, the piezoelectric material sheet 510 of the transducer module 10e can also have through holes, and the upper electrode sheet or the lower electrode sheet on the transducer module 10e can avoid the through holes.

[0218] The composition of the piezoelectric material sheet 510, the composition of the electrode sheet in the transducer module 10e, and the connection method between the electrode sheet and the piezoelectric material sheet are similar to those of the transducer module 10c in Figure 4. For relevant descriptions, please refer to the relevant content in Figure 4, which will not be repeated here.

[0219] The structures of some transducer modules provided in this application embodiment have been illustrated above with reference to Figures 2 to 6. It should be noted that the structures of the transducer modules described above are merely exemplary, and the transducer modules may also have other structures. For example, a transducer module may include four or more transducers, which may share the same piezoelectric material sheet. This application does not impose any limitations on this. The principle of positioning using the above transducer modules will be explained below with reference to Figures 7 to 11.

[0220] In some examples, the positioning device includes a transducer module containing two transducers, such as the aforementioned transducer module 10a and transducer module 10b. The following description uses transducer module 10a as an example.

[0221] Referring to Figures 7 and 8, exemplarily, the time intervals between the sound source S and the transducers 11 and 12 included in the transducer module 10a can be L1 and L2, respectively, where L1 is not equal to L2. In this case, the time it takes for the sound signal to propagate to transducers 11 and 12 can differ. For example, the sound signal may be received by transducer 11 at time t1 and by transducer 12 at time t2, with the time difference (t1-t2) between t1 and t2 being Δt.

[0222] One possible scenario is that transducers 11 and 12 have essentially the same structure and performance, and the only difference between the received sound signals is their arrival time. In this case, the positioning device can determine whether the sound source S is located on the side of transducer 11 or transducer 12 based on the arrival time difference Δt between the sound signals received by the two transducers in transducer module 10a. For example, when Δt is less than zero, t1 is less than t2, and the sound source S is closer to transducer 11. In Figure 8, the sound source S can be considered to be located to the left of the axis of symmetry O1O1. In some examples, by repeatedly changing the position and / or orientation of the positioning device, the relative positions of transducers 11 and 12 with the sound source S can be adjusted, thereby dividing the space to the left of the axis of symmetry O1O1 in Figure 8 into multiple subspaces, thus roughly determining the position of the sound source S relative to the positioning device.

[0223] Here, the orientation of the positioning device can also be understood as the direction the positioning device is facing. For example, the positioning device may include a display screen, in which case the orientation of the positioning device can be understood as the direction the display screen is facing.

[0224] In some examples, there may be a difference between the phase of the sound signal received by transducer 11 and the phase of the sound signal received by transducer 12. The positioning device can determine the position of the sound source S based on the aforementioned difference in arrival phase.

[0225] For example, the positioning device can determine the period of the sound signal based on the received sound signal, and can determine the difference in arrival time of the sound signals received by the two transducers based on the phase of the sound signal received by transducer 11 and the phase of the sound signal received by transducer 12. Based on this, the positioning device can roughly determine the position of the sound source S relative to the positioning device. The specific process is similar to the content in Figure 8 above, and you can refer to the relevant content in Figure 8.

[0226] In some examples, the positioning device can determine the location of the sound source S by combining the frequency of the sound signal, the time difference between the sound signal arriving at transducer 11 and transducer 12, and the phase difference.

[0227] In some examples, there may be a difference in the intensity of the sound signal received by transducer 11 and the intensity of the sound signal received by transducer 12. This difference in intensity may be due to the different propagation paths of the sound signal to transducer 11 and to transducer 12.

[0228] One feasible approach is to change the propagation path of the sound signal to the transducer module 10a by changing the position of the positioning device, thereby detecting the difference in the intensity of the sound signal reaching different transducers, and determining the position of the sound source S based on the difference in the intensity of the arrival.

[0229] Referring to Figures 9 and 10, in some examples, the sound signal can propagate to the transducer module 10a at position Re1 via path Pth1; when the positioning device is moved from position Re1 to position Re2, the sound signal can propagate to the transducer module 10a via path Pth2. On path Pth2, the sound signal needs to pass through or bypass the reference object Rf at position Re3. Position Re3 can be located between positions Re1 and Re2. One possibility is that the acoustic impedance characteristics of the reference object Rf are different from those of the propagation medium on path Pth1, and the amplitude A1 of the sound signal propagating to the transducer module 10a via path Pth1 is different from the amplitude A2 of the sound signal propagating to the transducer module 10a via path Pth2; in other words, the arrival intensity of the sound signal when it reaches the positioning device via paths Pth1 and Pth2 is different.

[0230] A possible situation is that the acoustic impedance characteristics of the reference object Rf will reduce the amplitude of the sound signal. In this case, if the detection result of the transducer 10a shows that A1 is greater than A2, it can be determined that the sound source is located on the side close to the position Re1 in FIG. 10. By changing the position and orientation of the reference object multiple times, the space above the reference object Rf in FIG. 10 can be divided into multiple sub-spaces, so that the position of the sound source S can be roughly determined.

[0231] By way of example and not limitation, the above-mentioned reference object Rf can be a user. For example, the aforementioned position Re1 can be the position close to the lungs in front of the user's chest, and the position Re2 can be behind the user. Similarly, by way of example, the user can wear a buoyancy control device (BCD), the aforementioned position Re1 can be in front of the buoyancy control device, and the aforementioned position Re2 can be behind the buoyancy control device.

[0232] In some examples, the transducer module can include 3 or more transducers. For example, the transducer modules 10c, 10d, 10e, etc. in the aforementioned examples are taken as examples for illustration below.

[0233] Exemplarily, in the transducer module 10e, the transducers 51, 52, and 53 are substantially located on the same straight line. The positioning device can determine the time difference (or phase difference, amplitude difference) of the sound signal reaching two of the above three transducers (for example, the transducers 51 and 53). The positioning device can use the remaining one transducer as a reference to correct the aforementioned time difference to improve the detection accuracy of the aforementioned time difference, thereby improving the reliability of the positioning device to determine the position of the sound source S.

[0234] For example, the transducer 52 can be located between the transducers 51 and 53. A possible situation is that the arrival time (Ta2) of the sound signal reaching the transducer 52 is between the arrival time (Ta1) of reaching the transducer 51 and the arrival time (Ta3) of reaching the transducer 53. Or rather, Ta1, Ta2, and Ta3 can generally satisfy: Ta1 < Ta2 < Ta3, or, Ta3 < Ta2 < Ta1.

[0235] During the process of locating a sound source using a sound signal, if the arrival times Ta1, Ta2, and Ta3 of the sound signals corresponding to three transducers detected by the positioning device do not satisfy the above magnitude relationship, for example, Ta1 < Ta3 < Ta2, in this case, a feasible method is to discard the detection result of this time and re-detect. Another feasible method is to correct Ta3 using the difference between Ta1 and Ta2. For example, the corrected Ta3 can be taken as 2×Ta2 - Ta1. Or, correct Ta2 using the difference between Ta1 and Ta3. For example, the corrected Ta2 can be taken as (Ta1 + Ta3) / 2.

[0236] The method of correcting the arrival times of the sound signals detected by the other two transducers using the arrival time of the sound signal detected by the third transducer described above is only exemplary. In some examples, the positioning device can also correct the results of the sound signals detected by the other two transducers using the arrival phase, arrival intensity, etc. of the sound signal detected by the third transducer. This application does not limit this. For detailed content, reference can be made to the relevant descriptions in FIGS. 9 and 10 in the foregoing text, which will not be elaborated here.

[0237] Exemplarily, in the transducer module 10d, the transducers 41, 42, and 43 are not located on the same straight line. In this case, the accurate position of the sound source S can be determined using the arrival phase differences of the sound signal at the three transducers.

[0238] Assume that in the coordinate system shown in FIG. 11, the position Re of the positioning device is taken as the coordinate origin, the coordinates of the sound source S are (x, y, z), and the connection line between the positioning device and the sound source forms a vector vector The angles between the vector and the X-axis and Y-axis are α and β respectively, then there are:

[0239] Among them, R can be determined according to the propagation time of the sound signal and the propagation speed of the sound signal.

[0240] Let and ψ respectively represent the arrival phase differences of the sound signals received by two adjacent transducers on the X-axis and Y-axis. Under the condition of plane wave approximation, there are:

[0241] Among them, λ is the wavelength of the sound signal, and d is the distance between two adjacent transducers.

[0242] 联立上述等式可以得到声源S的坐标:

[0243] In the transducer module 10d shown in Figure 5, ψ and ψ can be determined by the phase difference between the sound signals received by transducers 41 and 43, and the phase difference between the sound signals received by transducers 43 and 45. The values ​​of λ, the wavelength λ of the sound signal, and the distance R between the sound source S and the positioning device can be determined by the spectrum of the sound signal received by the transducer module, the speed of sound propagation in the environment, and the time it takes for the sound signal to propagate between the sound source S and the positioning device. The value of d can be represented by the spacing between two adjacent transducers of the three transducers. Based on this, the coordinates (x, y, z) of the sound source S can be determined, that is, the accurate position of the sound source S relative to the positioning device.

[0244] Compared to the method of gradually determining the sound source location by repeatedly changing the position and orientation of the positioning device using a transducer group containing two transducers, the method of determining the sound source location based on the above positioning principle is more efficient and can shorten the time for locating the sound source.

[0245] Figure 12 shows a schematic diagram of a positioning device 20 provided in an embodiment of this application. The positioning device 20 may include a transducer module 10, which may be any of the transducer modules in the foregoing embodiments, such as transducer module 10a, transducer module 10b, transducer module 10c, transducer module 10d, or transducer module 10e, etc.

[0246] Referring to Figure 12 or Figure 13, the positioning device 20 may include a housing 21, and the transducer module 10 may be located in the receiving cavity enclosed by the housing 21.

[0247] In some examples, housing 21 may include a top cover and a box body. The top cover may be detachable from the box body. When the top cover is closed on top of the box body, the top cover and the box body may form a closed receiving cavity, which may accommodate the aforementioned transducer module 10.

[0248] In some examples, the housing 21 may include a top cover, side walls, and a back cover, which can be separated from each other. The side walls may be barrel-shaped, and the top cover and back cover may be fixedly connected to the opposite ends of the side walls. When the top cover, back cover, and side walls are connected to each other, they can form a closed receiving cavity that can accommodate the aforementioned transducer module 10.

[0249] As one possible implementation, referring to FIG12, the transducer module 10 can be fixedly connected to the inner wall of the housing 21 by an adhesive. Exemplarily, an adhesive layer 23 can be provided between the transducer module 10 and the inner wall of the housing 21, and the adhesive layer 23 may include an adhesive material. One side of the adhesive layer 23 can be fixedly connected to the transducer module 10, and the other side of the adhesive layer 23 can be fixedly connected to the inner wall of the housing 21. Through the adhesive layer 23, the transducer module 10 can be fixed inside the housing 21. By way of example and not limitation, the inner wall of the aforementioned housing 21 may include one or more of the following: the bottom surface of the housing 21, the inner surface of the side wall of the housing 21, the inner surface of the back cover of the housing 21, or the inner surface of the top cover of the housing 21, etc.

[0250] As one possible implementation, referring to Figure 13, the inner wall of the housing 21 may include a receiving groove 25, which can contain a liquid material. The transducer module 10 can be mounted on the receiving groove 25, with one side of the transducer module 10 positioned close to the liquid surface of the liquid material in the receiving groove 25. In some examples, a sealing layer 27 may also be provided on the outer periphery of the receiving groove 25, which can be used to seal the liquid material in the receiving groove 25. For example, one side of the sealing layer 27 can be fixedly connected to the transducer module 10, and the other side of the sealing layer 27 can be fixedly connected to the inner wall of the housing surrounding the receiving groove 25.

[0251] In some examples, the liquid material described above may include one or more of the following: silicone oil, glycerin, or liquid organic polymers, etc. For example, the acoustic impedance R3 of the liquid material described above may satisfy: 1.0 × 10^6 ≤ R3 ≤ 2.0 × 10^6 Pa·s / m.

[0252] It should be noted that the liquid material here refers to the material that is in a liquid state when the positioning device 20 is in normal use.

[0253] Generally, when a sound signal propagates between different propagation media, the smaller the difference in acoustic impedance between two adjacent propagation media, the less the sound signal is lost when passing through these two propagation media, and the higher the transmittance. In order to reduce the loss of sound signal during propagation, a feasible way is to minimize the difference between the acoustic impedance R2 of the housing 21 and the acoustic impedance R11 of the propagation medium (e.g., seawater) in the external environment of the positioning device 20, or in other words, |R11-R2|≤Th9, where Th9≥0.

[0254] One feasible approach is to minimize the difference between the acoustic impedance R2 of the housing 21 and the acoustic impedance R12 of the liquid material inside the positioning device 20, or in other words, |R2-R12|≤Th10, where Th10≥0.

[0255] In some scenarios, the liquid material in the positioning device 20 and the housing 21 of the positioning device 20 can both be regarded as the propagation medium in the process of sound signal propagation.

[0256] One possibility is that the aforementioned housing 21 can be a multi-layered structure. For example, the housing 21 includes a first functional layer and a second functional layer, which are stacked together. In order to reduce the loss of sound signals during propagation, the acoustic impedance R21 of the first functional layer and the acoustic impedance R22 of the second functional layer of the housing 21 satisfy: |R21-R22|≤T20, where T20≥0.

[0257] One possibility is that the first functional layer and the propagation medium (such as a liquid material) are located on opposite sides of the second functional layer.

[0258] For example, the transmittance of the sound signal at the interface between the first functional layer and the second functional layer is Tr1, and the transmittance of the sound signal at the interface between the second functional layer and the propagation medium is Tr2. The transmittance Tr of the sound signal by the positioning device 20 can be determined based on the aforementioned Tr1 and Tr2.

[0259] One possible scenario is that...

[0260] Wherein, R1 represents the acoustic impedance of the propagation medium, such as the acoustic impedance of the aforementioned liquid material, R21 represents the acoustic impedance of the first functional layer, and R22 represents the acoustic impedance of the second functional layer.

[0261] In some examples, the transmittance Tr of the positioning device 20 to the sound signal can be greater than a preset threshold T30. When the preset threshold T30 is determined, during the manufacturing process of the positioning device 20, a material that meets the acoustic impedance requirements can be selected as the above-mentioned propagation medium and the above-mentioned first functional layer and second functional layer can be prepared.

[0262] In some examples, the sound signal can travel through a variety of propagation media along the propagation path from the external environment of the positioning device 20 to the transducer modules within the positioning device 20. The sound signal may be reflected and transmitted at the interface between two adjacent propagation media. Based on this, the selection of different propagation media in the sound propagation path can be performed according to the rule of maximizing the total transmittance of the sound signal after passing through these propagation media.

[0263] For example, the sound signal can be detected by the transducer module in the positioning device 20 after passing through seawater (acoustic impedance R11), the first functional layer (acoustic impedance R21), the second functional layer (acoustic impedance R22), and the liquid material (acoustic impedance R12) in sequence. In this case, the transmittance of the sound signal through the positioning device 20 can be approximately expressed by the following formula:

[0264] When considering the selection of materials for the housing 21 of the positioning device 20 and the selection of liquid materials, it can be implemented in a manner where Tr can take a larger value. Based on this, the acoustic impedance R21 of the first functional layer can be approximately equal to the acoustic impedance R11 of seawater, or the values ​​of R21 and R11 can be unequal. Similarly, the acoustic impedance R22 of the second functional layer can be approximately equal to the acoustic impedance R21 of the first functional layer, or the values ​​of R22 and R21 can be unequal. The acoustic impedance R12 of the liquid material can be equal to the acoustic impedance R22 of the second functional layer, or the values ​​of R12 and R22 can be unequal.

[0265] In some examples, the positioning device 20 may also include a water positioning module that can be used to position the positioning device 20 on the water surface.

[0266] For example, the waterborne positioning module may include electronic components such as a signal receiving chip, an antenna, a radio frequency front-end module, and a processor. The signal receiving chip can be used to receive satellite signals for waterborne positioning of the positioning device 20; the antenna can be used to capture satellite signals; the radio frequency front-end module can be used to preprocess the received satellite signals, such as enhancing the strength of the received satellite signals; and the processor can be used to process the received satellite signals and calculate the position of the positioning device 20.

[0267] In some examples, the positioning device 20 may include multiple transducer modules, which may be disposed at different locations within the positioning device 20. At least one of these transducer modules may be used to receive sound signals emitted by a sound source and to locate the sound source using the sound signals. At least one of these transducer modules may also be used to emit sound signals, for example, to communicate with other devices using the emitted sound signals.

[0268] In one possible implementation, the piezoelectric material sheet of the transducer used to receive sound signals in multiple transducer modules may include a high-sensitivity piezoelectric ceramic material, such as lead zirconate titanate, lead magnesium niobate, or barium titanate; the piezoelectric material of the transducer used to transmit sound signals may include a high-power piezoelectric ceramic material, such as lead-free piezoelectric ceramic, lead magnesium aluminum titanate solid solution, or lead magnesium niobate and lead zinc niobate and their solid solutions.

[0269] When the positioning device 20 includes a transducer module, the transducer module can transmit or receive sound signals at different times. In this case, the piezoelectric material of the transducer module can be a piezoelectric ceramic material that can be used for both transmitting and receiving, such as a composite piezoelectric material.

[0270] Referring to Figure 14, the positioning device 20 may further include a battery module 40 and one or more of the following electronic components: a microphone 31, a speaker 32, a water depth and pressure sensor 34, or a hydrophone 33 (e.g., a fiber optic hydrophone, a microelectromechanical system hydrophone), etc. The battery module 40 can be electrically connected to the transducer module 10 and the aforementioned electronic components, respectively, and is used to power the transducer module 10 and these electronic components.

[0271] One possibility is that the aforementioned electronic components can be attached to the inner wall of the housing of the positioning device 20, allowing ambient sound signals to be transmitted through the housing to the electronic components attached to the inner wall of the housing 21. For example, the aforementioned microphone 31 and speaker 32 can be attached to the inner wall of the housing of the positioning device 20.

[0272] One possibility is that the housing 21 of the positioning device 20 may include an opening in which the aforementioned electronic components can be housed and receive sound signals from the environment. For example, the positioning device 20 may have an opening 22 in which the water depth pressure sensor 34 can be housed.

[0273] One possibility is that the aforementioned electronic components can be mounted on the outer surface of the housing 21 to receive sound signals from the environment. For example, the aforementioned hydrophone 33 can be mounted on the outer surface of the housing 21 and fixedly connected to the outer surface of the housing 21.

[0274] In some examples, one or more electronic components on the aforementioned circuit board assembly 30 can also be used by the positioning device 20 to locate the sound source. For example, the microphone 31, speaker 32, and hydrophone 34 can all be considered transducers, and the values ​​detected by these electronic components will change upon receiving a sound signal. For example, when the sound signal propagates to the positioning device 20, which includes a depth pressure sensor 33, the detected value of the depth pressure sensor 33 will also change.

[0275] Figure 15 is a schematic diagram of a wearable device 100 provided in an embodiment of this application. The wearable device 100 can be a watch or a bracelet. The wearable device 100 can include a watch body, a watch strap, and a watch buckle. The watch body can include a housing and electronic components housed within the housing. In some examples, the watch body can also include a display screen.

[0276] In some examples, the aforementioned transducer module can be housed within the watch body. Exemplarily, the transducer module can be attached to the inner surface of the back cover of the watch body, or the transducer module can be attached to the side of the watch body's display screen facing the internal cavity of the watch body, or the transducer module can be attached to the inner surface of the watch body's frame.

[0277] In some examples, the aforementioned transducer module can also be housed inside the watch band. For example, the watch band may be provided with a receiving slot, in which the aforementioned transducer module can be located, and the electrical connection wires of the transducer module can be connected from inside the watch band to a battery module inside the watch body through an opening in the watch body housing.

[0278] Figure 16 shows a schematic diagram of a surface marking buoy 200 provided in an embodiment of this application. The surface marking buoy 200 may include either the buoy body 210 or the aforementioned positioning device. In this case, the positioning device can also be regarded as a buoy relay.

[0279] As an example, the buoy body 210 can be an airbag structure, which allows the buoy body 210 to float to the surface when inflated. The buoy body 210 can be made of high-performance materials that are weather-resistant, UV-resistant, and corrosion-resistant, such as polyvinyl chloride with a polyurethane coating.

[0280] In some examples, the aforementioned positioning device may also include a water positioning module that can be used to position the water surface marker buoy 200 on the water surface.

[0281] For example, the water positioning module may include electronic components such as a signal receiving chip, an antenna, a radio frequency front-end module, and a processor. The signal receiving chip can be used to receive satellite signals for water positioning of the water surface marker buoy 200; the antenna can be used to capture satellite signals; the radio frequency front-end module can be used to preprocess the received satellite signals, such as enhancing the strength of the received satellite signals; and the processor can be used to process the received satellite signals and calculate the position of the water surface marker buoy 200.

[0282] In some examples, the surface marker buoy 200 may also include a communication device that can be used to transmit the position of the surface marker buoy 200 determined by the surface positioning module to other communication devices. Exemplarily, the positioning device in the surface marker buoy 200 may include a communication module that can be used to transmit the position of the surface marker buoy 200 determined by the surface positioning module to other communication devices. In this scenario, the positioning device can also be considered a communication device. Referring to Figure 1, in some scenarios, when diver DV-1 encounters an emergency underwater, he can release the surface marker buoy 200 he carries. The surface marker buoy 200 can rise to the surface under the action of buoyancy. The surface marker buoy 200 can use the aforementioned surface positioning module to determine its position and transmit information containing that position to the communication device on the rescue vessel RV. The rescue vessel RV can then determine the position of the surface marker buoy 200 by receiving information from it, thereby rescuing diver DV-1.

[0283] One possible scenario is that the surface marker buoy 200 can also transmit information about the diver DV-1 to the communication equipment on the rescue vessel RV via a communication device. This information could include the diver's underwater location, depth, heart rate, blood oxygen levels, and other vital signs. It is understood that, in one possible implementation, this information could be obtained by the surface marker buoy 200 receiving the audio signals transmitted by the diver DV-1 through a positioning device.

[0284] In some examples, the positioning device provided in this application embodiment may also be included in other devices or equipment carried by the diver, such as air cylinders, buoyancy adjustment devices, diving suits or diving instruments, etc., and this application does not limit this.

[0285] Figure 17 shows a positioning method provided in an embodiment of this application. The positioning device can use the transducer module provided in the foregoing embodiment to determine the location of the sound source based on the received sound signal.

[0286] S110, the sound source generates sound signals.

[0287] In some examples, the sound source can be generated by the diver striking objects they carry with them. For instance, a diver can generate a sound signal by striking a metal gas cylinder. In this case, the sound source can be understood as two objects colliding with each other during the diver's striking process.

[0288] In some examples, the sound source can be generated by a device or apparatus carried by the diver that can generate sound signals. For example, the diver wears the wearable device 100 shown in FIG15, which may include any of the various transducer modules provided in the embodiments of this application, such as transducer module 10a, transducer module 10b, transducer module 10c, transducer module 10d, or transducer module 10e, etc.

[0289] One possible implementation is that the wearable device 100 can apply a voltage to any of the transducers in the transducer module to cause the transducer to vibrate mechanically, thereby causing the propagation medium (such as air, liquid material shown in Figure 13, etc.) in contact with the transducer to vibrate, and thus generate a sound signal.

[0290] In order to make the frequency of the sound signal generated by the transducer module as low as possible and the sound signal as far as possible to propagate in the underwater environment, one possible implementation is that the wearable device 100 can simultaneously apply the same voltage to multiple transducers contained in the transducer module, so that the piezoelectric material sheets in the multiple transducers simultaneously generate mechanical vibration, thereby driving the propagation medium (such as air, liquid material shown in Figure 13, etc.) in contact with the transducer to vibrate, thereby generating a sound signal.

[0291] In some examples, to utilize sound signals more effectively, reduce environmental noise interference, and improve the efficiency of the positioning device in locating sound sources, one or more customized sound signals can be determined based on characteristics such as the frequency, amplitude, and duration of the sound signal. These sound signals can be used to indicate specific information. For example, the sound signal may include three syllables: P1, P2, and P3. Syllables P1 and P3 have longer durations, while syllable P2 has a shorter duration. This sound signal can be used as a distress signal.

[0292] When using devices or apparatus to transmit sound signals, by agreeing on a communication protocol between the transmitting and receiving devices, the sound signals can be utilized more effectively to achieve functions such as locating the transmitting device and obtaining the status information of the user corresponding to the transmitting device. For example, the transmitting and receiving devices can agree that sound signals with a frequency f between 25kHz and 35kHz are used for communication between the two devices. If the receiving device receives sound signals outside the aforementioned frequency range, it can directly ignore them, thereby improving the utilization efficiency of the sound signals to a certain extent.

[0293] One possibility is that, according to an agreed-upon communication protocol, the transmitting and receiving devices can communicate with each other. The transmitting device can send sound signals containing more specific information to the receiving device. For example, the transmitting device can send one or more of the following information to the receiving device via sound signals: the location information of the transmitting device, the underwater depth information of the transmitting device, the air pressure in the diver's air tank, or vital signs information such as the diver's heart rate and blood oxygen content.

[0294] By way of example and not limitation, the transmitting and receiving devices described above may include the transducer module provided in the embodiments of this application. The transmitting device can generate a sound signal by applying voltage to the transducer in the transducer module, and the receiving device can receive the sound signal through the transducer in the transducer module, and determine the location of the transmitting device and obtain the information transmitted by the transmitting device based on the electrical signal generated by the transducer due to receiving the sound signal.

[0295] S120, the positioning device receives sound signals.

[0296] Sound signals can be transmitted to the positioning device through different propagation paths, and then received by the positioning device.

[0297] S130, the positioning device determines the location of the sound source through the transducer module.

[0298] In some examples, different transducers in the transducer module of the positioning device can receive sound signals separately.

[0299] One possible implementation is that the positioning device can determine the location of the sound source based on the differences in sound signals received by different transducers. Here, the differences in sound signals can include one or more of the following: differences in arrival time, differences in arrival intensity, or differences in arrival phase, etc.

[0300] In some examples, the transducer module of the positioning device may include two transducers, such as the aforementioned transducer module 10a or transducer module 10b. In this case, in response to the user changing the position and / or orientation of the positioning device, the positioning device can progressively determine the spatial location of the sound source. For example, when the positioning device is in position 1, the sound source can be determined to be in spatial range Sp1; when the positioning device is in position 2, the sound source can be determined to be in spatial range Sp2, where spatial range Sp2 is a part of spatial range Sp1. For details on determining the sound source location using a transducer module containing two transducers, please refer to the relevant descriptions in Figures 3, 4, 7 to 9 above, which will not be repeated here.

[0301] In some examples, the transducer module of the positioning device may include three transducers, such as the aforementioned transducer module 10c, transducer module 10d, or transducer module 10e. In this case, in response to the user changing the position and / or orientation of the positioning device, the positioning device can acquire the sound signals received by the three transducers, use the sound signal received by the third transducer to correct the sound signals received by the other two transducers, and use the difference between the corrected sound signals received by the two transducers to determine the location of the sound source. The method of using the sound signal received by the third transducer to correct the sound signals received by the other two transducers can be referred to the descriptions in Figures 6, 9, and 10 above, and will not be repeated here.

[0302] For example, the transducer module of the positioning device may include three transducers not located on the same straight line, such as the aforementioned transducer module 10c or transducer module 10d. In this case, in response to a user request to determine the location of a sound source, the positioning device can determine the distance R between the sound source and the positioning device based on the received sound signal, the phase difference ψ between the sound signals received by two adjacent transducers of the three transducers, and the phase difference ψ between the sound signals received by the transducers. The coordinates of the sound source are determined by the wavelength λ of the sound signal and the spacing between adjacent transducers in the transducer module.

[0303] Here, the coordinates of the sound source can be geographical coordinates determined by the longitude, latitude, and depth of the sound source's location, or they can be the coordinates of the sound source relative to the positioning device.

[0304] For details on determining the location of a sound source using a transducer module containing three or more transducers, please refer to the relevant descriptions in Figures 5, 6, and 11 above, which will not be repeated here.

[0305] One possible implementation is that the positioning device can determine the location information of the sound source based on the information of the received sound signal.

[0306] In some examples, the sound signal can be generated by a transmitting device located at the sound source, and the positioning device can receive the sound signal as a receiving device. The sound signal may include location information of the transmitting device (sound source), such as underwater depth or relative position to a rescue vessel. The positioning device can determine the location of the sound source based on the sound signal containing location information.

[0307] In some examples, the sound signal may also include: the air pressure in the diver's air tank using the transmitting device, or vital signs such as the diver's heart rate and blood oxygen level. The positioning device can also obtain this information by receiving the sound signal, allowing for a more accurate assessment of the diver's condition at the sound source location and enabling timely rescue.

[0308] One possible implementation is that the positioning device can combine the transducer module with other sensors to determine the location of the sound source.

[0309] Here, "other sensors" can refer to sensors whose data changes upon receiving a sound signal. Examples include speakers, microphones, water depth and pressure sensors, or hydrophones.

[0310] For example, the positioning device can combine a transducer module and a microphone to determine the location of a sound source. The transducer module may include two transducers, and the microphone and the two transducers in the transducer module may not be located on the same straight line. In some scenarios, the microphone can also be considered a transducer, capable of receiving sound signals and converting them into electrical signals. During the sound source positioning process using the microphone and transducer module, the two transducers in the transducer module can receive sound signal #1 and sound signal #2 respectively, and the microphone can receive sound signal #3.

[0311] One feasible approach is that the positioning device can use the sound signal #3 received by the microphone to correct the sound signal #1 and / or the sound signal #2, and use the sound signal #1 and the corrected sound signal #2, or use the corrected sound signal #1 and the sound signal #2, or use the corrected sound signal #1 and the corrected sound signal #2 to determine the location of the sound source. For specific determination methods, please refer to the relevant descriptions in Figures 7 to 9 above.

[0312] One feasible approach is for the positioning device to determine the location of the sound source using the sound signal #3 received by the microphone and the sound signals #1 and #2 received by the transducer module, as shown in Figure 11 above. For a detailed explanation of the positioning principle, please refer to the relevant description in Figure 11.

[0313] For example, the positioning device can combine a transducer module and a depth pressure sensor to determine the location of a sound source. The transducer module may include two transducers, and the depth pressure sensor and the two transducers in the transducer module may not be located on the same straight line. In some scenarios, the depth pressure sensor can also be considered a transducer, detecting pressure changes that respond to changes in the intensity of the sound signal and converting the pressure signal into an electrical signal. During the sound source positioning process using the depth pressure sensor and transducer module, the two transducers in the transducer module can receive sound signal #1 and sound signal #2 respectively, and the depth pressure sensor can detect pressure changes.

[0314] One feasible approach is for the positioning device to convert pressure changes detected by a water depth pressure sensor into an electrical signal, which can be mapped to a sound signal. Based on this, the positioning device can correct sound signal #1 and / or sound signal #2 based on the pressure changes detected by the underwater acoustic pressure sensor, and determine the location of the sound source using sound signal #1 and the corrected sound signal #2, or using the corrected sound signal #1 and sound signal #2, or using the corrected sound signal #1 and the corrected sound signal #2. Specific determination methods can be found in the relevant descriptions in Figures 7 to 9 above.

[0315] One feasible approach is for the positioning device to convert pressure changes detected by a depth pressure sensor into an electrical signal, which can then be mapped to a sound signal. Based on this, the positioning device can determine the location of the sound source using the pressure changes detected by the depth pressure sensor and the sound signals #1 and #2 received by the transducer module, as shown in Figure 11 above. A detailed explanation of the positioning principle can be found in the relevant description in Figure 11.

[0316] In some examples, the positioning device can combine multiple of the above methods to determine the location of the sound source in order to more accurately determine information such as the location of the sound source.

[0317] One possibility is that the positioning device provided in this application can be the wearable device 100 shown in Figure 15. In this case, during the process of determining the location of the sound source using the wearable device 100, the wearable device 100 can also display different information to assist the user in positioning, as described below with reference to the accompanying drawings.

[0318] As shown in Figure 18, upon receiving an audio signal, the wearable device 100 can display a user interface M10 as shown in Figure 18. This user interface M10 can display a prompt message Nf1, which can be used to indicate that an audio signal has been received. In one possible scenario, the audio signal contains a distress signal; in this case, the aforementioned prompt message Nf1 can be used to indicate that a distress signal has been received.

[0319] In some examples, upon receiving a distress signal, the wearable device 100 can also display a control C10 on the user interface M10, and in response to the user selecting the control C10, the wearable device 100 can perform a location operation on the source of the distress signal.

[0320] In some examples, upon receiving a distress signal, the wearable device 100 can also display a control C20 on the user interface M10. In response to the user selecting the control C20, the wearable device 100 can forward the received distress signal to other devices, such as the rescue boat RV shown in Figure 1.

[0321] One possibility is that the wearable device 100 may have a location and search function. In some examples, in response to the user's operation of activating the location and search function through the user interface M20 shown in Figure 19, the wearable device 100 may receive sound signals in the environment and perform a location operation on the received sound signals.

[0322] In some examples, in response to a user's operation of locating a sound source using the wearable device 100, the wearable device 100 can display a user interface M30 as shown in Figure 20. This user interface M30 can display a prompt message Nf2, which can prompt the user to use the wearable device 100's microphone, speaker, and other sensors to perform assisted positioning to obtain the sound source's location more quickly and accurately. The user interface M30 can also display a control C30. In response to the user selecting the control C30, the wearable device 100 can invoke the sensors to perform assisted positioning. In response to the user not selecting the control C30 within a preset time period, the wearable device 100 can choose not to invoke the sensors to perform assisted positioning.

[0323] One possible scenario is that the wearable device 100 can detect sound signals emitted by one or more sound sources. In this case, the wearable device 100 can display a user interface M40 as shown in FIG. 21. This user interface M40 can be used to display the distance between the detected one or more sound sources and the wearable device 100. For example, the dot located in the center of FIG. 21 can be used to identify the wearable device 100, and the triangle and pentagram can respectively identify the sound source S1 and the sound source S2 detected by the wearable device 100. The distance between the sound source S1 and the wearable device 100 is approximately 800m, and the distance between the sound source S2 and the wearable device 100 is approximately 1000m.

[0324] In some examples, the wearable device 100 can determine the types of sound sources S1 and S2 based on the received sound signals from sound sources S1 and S2, respectively. For example, the sound signal emitted by the rescue ship RV shown in Figure 1 may have a predetermined frequency, intensity, and syllables. The wearable device 100 can determine that the sound source S2 is the rescue ship RV by matching the frequency, intensity, and syllables of the received sound signal emitted by sound source S2 with the predetermined frequency, intensity, and syllables.

[0325] In some examples, the user interface M40 can also display a prompt message Nf3, which can be used to indicate the number of sound sources detected.

[0326] In response to a user selecting sound source S1 or sound source S2 in the user interface M40, the wearable device 100 can display user interface M41 as shown in FIG. 22 or user interface M42 as shown in FIG. 23. User interface M41 and user interface M42 can be used to display detailed information about sound source S1 and sound source S2, respectively. For example, user interface M41 can be used to display that sound source S1 is an unfamiliar sound source or a distress sound source, and user interface M41 can also be used to display that the distance between sound source S1 and wearable device 100 is 800m. As another example, user interface M42 can be used to display that sound source S2 is a rescue boat, and user interface M42 can also be used to display that the distance between sound source S2 and wearable device 100 is 1000m.

[0327] In some examples, both user interfaces M41 and M42 can display control C40. In response to the user selecting control C40, the wearable device 100 can obtain the detailed location of sound source S1 or sound source S2. The following example illustrates obtaining the location of sound source S1.

[0328] One possible scenario is that the wearable device 100 may include a transducer module with three or more transducers, such as the aforementioned transducer module 10c or transducer module 10d. In this case, the wearable device 100 can determine the precise location of the sound source S1. Based on this, the wearable device 100 can display a user interface M43 as shown in FIG24. This user interface M43 can display the coordinate information of the sound source S1. For example, the user interface M43 can display a prompt message Nf4, which may include the coordinates of the sound source S1.

[0329] Here, the coordinates of the sound source S1 can be geographical coordinates determined by the longitude, latitude, and depth of the location of the sound source S1, or the coordinates of the sound source S1 relative to the wearable device 100.

[0330] In some examples, the user interface M43 may also display a control C50. In response to the user selecting the control C50, the wearable device 100 may display a user interface M44 as shown in Figure 25. This user interface M44 can be used to display the current distance between the sound source S1 and the wearable device 100. The user interface M44 can also be used to display the current relative position of the sound source S1 to the wearable device 100. Based on the distance and direction information displayed on the user interface M44, the user can gradually approach the sound source S1 until reaching its location.

[0331] One possible scenario is that the wearable device 100 may include a transducer module with two transducers, such as the aforementioned transducer module 10a or transducer module 10b. In this case, the wearable device 100 needs to determine the location of the sound source S1 based on the results of receiving sound signals emitted by the sound source S1 multiple times. Based on this, in response to the user's selection control C40, the wearable device 100 may display a prompt message, which can be used to prompt the user to change the position and / or orientation of the wearable device to determine the location of the sound source S1.

[0332] For example, in response to a user's selection of control C40, wearable device 100 can display user interface M50 as shown in FIG26. User interface M50 can be used to prompt the user to place wearable device 100 in a first position or orientation. For example, user interface M50 can be used to prompt the user to place wearable device 100 horizontally. In response to a user clicking the "Confirm" control on user interface M50, wearable device 100 can display user interface M51 as shown in FIG27. User interface M51 can display that sound source S1 is within a first spatial range. For example, user interface M51 can be used to display that sound source S1 is located in front of the user.

[0333] In one possible implementation, the wearable device 100 may include various sensors such as a gyroscope, accelerometer, and inertial measurement unit (IMU). The wearable device 100 can combine one or more of these sensors to determine the position and orientation of the positioning device. The accelerometer can be used to detect the magnitude of the wearable device 100's acceleration in various directions (generally three axes, i.e., x, y, and z axes), and the value of this acceleration can be used to identify the attitude of the wearable device 100. The gyroscope sensor can be used to determine the motion attitude of the wearable device 100. For example, the gyroscope sensor can determine the angular velocity of the wearable device 100 around the three axes (i.e., x, y, and z axes), and these angular velocities can be used to reflect the user's motion state. Based on the data detected by the aforementioned sensors, and by fusing and parsing this data, the position and orientation of the wearable device 100 can be determined.

[0334] For example, the position of the wearable device 100 may include the front and the back of the user, wherein the front of the user may refer to the area in front of the user's chest and close to the lungs. Alternatively, the front of the user may refer to the front of the buoyancy control device worn by the user, and the back of the user may refer to the rear of the buoyancy control device.

[0335] For example, the orientation of the wearable device 100 may include the orientation of the piezoelectric material sheet in the internal transducer module when it is parallel to the horizontal plane, or the orientation of the piezoelectric material sheet in the internal transducer module when it is perpendicular to the horizontal plane.

[0336] For example, in response to a user clicking the "Confirm" control on the user interface M51, the wearable device 100 can display the user interface M52 as shown in FIG28. This user interface M52 can be used to prompt the user to place the wearable device 100 in a second position or orientation. For example, the user interface M52 can be used to prompt the user to place the wearable device 100 vertically. In response to a user clicking the "Confirm" control on the user interface M52, the wearable device 100 can display the user interface M53 as shown in FIG29. This user interface M53 can display that the sound source S1 is in a second spatial range, which is a part of the aforementioned first spatial range. For example, the user interface M53 can be used to display that the sound source S1 is located to the user's left front.

[0337] For example, in response to a user clicking the "Confirm" control on the user interface M53, the wearable device 100 can display the user interface M54 shown in FIG30. This user interface M54 can prompt the user to place the wearable device 100 in a third position or orientation. For example, the user interface M54 can prompt the user to place the wearable device 100 with its surface facing their chest. In response to a user clicking the "Confirm" control on the user interface M54, the wearable device 100 can display the user interface M55 shown in FIG31. This user interface M55 can indicate that the sound source S1 is in a third spatial range, which is part of the aforementioned second spatial range. For example, the user interface M55 can indicate that the sound source S1 is located in the upper left front of the user.

[0338] In some examples, the user can also determine the precise location of the sound source S1 by placing the wearable device 100 in more positions or orientations. For example, the user can place the wearable device 100 in front of or behind the user to determine whether the sound source S1 is in front of or behind the user. Alternatively, the location of the sound source S1 within the third spatial range can be determined by further subdividing the third spatial range based on the existing third spatial range.

[0339] In some examples, the user interface M55 may display a control C60. In response to the user selecting the control C60, the wearable device 100 may display a user interface M44 as shown in Figure 25. This user interface M44 can be used to display the current distance between the sound source S1 and the wearable device 100. The user interface M44 can also be used to display the current relative position of the sound source S1 to the wearable device 100. Based on the distance and direction information displayed on the user interface M44, the user can gradually approach the sound source S1 until reaching its location.

[0340] One possible scenario is that as the user of wearable device 100 gradually approaches sound source S1, sound source S1 may be stationary or moving. According to the Doppler effect, the interval between two consecutive sound signals emitted by sound source S1 received by wearable device 100 is affected by the relative speed of movement between the user of wearable device 100 and sound source S1. In some examples, wearable device 100 can determine whether sound source S1 is moving or stationary based on the interval between two consecutive received sound signals. If sound source S1 is determined to be stationary, the user at the location of sound source S1 may be in a dangerous situation. Based on this, wearable device 100 can display a user interface M60 as shown in Figure 32, which can be used to prompt the user to seek immediate rescue.

[0341] As the user of wearable device 100 gradually approaches sound source S1, the intensity of the sound signal received by wearable device 100 may increase, and the interval between two adjacent sound signals may become shorter. In this case, wearable device 100 can display user interface M62 as shown in FIG. 33. User interface M62 can be used to display prompt information indicating that the user of wearable device 100 is approaching sound source S1. User interface M62 can also be used to display the current distance between wearable device 100 and sound source S1. Similarly, as the user of wearable device 100 gradually moves away from sound source S1, the intensity of the sound signal received by wearable device 100 may decrease, and the interval between two adjacent sound signals may become longer. In this case, wearable device 100 can display user interface M64 as shown in FIG. 34. User interface M64 can be used to display prompt information indicating that the user of wearable device 100 is moving away from sound source S1. User interface M64 can also be used to display the current distance between wearable device 100 and sound source S1.

[0342] In some scenarios, multiple divers (e.g., divers DV-1 and DV-2) conducting underwater operations together, as shown in Figure 1, can carry the positioning devices provided in this application embodiment. One of these positioning devices (e.g., positioning device A) can emit an audio signal to the other positioning devices, allowing them to locate themselves. Positioning device A can also receive audio signals from other positioning devices and locate them accordingly. Based on this, multiple divers can monitor each other's positions, enabling timely rescue should any diver encounter danger. The following description uses the aforementioned wearable device 100 as an example to illustrate this process.

[0343] One possibility is that the wearable device 100 may have an "electronic fence" function. In some examples, in response to a user activating the "electronic fence" function through the user interface M70 shown in Figure 35, the wearable device 100 may display the user interface M71 shown in Figure 36. The user interface M71 may display a control C71. In response to selecting the control C71, the wearable device 100 may create a new electronic fence.

[0344] For example, in response to clicking the control C71, the wearable device 100 can display a user interface M72 as shown in Figure 37, which can also be referred to as the "Select Fence User" interface M72. One possibility is that the user interface M72 can display multiple icons, which can be used to identify other wearable devices that the wearable device 100 can detect or to identify users carrying other wearable devices. Users can select users to join the newly created electronic fence by selecting one or more icons on the user interface M72.

[0345] For example, as shown in Figure 37, the user interface M72 displays three circular icons, referred to as icon Co-1, icon Co-2, and icon Co-3. As an example, the icons can be of different sizes, which can be used to indicate the distance between the user identified by the icon and the user of the wearable device 100. For example, the diameter of icon Co-1 is larger than the diameter of icon Co-2, and the diameter of icon Co-2 is larger than the diameter of icon Co-3. Icon Co-1 can be used to identify the user of the wearable device 100, diver DV-1; icon Co-2 can be used to identify diver DV-2; and icon Co-3 can be used to identify diver DV-3, wherein diver DV-2 is closer to diver DV-1, and diver DV-3 is farther away from diver DV-1.

[0346] In some examples, in response to a user selecting one or more icons on the user interface M72, the wearable device 100 may also display a selection indicator Sd-1 on the user interface M73 to indicate that the icons have been selected. For example, if the user selects icons Co-1, Co-2, and Co-3 simultaneously, the wearable device 100 may display the selection indicator Sd-1 as shown in Figure 37 in the lower right corner of icons Co-1, Co-2, and Co-3.

[0347] In response to a user clicking the "Next" control on the user interface M72, the wearable device 100 can display the user interface M73 shown in Figure 38, which can also be called the "Select Fence Range" interface M73. The user interface M73 may display a control C73. One possible approach is that, in response to the user sliding the control C73 up or down or left or right, the wearable device 100 can display the range of the newly created electronic fence selected by the user on the user interface M73. As an example, as shown in Figure 38, the range of the newly created electronic fence can be 500m. It should be noted that 500m here can refer to a maximum distance of no more than 500m from the wearable device 100, or it can refer to a maximum distance of no more than 500m from a fixed object (such as a rescue boat RV floating on the water).

[0348] In response to a user clicking the "Next" control on the user interface M73, the wearable device 100 can display the user interface M74 shown in Figure 39, which can also be referred to as the "Select Reminder Method" interface M74. This user interface M74 can display one or more icons indicating reminder methods. In response to the user selecting one or more of these icons, the wearable device 100 can use the reminder method indicated by the user-selected icon as the reminder method for relevant events related to the electronic fence.

[0349] As an example, as shown in Figure 39, the user interface M74 can display icons Co-4 and Co-5. Icon Co-4 can be used to indicate the "vibration alert" mode. In other words, if the user selects icon Co-4, and the user's activity range within the newly created electronic fence exceeds 500m, the wearable device 100 can vibrate to alert the diver DV-1. Icon Co-5 can be used to indicate the "screen-on alert" mode. In other words, if the user selects icon Co-5, and the user's activity range within the newly created electronic fence exceeds 500m, the wearable device 100 can light up its screen to alert the diver DV-1.

[0350] It should be noted that this application does not impose any restrictions on the parameters such as the frequency and intensity of the vibration alerts, the frequency of screen activation, or the duration of a single screen activation.

[0351] In some examples, the wearable device 100 can create a new geofence in response to a user clicking the "OK" control on the user interface M74. One possibility is that the wearable device 100 can communicate with the devices of other users who have joined the new geofence to synchronize relevant information about it to those devices, thus enabling the new geofence to also function on other users' devices.

[0352] One possible scenario is that, in response to the completion of creating a new electronic fence, the wearable device 100 can display a user interface M75 as shown in Figure 40, which can also be referred to as the "electronic fence status" interface M75. This user interface M75 can display whether the user who joined the electronic fence is within the fence's boundaries.

[0353] As an example, referring to Figure 40, the dashed circle in the figure can be used to mark the range of the electronic fence. The three small circles in the dashed circle can respectively mark the divers DV-1, DV-2 and DV-3 who have joined the electronic fence. In the current state, all three divers are within the range of the electronic fence.

[0354] If a user added to the electronic fence is located outside the fence's boundaries, the wearable device 100 can display a notification message indicating that a user is outside the fence's boundaries. For example, referring to Figure 41, if diver DV-2 is outside the electronic fence, the wearable device 100 can display a user interface M76, which can display the notification message Nf5, indicating that diver DV-2 is outside the electronic fence's boundaries.

[0355] One possibility is that the wearable device 100 can also alert diver DV-1 using the notification methods (vibration, screen activation, etc.) set during the creation of the electronic fence. Upon receiving this information, diver DV-1 can use the wearable device 100 to locate diver DV-2 and navigate to him / her; alternatively, after locating diver DV-2, diver DV-1 can report diver DV-2's location information, vital signs, and other data to the rescue vessel RV's communication equipment.

[0356] Taking the example of diver DV-2 swimming outside the electronic fence area, if diver DV-2's wearable device determines that its current location is outside the electronic fence (for example, diver DV-2's wearable device can obtain the distance to diver DV-1 and determine that diver DV-2 is outside the electronic fence based on this distance), diver DV-2's wearable device can display the user interface M77 as shown in Figure 42. This user interface M77 can be used to indicate that diver DV-2 is outside the electronic fence area, and it can also prompt diver DV-2 to return. In response to diver DV-2 clicking the "Return Navigation" control on the user interface M77, diver DV-2's wearable device can periodically obtain the location of diver DV-1 to provide return navigation for diver DV-2.

[0357] In some examples, when it is detected that the diver DV-2 is outside the range of the electronic fence, the diver DV-2's wearable device can also send the diver DV-2's location information, vital signs, and other information to other devices in the form of sound signals.

[0358] Referring to Figure 36 above, in some examples, the interface M71 can also display historical fence information Ms1. This historical fence information Ms1 can include information about created or joined electronic fences. For example, the historical fence information Ms1 can include the name of the created or joined electronic fence, the members who joined the electronic fence, the range of the electronic fence, and the notification method of the electronic fence. For instance, the historical fence information Ms1 can display that the name of the electronic fence created by the wearable device 100 is "Fence 1," the members who joined the electronic fence are "Diving Team," the range of the electronic fence is 500m, and the notification method for electronic fence-related events is vibration alert. Here, "Diving Team" can include at least two members; for example, the diving team includes the user of the wearable device 100 (diver DV-1) and diver DV-2.

[0359] For example, the user interface M71 may also include a control C72, which, in response to the selection of the control C72, enables the wearable device 100 to activate the electronic fence corresponding to the control C72, such as the aforementioned "fence 1".

[0360] One possibility is that, in response to “Fence 1” being enabled, the wearable device 100 can display the user interface M75 shown in FIG40 to show whether the user who joined “Fence 1” is within the range of “Fence 1”.

[0361] In some examples, in response to a user (diver DV-1) of wearable device 100 surfacing, wearable device 100 can automatically deactivate the geofence. Similarly, when divers DV-2 and DV-3 surfacing, the wearable devices worn by these users can also automatically deactivate the geofence.

[0362] In some examples, the user of wearable device 100 can deactivate the enabled electronic fence "Fence 1" by tapping control C72 in Figure 36.

[0363] One possibility is that the historical fence information Ms1 may include information about multiple electronic fences that have been created or joined. In the user interface M71 shown in Figure 36, the historical fence information Ms1 is partially hidden. In this case, in response to an operation such as swiping the screen upward on the user interface M71 or rotating the crown, the wearable device 100 may display information about other electronic fences that have been created or joined on the user interface M71.

[0364] Based on the same inventive concept, this application also provides a positioning device 4300, as shown in FIG43. This device 4300 may possess the functions used for the wearable device 100 in the above method embodiments and can be used to execute the steps performed by the functions of the wearable device 100 in the above method embodiments. This function can be implemented by hardware, or by software or hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0365] In one possible implementation, the positioning device 4300 may include an acquisition module 4310 and a processing module 4320, which are coupled to each other.

[0366] In some examples, the acquisition module 4310 can be used to support the wearable device 100 in the foregoing embodiments in acquiring user tap operations, etc.

[0367] The processing module 4320 is used to support the wearable device 100 in performing the processing actions in the above method embodiments, such as determining the location of the sound source based on the sound signal.

[0368] Optionally, the positioning device 4300 may further include a storage unit 4330 for storing the program code and data of the positioning device 4300.

[0369] Figure 44 illustrates an electronic device 4400 provided in an embodiment of this application. As shown, the electronic device 4400 includes at least one processor 4410 and a transceiver 4420. The processor 4410 is coupled to a memory and is used to execute instructions stored in the memory to control the transceiver 4420 to transmit and / or receive signals.

[0370] Optionally, the electronic device 4400 also includes a memory 4430 for storing instructions.

[0371] In some embodiments, the processor 4410 and the memory 4430 can be combined into a single processing device, with the processor 4410 executing program code stored in the memory 4430 to achieve the aforementioned functions. In specific implementations, the memory 4430 can be integrated into the processor 4410 or independent of the processor 4410.

[0372] In some embodiments, transceiver 4420 may include a receiver and a transmitter.

[0373] The transceiver 4420 may further include an antenna, and the number of antennas may be one or more. The transceiver 4420 may be a communication interface or an interface circuit.

[0374] When the electronic device 4400 is a chip, the chip includes a transceiver module and a processing module. The transceiver module can be an input / output circuit or a communication interface; the processing module can be a processor, microprocessor, or integrated circuit integrated on the chip.

[0375] This embodiment also provides a computer-readable storage medium storing computer instructions. When the computer instructions are executed on an electronic device, the electronic device performs the aforementioned method steps to achieve the positioning method described in the above embodiment.

[0376] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to achieve the positioning method described in the above embodiment.

[0377] Furthermore, embodiments of this application also provide an apparatus, which may specifically be a chip, component, or module. The apparatus may include a connected processor and a memory. The memory stores computer execution instructions. When the apparatus is running, the processor can execute the computer execution instructions stored in the memory to cause the chip to perform the positioning methods described in the above-described method embodiments.

[0378] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0379] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0380] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0381] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0382] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0383] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0384] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning method, characterized in that, This invention is applied to a positioning device, which includes a transducer module comprising a piezoelectric material sheet, a first electrode pair, and a second electrode pair. The first electrode pair and the second electrode pair are spaced apart and both are located on the piezoelectric material sheet. The first electrode pair and a first portion of the piezoelectric material sheet constitute a first transducer, and the second electrode pair and a second portion of the piezoelectric material sheet constitute a second transducer. The method includes: The first transducer receives a first sound signal from the sound source; The second transducer receives a second sound signal from the sound source; The sound source is determined to be located in the first space based on the first sound signal and the second sound signal.

2. The method according to claim 1, characterized in that, The step of determining that the sound source is located in the first space based on the first sound signal and the second sound signal includes: The sound source is located in the first space based on the difference between the first sound signal and the second sound signal, wherein the difference includes one or more of the following: difference in arrival time, difference in arrival intensity, or difference in arrival phase.

3. The method according to claim 1 or 2, characterized in that, The effective working area S1 of the first transducer and the effective working area S2 of the second transducer satisfy: |S1-S2|≤σ1, σ1≥0.

4. The method according to any one of claims 1 to 3, characterized in that, The first electrode pair and the second electrode pair are arranged symmetrically.

5. The method according to any one of claims 1 to 4, characterized in that, The transducer module further includes a third electrode pair. The first electrode pair, the second electrode pair, and the third electrode pair are spaced apart and all located on the piezoelectric material sheet. The third electrode pair and the third portion of the piezoelectric material sheet constitute a third transducer. The method further includes: The third transducer receives a third sound signal from the sound source; The step of determining that the sound source is located in the first space based on the first sound signal and the second sound signal includes: The sound source is determined to be located in the first space based on the first sound signal, the second sound signal, and the third sound signal.

6. The method according to claim 5, characterized in that, Determining that the sound source is located in the first space based on the first sound signal, the second sound signal, and the third sound signal includes: The first sound signal and / or the second sound signal are corrected by the third sound signal; The sound source is determined to be located in the first space based on the corrected first sound signal and the corrected second sound signal; or... The sound source is determined to be located in the first space based on the first sound signal and the corrected second sound signal; or... The sound source is determined to be located in the first space based on the corrected first sound signal and the second sound signal.

7. The method according to claim 5, characterized in that, The first transducer, the second transducer, and the third transducer are not located on the same straight line. Determining that the sound source is located in the first space based on the first sound signal, the second sound signal, and the third sound signal includes: The location of the sound source is determined based on the arrival phase difference between the first sound signal, the second sound signal, and the third sound signal, and the location is located in the first space.

8. The method according to claim 7, characterized in that, The first electrode pair, the second electrode pair, and the third electrode pair are arranged symmetrically at the center.

9. The method according to any one of claims 5 to 8, characterized in that, The effective working area S3 of the third transducer and the effective working area S1 of the first transducer satisfy: |S1-S3|≤σ2, σ2≥0.

10. The method according to any one of claims 1 to 9, characterized in that, When the first transducer receives the first sound signal, the positioning device is located at a first position and / or in a first orientation, and the method further includes: When the positioning device is in the second position and / or in the second orientation, the first transducer receives a fourth sound signal from the sound source, and the second transducer receives a fifth sound signal from the sound source. The sound source is determined to be located in the second space based on the fourth sound signal and the fifth sound signal, and the first space includes the second space.

11. The method according to claim 10, characterized in that, One of the first position and the second position is in front of the user, and the other is behind the user; and / or, One of the first orientation and the second orientation is the orientation of the positioning device when the piezoelectric material sheet is parallel to the horizontal plane, and the other is the orientation of the positioning device when the piezoelectric material sheet is perpendicular to the horizontal plane.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: Based on the first sound signal and / or the second sound signal, determine the depth of the sound source and / or the distance between the sound source and the positioning device.

13. The method according to any one of claims 1 to 12, characterized in that, The positioning device further includes a reference sensor, which includes one or more of the following: a microphone, a fiber optic hydrophone, or a depth pressure sensor. The step of determining that the sound source is located in the first space based on the first sound signal and the second sound signal further includes: The sound source is determined to be located in the first space based on the first sound signal, the second sound signal, and the reference sensor.

14. A positioning device, characterized in that, include: Transducer module and processor, The transducer module includes a piezoelectric material sheet, a first electrode pair, and a second electrode pair. The first electrode pair and the second electrode pair are spaced apart and are both located on the piezoelectric material sheet. The first electrode pair and a first portion of the piezoelectric material sheet constitute a first transducer, and the second electrode pair and a second portion of the piezoelectric material sheet constitute a second transducer. The transducer module is configured to receive sound signals from a sound source and convert the sound signals into at least two sets of electrical signals. The processor is configured to determine the location of the sound source based on the at least two sets of electrical signals.

15. The positioning device according to claim 14, characterized in that, The effective working area S1 of the first transducer and the effective working area S2 of the second transducer satisfy: |S1-S2|≤σ1, σ1≥0.

16. The positioning device according to claim 14 or 15, characterized in that, The first electrode pair is symmetrically arranged with respect to the second electrode.

17. The positioning device according to any one of claims 14 to 16, characterized in that, The transducer module further includes a third electrode pair. The first electrode pair, the second electrode pair, and the third electrode pair are spaced apart and are all located on the piezoelectric material sheet. The third electrode pair and the third part of the piezoelectric material sheet form a third transducer.

18. The positioning device according to claim 17, characterized in that, The effective working area S3 of the third transducer and the effective working area S1 of the first transducer satisfy: |S1-S3|≤σ2, σ2≥0.

19. The positioning device according to claims 17 and 18, characterized in that, The first electrode pair, the second electrode pair, and the third electrode pair are arranged symmetrically at the center.

20. The positioning device according to any one of claims 14 to 19, characterized in that, The positioning device further includes a housing and a propagation medium. The transducer module and the processor are located in the receiving cavity enclosed by the housing. The transducer module is disposed close to the inner wall of the housing, and the propagation medium is located between the transducer module and the inner wall of the housing.

21. The positioning device according to claim 20, characterized in that, The acoustic impedance R1 of the propagation medium and the acoustic impedance R2 of the shell satisfy: |R1-R2|≤σ3, where σ3≥0.

22. The positioning device according to claim 20 or 21, characterized in that, The housing includes a first functional layer and a second functional layer. The acoustic impedance R21 of the first functional layer and the acoustic impedance R22 of the second functional layer satisfy: |R21-R22|≤σ4, where σ4≥0.

23. The positioning device according to claim 22, characterized in that, The transmittance Tr of the positioning device for the sound signal satisfies: Tr≥σ5, σ5>0, and Tr is determined according to R1, R21 and R22.

24. The positioning device according to any one of claims 20 to 23, characterized in that, The propagation medium includes a liquid material, the inner wall of the housing includes a receiving groove, the liquid material is located in the receiving groove, the transducer module is covered on the receiving groove, and the side of the transducer module facing the receiving groove is in contact with the liquid material.

25. The positioning device according to any one of claims 20 to 24, characterized in that, The transducer module is bonded to the inner wall of the housing using adhesive material.

26. The positioning device according to claims 14 to 25, characterized in that, The processor is also configured to apply the same voltage signal to the first electrode pair and the second electrode pair; The transducer module is also configured to convert the voltage signal into a sound signal.

27. The positioning device according to any one of claims 14 to 26, characterized in that, The positioning device also includes a waterborne positioning module, which is used to perform waterborne positioning of the positioning device.

28. The positioning device according to any one of claims 14 to 27, characterized in that, The positioning device also includes a communication module, which is used to transmit the location of the sound source.

29. A wearable device, characterized in that, The positioning device includes any one of claims 14 to 28.

30. A positioning method, characterized in that, An electronic device is used to determine the location of a sound source based on a sound signal; the method includes: When the electronic device is in a first posture and / or a first position, a first prompt message is displayed, the first prompt message being used to indicate that the sound source is located in a first space; Detect target operation, the target operation being used to change the attitude and / or position of the electronic device; When the electronic device is in a second posture and / or a second position, a second prompt message is displayed, which indicates that the sound source is located in a subspace of the first space.

31. The method according to claim 30, characterized in that, One of the first position and the second position is the user's chest, and the other is the user's back.

32. The method according to claim 30 or 31, characterized in that, The subspace of the first space is the upper space or the lower space of the first space, or the subspace of the first space is the left space or the right space of the first space, or the subspace of the first space is the front space or the rear space of the first space.

33. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store program instructions, and the processor being used to invoke the program instructions to perform the method of any one of claims 30 to 32.

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