TWI226018B - Method for prediction and estimation filtering of coordinates of touch panel - Google Patents

Abstract

A method for prediction and estimation filtering of coordinates of touch panel is provided, which method employs a filter capable of prediction and estimation filtering in a touch panel to perform prediction and estimation filtering of X, Y coordinates, comprising the following steps: using the filter to predict previous X, Y coordinates, employing prediction technology to calculate optimum prediction of a sampling cycle, and employing orthogonal principle on the currently measured X, Y coordinates and the previously predicted X, Y coordinates to estimate the optimum X, Y coordinates in order to make the estimated X, Y coordinates more precise and having better positional correlation with previous and next coordinates.

Description

1226018 五、發明說明 【發明所 本發 法，尤指 預估與估 後座標位 【先前技 按， ，由於以 法滿足使 把多種輸 但隨著電 向，傳統 空間容納 單設計要 入等人性 最佳選擇 觸控 成之破璃 式顯示所 可分為電 被廣泛運 四線式與 導電薄祺 導電破瑪 (1) 屬之技術領域】 明係有關-種觸控面板之座標預估與估測濾、波方 f估與估測濾波器，對X、Y座標訊號作 2用，使所得到之x、γ座標更精確 性更好之方法。 種經 測濾波 置相關 術】 觸控面 往的輸 用者輸 子產品 鍵盤等 多種輸 求外， 化之操 =uch Panel)是-種人性化輸入裝置 入：41例如鍵盤、滑鼠、軌跡球等皆無 利之需求，因此業界為求輸入便利而 鳖百在一起，以提高輸入效率及便利性， 以輕、薄、短、小、功能強悍為· 輸^裝置已無法滿足此需求，產品上亦無 入裝置。而觸控面板除了符合可多層次選 亦能同時擁有鍵盤、滑鼠的功能及手寫輸 作方式，使觸控面板為運用在人機介面之 面板主 面板^ 需圖像 阻式、 用，而 五線式 各依X 間設有 ，奋由透明導電玻璃及透明導電薄膜所構 1，排線及電路板之控制I C，以觸控方 於，幕上，而觸控面板依感應方式不同， 電谷式、電感應式等，其中又以電卩且 j電阻式之觸控面板依配線方式又玎分為 等，其技術原理係以透明導電破璃及透明 J軸佈線，且在上層的導電薄膜與下層的 私開空間得點隔片，當手指、觸控筆或其 第4頁 1226018 五、發明說明（2) 他介質對上層的導電薄膜施加壓力，使上下層電極相通並 產生電位差，即形成一開關，按壓即產生〇N /〇F F作 用，以提供一訊號，該訊號再經排線傳給微處理控制器處 理，進一步計算施壓處的座標位置並顯示於螢幕上。 然而，該觸控面板之感應方式不論是電阻式或電容式 或電感應式，其目的皆為偵測觸控面板上的X、Y座標，其 所得之X、Y座標值多少都具有雜訊，而使彳貞測的X、Y座標 與實際的X、Y座標產生誤差。 故，如何改善習用觸控面板因雜訊而產生誤差之缺失 ，則為本發明欲改善之重點。 【發明内容】 ^ 本發明之主要目的，在於解決上述的問題而提供一種 觸控面板之座標預估與估測濾波方法，其係於一觸控面板 中利用一具有預估與估測濾波之濾波器，對X、Y座標訊號 作預估與估測濾波之作用，其中包括下列步驟··以該濾波 器先對前一個X、Y座標作預估，以預估技術計算一取樣週 期最佳預估值，再由現在所量測之X、Y座標與前所預估之 X、Y座標以正交原則估測出最佳的X、Y座標，以供得到之 估測X、Y座標更精確且與前後座標位置相關性更佳。 本發明之上述及其他目的與優點，不難從下述所選·！ 實施例之詳細說明與附圖中，獲得深入了解。 當然，本發明在某些另件上，或另件之安排上容許有 所不同，但所選用之實施例，則於本說明書中，予以詳細 說明，並於附圖中展示其構造。1226018 V. Description of the invention [Invention law, especially the estimated and estimated coordinate position [previous technique, because of the law to meet the needs of a variety of power, but with the direction of electricity, traditional space accommodation single design must enter the human nature The best choice of touch-breaking glass display can be divided into four-wire type and conductive thin-line conductive Pima (1). The technical field is related to the Ming-a type of touch panel coordinate estimation and Estimation filter, wave square f-estimation and estimation filter. It is a method to make X and Y coordinate signals serve two purposes to make the obtained x and γ coordinates more accurate and better. A variety of tested filter-related techniques] In addition to the input of the touch screen, the input of the sub-product, such as a keyboard, etc., is based on a user-friendly input device: 41 such as a keyboard, mouse, and track. There is no need for balls, etc., so the industry is concentrating on input convenience to improve input efficiency and convenience. Light, thin, short, small, and powerful functions. The input device has been unable to meet this demand. There are no devices. In addition to being compatible with multi-level selection, the touch panel can also have keyboard and mouse functions and handwriting input methods, making the touch panel the main panel of the panel used in the man-machine interface. The five-wire type is provided in each of X, and is composed of transparent conductive glass and transparent conductive film1. The control IC of the cable and circuit board is touched on the screen, and the touch panel is different according to the sensing method. Electric valley type, electric induction type, etc., which are divided into electric and j resistance type touch panels according to the wiring method. The technical principle is based on transparent conductive glass and transparent J axis wiring, and the upper layer The conductive film is separated from the private space of the lower layer. When a finger, a stylus or its fourth page 1226018 V. Description of the invention (2) The other medium exerts pressure on the upper conductive film, which communicates the upper and lower electrodes and creates a potential difference. That is, a switch is formed, and a 0N / 〇FF effect is generated by pressing to provide a signal, which is then transmitted to the microprocessor controller for processing through a cable, and further calculates the coordinate position of the pressure point and displays it on the screen. However, the touch panel's sensing method, whether resistive, capacitive, or electrical, is designed to detect the X and Y coordinates on the touch panel. The X and Y coordinates obtained have noise. , So that the X, Y coordinates measured by Zheng Zhen and the actual X, Y coordinates produce errors. Therefore, how to improve the lack of errors caused by noise in conventional touch panels is the focus of the present invention. [Summary of the Invention] ^ The main purpose of the present invention is to solve the above-mentioned problems and provide a method for estimating and estimating the coordinates of a touch panel. The filter is used to estimate and estimate the X and Y coordinate signals. It includes the following steps: Use the filter to estimate the previous X and Y coordinates first, and use the estimation technology to calculate the maximum sampling period. The best X and Y coordinates are estimated from the currently measured X and Y coordinates and the previously estimated X and Y coordinates using the orthogonal principle to estimate the X and Y Coordinates are more accurate and better correlated with the forward and backward coordinate positions. The above and other objects and advantages of the present invention are not difficult to choose from the following! The detailed descriptions of the embodiments and the accompanying drawings have gained in-depth understanding. Of course, the present invention allows some differences in the arrangement or arrangement of other parts, but the selected embodiment is described in detail in this specification and its structure is shown in the drawings.

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五、發明說明（3) 【實施方式】 #請參閱第1圖及第2圖，圖中所示者為本發明所選用 之第一實施例結構，此僅供說明之用，在專利申請上並 雙此種結構之限制。 本發明係為一種觸控面板之座標預估與估測濾波方法 ，在本實施例中，係一電阻式五線觸控面板1 ，該觸控面 板1更包含有一類比數位轉換（A/D Converter)〗C2、 一微處理器（M i c r ο P r 〇 c e s s 〇 r) 3及一具有預估與估測減 波之卡爾曼濾波器（K a 1 m a n F i 11 e r ) 4 ，當接觸該觸控面 板1時，該接觸點於該觸控面板1之X、Y座標各傳出一類 比電壓，此訊號經該類比數位轉換I C 2轉換成1 2 b i $ 數位訊號，再傳入微處理器3解釋成觸控面板1上X、Y座 標位置，所得之X、Υ座標位置’再由該卡爾曼濾、波器4 ’ 先對前一個X、Υ座標作預估，以預估技術計算一取樣週期 i佳預估值，再由現在所量測之X、Υ座標與前所預估之 X γ座標以正交原則（〇rthogonal Principle)估測出最佳 的χ、標，以供得到之估測X、Y座標更精確且與前後座 標位置相關性更佳1 立運算式如下· & 二外γ、Y座標所得的訊號為Xdata、Ydata ’其線性馨r 假言又入V. Description of the invention (3) [Embodiment] #Please refer to Fig. 1 and Fig. 2. The structure shown in the figure is the structure of the first embodiment selected by the present invention. This is for illustration purposes only. And double the limitations of this structure. The invention is a coordinate estimation and estimation filtering method for a touch panel. In this embodiment, it is a resistive five-wire touch panel 1. The touch panel 1 further includes an analog digital conversion (A / D Converter) 〖C2, a microprocessor (Micr ο P r 〇cess 〇r) 3 and a Kalman filter (K a 1 man F i 11 er) 4 with estimated and estimated wave reduction, when contacted When the touch panel 1 is used, the contact point transmits an analog voltage at each of the X and Y coordinates of the touch panel 1. This signal is converted into a 1 2 bi $ digital signal by the analog digital conversion IC 2 and then transmitted to the micro The processor 3 interprets the positions of the X and Y coordinates on the touch panel 1, and the obtained X and Y coordinate positions are then used by the Kalman filter and the wave filter 4 'to estimate the previous X and Y coordinates to estimate The technology calculates a good estimate of the sampling period i, and then estimates the best χ, standard from the currently measured X, Υ coordinates and the previously estimated X γ coordinates using the orthogonal principle. The estimated X and Y coordinates are more accurate and have better correlation with the forward and backward coordinate positions. Outside γ, the resulting signal is the Y coordinate Xdata, Ydata 'Xin linear hypothesis and the r

程式為離祕) + _W ，令 &n{k)= X(kitaik) Ydata{k) 一 1226018 五、發明說明（4) z⑷為現階段量測之^⑷、Y^htaik) , 為具平 均值‘，與自變異數夂的白色高斯雜訊。 (1 )預估（Prediction)計算式 如(維-1) = 乂 * 如(H|々-1) Ρ(^τ| 免一 1) = + 衫味 一 1) 0 式中 0 假設 P(〇\〇) 1 0 0 1 qm 0 0 qm P(k)為預估因子，wm(k)為預估雜訊變異數 (2 )估測（E s t i in a t i ο η )計算式： K(k) = P(k\k-V)CT \cpgc\k - l)Cr + νηί(¥)\1 ani^\k) = A §(k\k -1) + K(k)[Z(k) - C§m(k\k -1)] P(k\k) = - K(J^)C]P(k\k -1) άη 0 0 άη vm(k) 一 1 () 一 式中 -0 1」，尤④為估測因g 以上計算式完成2與一 i)的訊號融合，估算出最 佳X、Y座標值 。 本實施例在實際實施時，如第2圖所示，其係利用 M a 11 a b軟體模擬，設計於觸控面板上劃一 s i η波，設定s i η 1226018 五、發明說明（5) 波的X、Y座標X、y方程式如下： X由0到6 · 2 8，每次間隔〇 · 1 ; X，γ座標共6 2筆 χ = 0:0. 1:2*3. 14; y = s i η ( X ); 參數設定Pk(l ) = 1 ;，wm = 0· 1 ; vm = 〇· 1 ; Pk代表預估因子；wm 代表估測誤差；vm代表雜訊自變異數The program is a secret) + _W, so that & n {k) = X (kitaik) Ydata {k) 1226018 V. Description of the invention (4) z⑷ is the current measurement of ^ ⑷, Y ^ htaik). Mean ', white Gaussian noise with self-variation. (1) Prediction calculation formula such as (dimensional-1) = 乂 * such as (H | 々-1) P (^ τ | free one 1) = + shirt taste one 1) 0 where P ( 〇 \ 〇) 1 0 0 1 qm 0 0 qm P (k) is the estimation factor, and wm (k) is the estimated noise variation (2) estimation (E sti in ati ο η) Calculation formula: K ( k) = P (k \ kV) CT \ cpgc \ k-l) Cr + νηί (¥) \ 1 ani ^ \ k) = A § (k \ k -1) + K (k) (Z (k) -C§m (k \ k -1)] P (k \ k) =-K (J ^) C] P (k \ k -1) άη 0 0 άη vm (k) one 1 () in the form- "0 1", especially ④, to estimate the signal fusion of 2 and 1 i) due to the above calculation formula, and estimate the best X and Y coordinate values. In the actual implementation of this embodiment, as shown in FIG. 2, it is simulated by software M a 11 ab, designed to draw a si η wave on the touch panel, and set si η 1226018. 5. Description of the invention (5) X of the wave , Y coordinate X, y equations are as follows: X from 0 to 6 · 2 8 at intervals of 0 · 1; X, γ coordinates are 6 2 strokes χ = 0: 0. 1: 2 * 3. 14; y = si η (X); parameter setting Pk (l) = 1;, wm = 0 · 1; vm = 0 · 1; Pk stands for estimation factor; wm stands for estimation error; vm stands for noise self-variation

假設觸控面板所偵測之X、γ座標，經類比數位轉換j c 2轉成數位訊號，再傳入微處理器3解譯成觸控面板丄上 X、Y座標位置Xdata、Ydata，已經具有雜訊，”為X座標 雜訊，v y為Y座標的雜訊，表示是如下： 因X、Y座標共62筆 籲 for i=l:l:62 假設X座標的雜訊為±0、2 ; Y座標的雜訊為土〇 2 vx(i) = (-1广 i*rand(l)/5; vy(i) = (-lKi*rand(l)/5;Suppose that the X and γ coordinates detected by the touch panel are converted to digital signals by analog digital conversion jc 2 and then transmitted to the microprocessor 3 to be interpreted into the X and Y coordinates on the touch panel. Xdata and Ydata already have "Noise" is X-coordinate noise, and vy is Y-coordinate noise. It is expressed as follows: Because there are 62 calls for X and Y coordinates, for i = l: l: 62, it is assumed that the noise of X coordinate is ± 0, 2 ; The noise of Y coordinate is soil 〇2 vx (i) = (-1 Guang i * rand (l) / 5; vy (i) = (-lKi * rand (l) / 5;

Xdata(i )=x(i)+vx(i);Xdata (i) = x (i) + vx (i);

Ydata(i)二y(i)+vy(i);Ydata (i) two y (i) + vy (i);

再來利用卡爾曼濾波器4來作Xdata、Ydata預估，首 先進行預估技術計算一取樣週期最佳預估值xt、Yt，繼而 讀入新量測值以正交原則（Orthogonal Principle)更朝讀| Xdata、Ydata估測值為 Xtt、Ytt，以 SNR j為表示 Xdata，Then use the Kalman filter 4 for Xdata and Ydata estimation. Firstly, the estimation technology is used to calculate the best estimated values xt and Yt for a sampling period, and then the new measured values are read in accordance with the Orthogonal Principle. Reading | Xdata, Ydata The estimated values are Xtt, Ytt, and Xdata is represented by SNR j,

YdaJ：a與χ、y的誤差量，SNR —p為表示xu，以七與χ、y的誤 差量，程式如下：（其中Kk為估測因子）YdaJ: the amount of error between a and χ and y, SNR —p is the xu, and the amount of error between seven and χ and y is as follows: (where Kk is the estimation factor)

第8頁 1226018 五、發明說明（6) X起始資料等於量測資料 Xtt(l)=Xdata(l); Y起始資料等於量測資料 Ytt(l)二Ydata(l); 設量測資料與實際資料起始誤差值為0 SNR_m-0 ; 設估測資料與實際資料起始誤差值為0 SNR_p = 0 ;Page 8 1226018 V. Explanation of the invention (6) X starting data is equal to the measurement data Xtt (l) = Xdata (l); Y starting data is equal to the measurement data Ytt (l) and Ydata (l); set the measurement The initial error value between data and actual data is 0 SNR_m-0; the initial error value between estimated data and actual data is 0 SNR_p = 0;

由第二筆資料開始預估 for 1=2:1:62 Χΐ由Xdata預估Estimated from the second data for 1 = 2: 1: 62 χΐ Estimated by Xdata

Xt(i)二Xdata(i-l);Xt (i) and Xdata (i-l);

Yt由Ydata預估Yt is estimated by Ydata

Yt(i)-YdataCi-l); 預估因子由前一筆預估因子與wm計算而得 Pk(i)=Pk(i-l)+wm; 估測因子計算式Yt (i) -YdataCi-l); the estimation factor is calculated from the previous estimation factor and wm Pk (i) = Pk (i-l) + wm; the estimation factor calculation formula

Kk(i)-Pk(i)/(Pk(i)+vm); X座標估測因子計算式Kk (i) -Pk (i) / (Pk (i) + vm); X-coordinate estimation factor calculation formula

Xtt(i)=Xt(i) + I(k(i)*(Xdata(i)-Xt(i)); Y座標估測因子計算式Xtt (i) = Xt (i) + I (k (i) * (Xdata (i) -Xt (i)); Y coordinate estimation factor calculation formula

Ytt(i) = Yt(i) + I(k(i)*(Ydata(i)-Yt(i)); 更新Pk(i)值Ytt (i) = Yt (i) + I (k (i) * (Ydata (i) -Yt (i)); update Pk (i) value

Pk(i)-(l-I(k(i))*Pk(i)； 1226018 五、發明說明（7) 計算量測資料與實際資料的誤差值 SNRl-(Xdata(i)-x(i))^2+(Ydata(i)-y(i))^2; 計算估測資料與實際資料的誤差值 SNR2-(Xtt(i)-x(i))^2+(Ytt(i)-y(i))^2; 所有的量測誤差值 SNR^m-SNR^m + SNRl ; 所有的估測誤差值 SNR„p=SNR^p+SNR2;Pk (i)-(lI (k (i)) * Pk (i); 1226018 V. Description of the invention (7) Calculate the error between the measured data and the actual data SNRl- (Xdata (i) -x (i)) ^ 2 + (Ydata (i) -y (i)) ^ 2; Calculate the error between the estimated data and the actual data SNR2- (Xtt (i) -x (i)) ^ 2+ (Ytt (i) -y (i)) ^ 2; all measurement error values SNR ^ m-SNR ^ m + SNRl; all estimated error values SNR „p = SNR ^ p + SNR2;

模擬結果如第2圖所示，X11、Y11為經卡爾曼濾波器 4估測後的資料較接近sin波，且sNR_p = 0. 3 645 <SNR 5 68 7 表示X11、γ 11具有較小的誤差量 綜上所述’本發明係以一具有預估與估測濾波之卡爾 曼渡波器’對X、γ座標訊號作預估與估測濾波之作用，使 得X、Y座標更精確且與前後座標位置相關性更佳。 以上所述實施例之揭示係用以說明本發明，並非用以 限制本發明’故舉凡數值之變更或等效元件之置換仍應隸 屬本發明之範疇。 由以上詳細說明，可使熟知本項技藝者明暸本發明的 嫁可達成前述目的，實已符合專利法之規定，爰提出專利 申請。 赢The simulation results are shown in Figure 2. X11 and Y11 are estimated by the Kalman filter 4 and the data are closer to sin waves, and sNR_p = 0.33 645 < SNR 5 68 7 means that X11 and γ 11 have smaller values. To sum up, the present invention uses a Kalman crossing wave filter with estimation and estimation filtering to estimate and estimate X and γ coordinate signals, making X and Y coordinates more accurate and accurate. The correlation with the forward and backward coordinates is better. The disclosure of the embodiments described above is used to illustrate the present invention, and is not intended to limit the present invention. Therefore, changes in numerical values or replacement of equivalent components should still belong to the scope of the present invention. From the above detailed description, those skilled in the art can understand that the marriage of the present invention can achieve the aforesaid objectives, and it has indeed complied with the provisions of the Patent Law, and filed a patent application. win

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Claims (1)

1226018 六、申請專利範圍 1 · 一種觸控面板之座標預估與估測濾波方法，其係於一 觸控面板中利用一具有預估與估測濾波之濾、波器，對 X、Y座標訊號作預估與估測濾波之作用，其中包括下 列步驟： 以該滤波器先對前一個X、Y座標作預估，以預估 技術計算一取樣週期最佳預估值，再由現在所量測之 X、Y座標與前所預估之X、Y座標以正交原則估測出最 佳的X、Y座標，以供得到之估測X、Y座標更精確且與 前後座標位置相關性更佳。1226018 VI. Scope of patent application 1 · A coordinate estimation and estimation filtering method for a touch panel, which uses a filter and a wave filter with estimation and estimation filtering in a touch panel to perform X and Y coordinates The function of the signal for prediction and estimation filtering includes the following steps: Use the filter to estimate the previous X and Y coordinates first, and use the estimation technique to calculate the best estimated value for a sampling period. The measured X and Y coordinates are orthogonal to the previously estimated X and Y coordinates. The best X and Y coordinates are estimated based on the orthogonal principle. The estimated X and Y coordinates are more accurate and related to the forward and backward coordinates. Better sex. 2 ·依申請專利範圍第1項所述之觸控面板之座標預估名 估測濾波方法，其中該濾波器係為一卡爾曼濾波器* (Kalman Filter) °2 · Estimation filtering method according to the estimated name of the coordinates of the touch panel described in item 1 of the patent application scope, wherein the filter is a Kalman Filter * (Kalman Filter) °