Touch sensing device and method

Abstract

There is provided a touch sensing apparatus and method that can improve jitter generated during straight line drawing among touch drawing events, the touch sensing apparatus including: a sensing signal processing unit for detecting raw data corresponding to a touch drawing event of a touch panel; and a control unit for predicting a motion vector of touch coordinates on the basis of the detected raw data and generating touch data, in which the control unit calculates the touch coordinates of the raw data when the raw data is input, generates a straight line connecting predetermined two touch coordinates among the calculated touch coordinates, and generates a motion vector of the touch coordinates on the basis of the motion vector. The number of inner point touch coordinates located within a reference range from the straight line is counted, an appropriate straight line is selected based on the number of inner point touch coordinates, and a touch coordinate closest to the selected appropriate straight line is determined as a predicted coordinate, and a motion vector of the touch coordinate is predicted.

Description

Technical Field

[0001] The present disclosure relates to a touch sensing device configured to sense touch drawing events of a touch panel, and a touch sensing device and method capable of reducing jitter that occurs when drawing a straight line in a touch drawing event. Background Art

[0002] Generally, touch sensing technology is a technology for identifying a user's input operation by sensing a signal generated when an object approaches or touches a touch panel including sensors.

[0003] Multiple types such as magnetic induction type, resistive type, and capacitive type are used in touch sensing technology, but in recent years, capacitive technology has gradually become mainstream.

[0004] Multiple sensors are provided in the touch panel, and the larger the area of the touch panel or the higher the resolution of the touch panel, the more sensors may be provided in the touch panel.

[0005] A user can generate a touch drawing event by touching the touch panel with a finger or a touch pen in the shape of a ballpoint pen, and the touch sensing device can sense the touch drawing event generated on the touch panel to obtain touch coordinate information.

[0006] When obtaining touch coordinate information corresponding to a touch drawing event, the touch sensing device can analyze touch raw data converted into digital data and predict a motion vector of a current touch coordinate corresponding to the touch drawing event to find a prediction vector.

[0007] However, in a touch sensing device, when there is noise in the current touch coordinate, the accuracy of the prediction vector may be reduced and the jitter of the touch coordinate may increase.

[0008] In particular, in the case of a straight line drawing event in a touch drawing event, there is a touch coordinate among outliers outside a reference range in the touch coordinate as noise, resulting in a problem of significantly reducing the accuracy of the prediction vector and increasing straight line drawing jitter.

[0009] Therefore, it is necessary to develop a touch sensing device in the future that can reduce straight line drawing jitter by improving the accuracy of the prediction vector corresponding to straight line drawing during a straight line drawing event of a touch panel. Summary of the Invention

[0010] Technical Problem

[0011] The present disclosure aims to solve the above problems and other problems.

[0012] The present disclosure aims to provide a touch sensing device and method that can improve the accuracy of a predicted vector corresponding to a straight line drawing and reduce straight line drawing jitter by selecting a suitable straight line from straight lines connecting any two touch coordinates corresponding to the straight line drawing and predicting a motion vector of the touch coordinates based on the number of in-point touch coordinates within a reference range and the total distance between the straight line and the in-point touch coordinates.

[0013] Technical solution

[0014] A touch sensing device according to an embodiment of the present disclosure is a touch sensing device configured to process touches on a touch panel. The touch sensing device may include: a sensing signal processor configured to detect raw data corresponding to a touch drawing event on the touch panel; and a controller configured to generate touch data by predicting a motion vector of touch coordinates based on the detected raw data. Wherein, when the raw data is input, the controller calculates the touch coordinates of the raw data, generates a straight line connecting any two of the calculated touch coordinates, counts the number of in-point touch coordinates within a reference range starting from the straight line, selects a suitable straight line based on the number of in-point touch coordinates, and determines the touch coordinate closest to the selected suitable straight line as a predicted coordinate to predict the motion vector of the touch coordinates.

[0015] A display device according to an embodiment of the present disclosure may include a touch panel and a touch sensing device configured to detect raw data corresponding to a touch drawing event on the touch panel to predict a motion vector of touch coordinates. Wherein, the touch sensing device may calculate the touch coordinates of the raw data when the raw data is input, generate a straight line connecting any two of the calculated touch coordinates, count the number of in-point touch coordinates within a reference range starting from the straight line, select a suitable straight line based on the number of in-point touch coordinates, and determine the touch coordinate closest to the selected suitable straight line as a predicted coordinate to predict the motion vector of the touch coordinates.

[0016] A touch sensing method according to an embodiment of the present disclosure is a touch sensing method of a touch sensing device configured to process touches on a touch panel. The touch sensing method may include: detecting raw data corresponding to a touch drawing event on the touch panel; preprocessing the raw data; calculating touch coordinates of the raw data; generating a straight line connecting any two of the calculated touch coordinates; counting the number of in-point touch coordinates located within a reference range from the straight line to select a suitable straight line based on the number of in-point touch coordinates; determining a touch coordinate closest to the selected suitable straight line as a predicted coordinate to predict a motion vector of the touch coordinates; and generating touch data corresponding to the touch drawing event based on the predicted motion vector.

[0017] Technical effects

[0018] According to an embodiment of the present disclosure, a touch sensing device can select a suitable straight line from straight lines connecting any two touch coordinates corresponding to a straight line drawing based on the number of in-point touch coordinates located within a reference range and the total distance between the straight line and the internal coordinates, and predict the motion vector of the touch coordinates, thereby improving the accuracy of the predicted vector corresponding to the straight line drawing and reducing the straight line drawing jitter. Description of the drawings

[0019] Figure 1 is a diagram for describing a display device according to an embodiment of the present disclosure.

[0020] Figure 2 is a diagram for describing a touch sensing device of a display device according to an embodiment of the present disclosure.

[0021] Figures 3 to 6 is a diagram for describing a controller of a touch sensing device according to an embodiment of the present disclosure.

[0022] Figure 7 and Figure 8 is a diagram for describing a method for predicting a motion vector of predicted touch coordinates according to an embodiment of the present disclosure.

[0023] Figure 9 is a diagram for describing an effective distance between touch coordinates in a touch coordinate dataset according to an embodiment of the present disclosure.

[0024] Figure 10 is a diagram for describing a method for selecting a suitable straight line according to an embodiment of the present disclosure.

[0025] Figure 11 is a diagram for describing a method for selecting a suitable straight line according to another embodiment of the present disclosure.

[0026] Figure 12 and Figure 13 are diagrams for describing a touch sensing method of a touch sensing device according to an embodiment of the present disclosure. Detailed Embodiments

[0027] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. However, the same or similar components are denoted by the same reference numerals regardless of the reference numerals, and repetitive descriptions thereof will be omitted. The suffixes “module” and “section” of components given or mixed in the following description are only for convenience in writing the specification and do not have a meaning or function for distinguishing each other. In addition, when it is determined that a detailed description of related well-known technologies unnecessarily obscures the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. Further, the drawings are only for facilitating the understanding of the embodiments disclosed in this specification, and the technical scope disclosed in this specification is not limited by the drawings and should be understood to include all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure.

[0028] Terms including ordinal numbers such as first and second may be used to describe different components, but these components are not limited to these terms. These terms are only used to distinguish one component from another component.

[0029] It should be understood that when a component is referred to as being “connected” or “coupled” to another component, it may be directly connected or directly coupled to the other component, but there may also be an intermediate component therebetween. In contrast, it should be understood that when a component is referred to as being “directly connected” or “directly coupled” to another component, there is no other intermediate component.

[0030] Figure 1 is a schematic diagram for describing a display device according to an embodiment of the present disclosure.

[0031] As Figure 1 shown, the display device 100 may include a display panel 150, a gate driver 160, a data driver 170, a data processor 180, a host 190, a touch panel 110, a touch sensing device 120, etc.

[0032] The data driver 170, the gate driver 160, and the touch sensing device 120 may drive at least one component included in the display panel 150 or the touch panel 110.

[0033] That is, the data driver 170 may drive data lines connected to pixels in the display panel 150, the gate driver 160 may drive gate lines connected to the pixels, and the touch sensing device 120 may drive touch electrodes provided on the touch panel 110.

[0034] The data driver 170 can supply a data voltage Vdata to data lines to display an image in each pixel of the display panel 150.

[0035] The data driver 170 may include at least one data driver integrated circuit, and the at least one data driver integrated circuit may be connected to bonding pads of the display panel 150 by a tape automated bonding (TAB) method or a chip on glass (COG) method, may be directly formed on the display panel 150, or may be formed by being integrated into the display panel 150.

[0036] In addition, the data driver 170 may be implemented using a chip on film (COF) method.

[0037] Next, the gate driver 160 can supply a scan signal (scan) to gate lines to turn on / off transistors located in each pixel. The gate driver 160 may be positioned only on one side of the display panel 150 as shown, or may be divided into two and positioned on both sides of the display panel 150 according to the driving method. Figure 1 shown only positioned on one side of the display panel 150, or may be divided into two and positioned on both sides of the display panel 150 according to the driving method.

[0038] Furthermore, the gate driver 160 may include at least one gate driver integrated circuit, and the at least one gate driver integrated circuit may be connected to bonding pads of the display panel 150 by a tape automated bonding (TAB) method or a chip on glass (COG) method, may be directly formed on the display panel 150 by using a gate in panel (GIP) method implementation, or may be formed by being integrated into the display panel 150.

[0039] In addition, the gate driver 160 may be implemented using a chip on film (COF) method.

[0040] The data processor 180 can receive image data (RGB) from the host 190, convert the image data into a format recognizable by the data driver 170, and send the converted image data (RGB') to the data driver 170.

[0041] In addition, since the data processor 180 can control the timing of each driving device 160, 170, and 120 through control signals GCS, DCS, and TCS, the data processor 180 is also referred to as a timing controller.

[0042] Next, a plurality of touch electrodes may be provided on the touch panel 110, and the touch electrodes may include driving electrode lines to which a driving signal is applied and sensing electrode lines for sensing a touch signal.

[0043] Here, the touch sensing device 120 can send a driving signal TXS to the driving electrode lines and receive a sensing signal RXS from the sensing electrode lines to generate touch data TDATA.

[0044] In addition, the touch sensing device 120 can send the touch data TDATA to the host 190.

[0045] In addition, the driving electrode lines and the sensing electrode lines can be the same electrodes, or can be different electrodes.

[0046] In the present disclosure, an embodiment is described in which the driving electrode lines and the sensing electrode lines are joined to each other by capacitance as different electrodes, but the embodiment is not limited thereto.

[0047] The touch sensing device 120 can include a touch driver 122, a sensing signal processor 124, and a controller 126.

[0048] Here, the touch driver 122 can send a driving signal TXS to the driving electrode lines of the touch panel, the sensing signal processor 124 can receive a sensing signal RXS from the sensing electrode lines, and the controller 126 can send a timing signal to the touch driver 122 and the sensing signal processor 124.

[0049] The touch sensing device 120 of the present disclosure can detect raw data corresponding to a touch drawing event of the touch panel to predict a motion vector of touch coordinates.

[0050] That is, when raw data is input, the touch sensing device 120 of the present disclosure can calculate the touch coordinates of the raw data, generate a straight line connecting any two of the calculated touch coordinates, count the number of in-point touch coordinates located within a reference range from the straight line, select a suitable straight line based on the number of in-point touch coordinates, and determine the touch coordinate closest to the selected suitable straight line as the predicted coordinate to predict the motion vector of the touch coordinates.

[0051] Here, the touch sensing device 120 can preprocess the raw data when the raw data is input, and then calculate the touch coordinates based on the preprocessed touch data.

[0052] As an example, when preprocessing the raw data, the touch sensing device 120 can obtain touch intensity data from the input raw data, mark the touch intensity data, and perform finger separation based on the marked touch intensity data.

[0053] In addition, when calculating the touch coordinates based on the preprocessed touch data, the touch sensing device 120 can track the touch coordinates to correct the touch coordinates and smooth the corrected touch coordinates to predict the motion vector of the touch coordinates.

[0054] Here, when calibrating the touch coordinates, the touch sensing device 120 can generate multiple lines connecting any two of the calculated touch coordinates, determine a suitable line among the multiple lines, and calibrate the touch coordinates based on the determined suitable line.

[0055] As an example, when determining the suitable line, the touch sensing device 120 can determine the suitable line based on at least one of a first determination condition and a second discrimination condition. The first determination condition is used to select a line having a large number of inlier touch coordinates located around the line, and the second determination condition is used to select a line having a large number of inlier touch coordinates located near the line.

[0056] In some cases, the touch sensing device 120 can determine the suitable line based on a third determination condition for selecting a line with a longer length.

[0057] Next, when predicting the motion vector of the touch coordinates, the touch sensing device 120 can interpolate the touch data corresponding to the touch drawing event based on the predicted motion vector, and generate the touch data corresponding to the actual touch drawing event based on the interpolated touch data.

[0058] In addition, when generating a line, the touch sensing device 120 can calculate the distance between the currently received touch coordinate and the most recently received touch coordinate in the pre-stored touch coordinate dataset when receiving the calculated touch coordinates, and generate a line connecting any two of the touch coordinates in the touch coordinate dataset when the calculated distance is greater than the threshold distance of the preset dataset.

[0059] That is to say, the touch sensing device 120 can store the touch coordinates greater than the threshold distance of the preset dataset in the dataset, and discard the touch coordinates less than the threshold distance of the preset dataset without storing them in the dataset.

[0060] Therefore, the touch sensing device 120 can update the touch coordinate dataset only using the touch coordinates greater than the threshold distance of the preset dataset, and generate a line connecting any two of the touch coordinates in the touch coordinate dataset.

[0061] Here, the reason for setting the threshold distance of the dataset is that the touch coordinates maintain a certain distance from each other, so that the accuracy of line generation and suitable line selection can be improved, and the time for predicting the motion vector can be minimized.

[0062] In addition, when determining the threshold distance of the preset dataset, the touch sensing device 120 can determine the threshold distance of the dataset based on the size of the touch panel.

[0063] As an example, the touch sensing device 120 may determine the threshold distance of the data set by increasing the threshold distance of the data set when the size of the touch panel increases and decreasing the threshold distance of the data set when the size of the touch panel decreases.

[0064] In some cases, when determining the threshold distance of a preset data set, the touch sensing device 120 may determine the threshold distance of the data set based on the dot pitch of the touch panel.

[0065] As an example, the touch sensing device 120 may determine the threshold distance of the data set by increasing the threshold distance of the data set when the dot pitch of the touch panel increases and decreasing the threshold distance of the data set when the dot pitch of the touch panel decreases.

[0066] In addition, when generating a straight line, the touch sensing device 120 may select any two touch coordinates from the touch coordinates of the touch coordinate data set, generate a straight line connecting the selected two touch coordinates, count the number of in-point touch coordinates located within the reference range starting from the straight line, check whether there is still a combination of touch coordinates in the touch coordinates of the touch coordinate data set that can generate a straight line, when there is still a combination of touch coordinates that can generate a straight line, select another combination of touch coordinates to further generate another straight line, and when there is no combination of touch coordinates that can generate a straight line, terminate the straight line generation.

[0067] Here, when selecting any two touch coordinates, the touch sensing device 120 may extract any one touch coordinate pair from among the multiple touch coordinate pairs included in the pre-stored touch coordinate pair table to select two touch coordinates corresponding to the extracted touch coordinate pair.

[0068] In this case, the touch sensing device 120 may determine the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table based on the calculation speed of the touch sensing device 120.

[0069] As an example, when the calculation speed of the touch sensing device is higher than the reference speed, the touch sensing device 120 may determine to increase the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table, and when the calculation speed of the touch sensing device is less than the reference speed, determine to decrease the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table.

[0070] In some cases, when generating a straight line, the touch sensing device 120 can determine the total number of generated straight lines. When determining the total number of generated straight lines, any two touch coordinates among the touch coordinates of the touch coordinate data set are selected, a straight line connecting the selected two touch coordinates is generated, the number of in-point touch coordinates within the reference range starting from the straight line is counted, and it is checked whether the number of generated straight lines so far has reached the total number of generated straight lines. When the number of generated straight lines so far has not reached the total number of generated straight lines, another combination of touch coordinates is selected to further generate another straight line, and when the number of generated straight lines so far has reached the total number of generated straight lines, the straight line generation is terminated.

[0071] Here, when determining the total number of generated straight lines, the touch sensing device 120 can determine the total number of generated straight lines based on the calculation speed of the touch sensing device.

[0072] As an example, when the calculation speed of the touch sensing device is higher than the reference speed, the touch sensing device 120 can determine to increase the total number of generated straight lines, and when the calculation speed of the touch sensing device is less than the reference speed, the touch sensing device 120 can determine to decrease the total number of generated straight lines.

[0073] Next, when selecting a suitable straight line, the touch sensing device 120 can select the straight line with the largest number of in-point touch coordinates as the suitable straight line based on the number of in-point touch coordinates stored for each straight line.

[0074] In some cases, when there are multiple suitable straight lines with the largest number of in-point touch coordinates, the touch sensing device 120 can calculate the total distance between the suitable straight lines and the in-point touch coordinates, and select the suitable straight line with the smallest total distance among the multiple suitable straight lines as the final suitable straight line.

[0075] As another case, when there are multiple suitable straight lines with the smallest total distance, the touch sensing device 120 can calculate the length values of the corresponding suitable straight lines, and select the suitable straight line with the longest length value among the multiple suitable straight lines as the final suitable straight line.

[0076] Next, the touch sensing device 120 can determine the point closest to the current coordinate on the selected suitable straight line as the predicted coordinate to predict the motion vector of the touch coordinate.

[0077] Here, when comparing the number of in-point touch coordinates in the current frame with the number of in-point touch coordinates in the previous frame, when the number of in-point touch coordinates in the current frame is at least the maximum reference difference less than the number of in-point touch coordinates in the previous frame, the touch sensing device 120 can determine that the touch drawing event is not a straight line drawing and terminate the prediction of the motion vector of the touch coordinate.

[0078] Therefore, the touch sensing device of the present disclosure can select a suitable straight line from among the straight lines connecting any two touch coordinates corresponding to a straight line drawing and predict the motion vector of the touch coordinates by based on the number of inner point touch coordinates within the reference range and the sum of distance sub - values between the straight line and the inner point coordinates, so as to increase the accuracy of the prediction vector corresponding to the straight line drawing and reduce the straight line drawing jitter.

[0079] Figure 2 It is a diagram for explaining a touch sensing device of a display device according to an embodiment of the present disclosure.

[0080] As Figure 2 shown, the touch sensing device of the present disclosure may include a sensing signal processor 124 and a controller 126. The sensing signal processor 124 is configured to detect raw data corresponding to a touch drawing event of the touch panel 110, and the controller 126 is configured to generate touch data by predicting the motion vector of the touch coordinates based on the detected raw data and transmit the touch data to the host 190.

[0081] Here, the sensing signal processor 124 may be composed of a source driver as a data driver and a source driver touch read - out IC (SRIC) integrated with a touch read - out circuit. However, this is merely an embodiment and is not limited thereto.

[0082] In addition, the sensing signal processor 124 may further include a read - out circuit unit, an analog - to - digital converter (ADC), a MUX, an arithmetic processor, etc.

[0083] Here, the read - out circuit unit may detect a sensing signal corresponding to a touch drawing event of the touch panel 110.

[0084] As an example, the read - out circuit unit includes a circuit such as an integrator as a circuit for analog - converting the sensing signal.

[0085] In addition, the analog - to - digital converter may convert the sensing signal into sensing data.

[0086] Next, the multiplexer may multiplex the sensing data to send the sensing data to the arithmetic processor.

[0087] Next, the arithmetic processor may perform arithmetic processing on multiple sensing data to send the raw data to the controller 126.

[0088] In addition, when the original data is input, the controller 126 can calculate the touch coordinates of the original data, generate a straight line connecting any two of the calculated touch coordinates, count the number of inlier touch coordinates within a reference range starting from the straight line, select a suitable straight line based on the number of inlier touch coordinates, and determine the touch coordinate closest to the selected suitable straight line as the predicted coordinate to predict the motion vector of the touch coordinate, and generate touch data corresponding to the straight line drawing event based on the motion vector of the touch coordinate to transmit the touch data to the host 190.

[0089] Here, when generating a straight line, the controller 126 can select any two touch coordinates from the touch coordinates of the touch coordinate dataset, generate a straight line connecting the two selected touch coordinates, count the number of inlier touch coordinates within a reference range starting from the straight line, check whether there are still combinations of touch coordinates in the touch coordinate dataset that can generate a straight line, when there are still combinations of touch coordinates that can generate a straight line, select another combination of touch coordinates to further generate another straight line, and when there are no combinations of touch coordinates that can generate a straight line, terminate the straight line generation.

[0090] In some cases, when generating a straight line, the controller 126 can determine the total number of straight lines to be generated. When determining the total number of straight lines to be generated, select any two touch coordinates from the touch coordinates of the touch coordinate dataset, generate a straight line connecting the two selected touch coordinates, count the number of inlier touch coordinates within a reference range starting from the straight line, check whether the number of straight lines generated so far has reached the total number of straight lines to be generated. When the number of straight lines generated so far has not reached the total number of straight lines to be generated, select another combination of touch coordinates to further generate another straight line, and when the number of straight lines generated so far has reached the total number of straight lines to be generated, terminate the straight line generation.

[0091] Next, when selecting a suitable straight line, the controller 126 can select the straight line with the largest number of inlier touch coordinates as the suitable straight line based on the number of inlier touch coordinates stored for each straight line.

[0092] In some cases, when there are multiple suitable straight lines with the largest number of inlier touch coordinates, the controller 126 can calculate the total distance between the suitable straight lines and the inlier touch coordinates, and select the suitable straight line with the smallest total distance among the multiple suitable straight lines as the final suitable straight line.

[0093] As another case, when there are multiple suitable straight lines with the smallest total distance, the controller 126 can calculate the length values of the corresponding suitable straight lines, and select the suitable straight line with the longest length value among the multiple suitable straight lines as the final suitable straight line.

[0094] Then, the controller 126 can determine the point closest to the current coordinates on the selected appropriate straight line as the predicted coordinates to predict the motion vector of the touch coordinates.

[0095] Figures 3 to 6 is a diagram for describing the controller of the touch sensing device according to an embodiment of the present disclosure.

[0096] As Figure 3 shown, the controller of the touch sensing device of the present disclosure may include a pre-processor 126-1, a motion vector of the touch coordinate prediction unit 126-2, and a touch data generator 126-3.

[0097] Here, the pre-processor 126-1 can pre-process the raw data when the raw data is input.

[0098] As Figure 4 shown, the pre-processor 126-1 may include: an input unit 126-1a configured to receive the raw data; a touch intensity data acquisition unit 126-1b configured to acquire touch intensity data from the input raw data; a marking unit 126-1c configured to mark the touch intensity data; and a finger separation unit 126-1d configured to perform finger separation based on the marked touch intensity data.

[0099] Here, when performing finger separation, the finger separation unit 126-1d can analyze the marked touch intensity data to search for touch intensity data higher than a reference value, and perform finger separation when the marked value of the touch intensity data between the touch intensity data higher than the reference value gradually decreases and then increases.

[0100] As an example, it can be confirmed that when the marked value of the touch intensity data at the X coordinate among the touch intensity data between the touch intensity data higher than the reference value gradually decreases and then increases, the finger separation unit 126-1d can perform separation around the touch intensity data with the lowest marked value.

[0101] As another example, it can also be confirmed that when the marked value of the touch intensity data at the Y coordinate among the touch intensity data between the touch intensity data higher than the reference value gradually decreases and then increases, the finger separation unit 126-1d can perform separation around the touch intensity data with the lowest marked value.

[0102] As another example, it can also be confirmed that when the marker values of the touch intensity data at each of the X coordinate and the Y coordinate among the touch intensity data between the touch intensity data higher than the reference value gradually decrease and then increase, the finger separation unit 126-1d can perform separation around the touch intensity data with the lowest marker value.

[0103] In some cases, when performing finger separation, the finger separation unit 126-1d can analyze the marked touch intensity data to search for touch intensity data higher than the reference value, check whether the marker values of the touch intensity data within a specific distance around the touch intensity data higher than the reference value have a preset marker distribution, and when there is a preset marker distribution, perform finger separation around the touch intensity data higher than the reference value.

[0104] Next, Figure 3 the motion vector 126-2 of the touch coordinate prediction unit can calculate the touch coordinates based on the preprocessed touch data to predict the motion vector of the touch coordinates.

[0105] As Figure 5 shown, the motion vector 126-2 of the touch coordinate prediction unit can include: a touch coordinate calculation unit 126-2a configured to calculate the touch coordinates; a coordinate tracking unit 126-2b configured to track the touch coordinates; a coordinate correction unit 126-2c configured to correct the touch coordinates; and a coordinate smoothing processor 126-2d configured to smooth the corrected touch coordinates.

[0106] Here, the coordinate correction unit 126-2c can generate multiple straight lines connecting any two of the calculated touch coordinates, determine a suitable straight line among the multiple straight lines, and correct the touch coordinates based on the determined suitable straight line.

[0107] As an example, when determining the suitable straight line, the coordinate correction unit 126-2c can determine the suitable straight line based on at least one of a first determination condition and a second determination condition. The first determination condition is used to select a straight line having a large number of inlier touch coordinates around the straight line, and the second determination condition is used to select a straight line having a large number of inlier touch coordinates near the straight line.

[0108] In addition, the coordinate correction unit 126-2c can determine the suitable straight line based on a third determination condition for selecting a straight line with a longer length.

[0109] Next, Figure 3 the touch data generator 126-3 can generate touch data corresponding to the touch drawing event based on the predicted motion vector.

[0110] As Figure 6As shown, the touch data generator 126-3 may include a touch drawing event interpolation processor 126-3a and an actual touch drawing event data generator 126-3b. The touch drawing event interpolation processor 126-3a is configured to interpolate touch data corresponding to a touch drawing event based on a predicted motion vector, and the actual touch drawing event data generator 126-3b is configured to generate touch data corresponding to an actual touch drawing event.

[0111] Figure 7 and Figure 8 is a diagram for describing a method of a motion vector of predicted touch coordinates according to an embodiment of the present disclosure.

[0112] As Figure 7 shown, when touch coordinates P6 to P2 corresponding to a straight line drawing event are input, when there is no noise such as an abnormal point touch coordinate P1, a predicted vector of touch coordinates for the straight line drawing event can be predicted as a motion vector such as A having a direction toward P0.

[0113] However, when there is noise such as an abnormal point touch coordinate P1, a predicted vector of touch coordinates for the straight line drawing event can be predicted as a motion vector such as B having a direction toward the noise P1.

[0114] Therefore, when the touch sensing method of the present disclosure is not used, the accuracy of the predicted vector corresponding to the straight line drawing may be reduced, and the straight line drawing jitter may increase.

[0115] As Figure 8 shown, the touch sensing method of the present disclosure can, when a data set including touch coordinates P8 to P1 corresponding to a straight line drawing event is input, select a suitable straight line from straight lines connecting any two touch coordinates corresponding to the straight line drawing based on the number of inlier touch coordinates located within a reference range and the total distance between the straight line and the inlier touch coordinates, and predict a motion vector of the touch coordinates, so as to improve the accuracy of the predicted vector corresponding to the straight line drawing and reduce the straight line drawing jitter.

[0116] Here, in the present disclosure, by determining the point on the selected suitable straight line that is closest to the current coordinate P0 as the predicted coordinate P0', the predicted vector of the touch coordinates can be known.

[0117] Figure 9 is a diagram for describing an effective distance between touch coordinates in a touch coordinate data set according to an embodiment of the present disclosure.

[0118] As Figure 9As shown, in the present disclosure, when all touch coordinates 500 are stored in the touch coordinate dataset every time a touch coordinate 500 is input, in an area where touch coordinates 500 are dense, the accuracy of the prediction vector may decrease and the execution time of the algorithm may increase.

[0119] Therefore, in the present disclosure, when a touch coordinate 500 is input, the distance between the currently received touch coordinate and the most recently received touch coordinate can be calculated, and when the calculated distance is greater than the threshold distance of the preset dataset, the corresponding touch coordinate can be stored in the touch coordinate dataset.

[0120] That is to say, in the present disclosure, only the touch coordinates 500 with a storage distance greater than the threshold distance of the preset dataset can be stored in the dataset, and the touch coordinates less than the threshold distance of the preset dataset can be discarded without being stored in the dataset.

[0121] Here, the reason for setting the threshold distance of the dataset is that the touch coordinates maintain a specific distance from each other, so that the accuracy of straight line generation and appropriate straight line selection can be improved, and the time for predicting the motion vector can be minimized.

[0122] In the present disclosure, when the distance between the input touch coordinate 500 and its adjacent touch coordinates is greater than a specific distance, by storing the input touch coordinate in the touch coordinate dataset, even in an area where touch coordinates 500 are dense, the accuracy of the prediction vector can be improved and the execution time of the algorithm can be reduced.

[0123] In the present disclosure, when determining the threshold distance of the preset dataset, the threshold distance of the dataset can be determined based on the size of the touch panel.

[0124] As an example, in the present disclosure, the threshold distance of the dataset can be determined by increasing the threshold distance of the dataset when the size of the touch panel increases and decreasing the threshold distance of the dataset when the size of the touch panel decreases.

[0125] In some cases, in the present disclosure, when determining the threshold distance of the preset dataset, the threshold distance of the dataset can be determined according to the dot pitch of the touch panel.

[0126] As an example, in the present disclosure, the threshold distance of the dataset can be determined by increasing the threshold distance of the dataset when the dot pitch of the touch panel increases and decreasing the threshold distance of the dataset when the dot pitch of the touch panel decreases.

[0127] Figure 10 is a diagram for describing a method for selecting an appropriate straight line according to an embodiment of the present disclosure.

[0128] As Figure 10As shown in (a), in the present disclosure, when receiving touch coordinates 500 corresponding to a straight-line drawing event, the distance between the currently received touch coordinates and the most recently received touch coordinates in the pre-stored touch coordinate dataset can be calculated, and when the calculated distance is greater than the threshold distance of the preset dataset, the received touch coordinates 500 can be stored in the touch coordinate dataset.

[0129] That is to say, in the present disclosure, touch coordinates greater than the threshold distance of the preset dataset can be stored in the dataset, and touch coordinates less than the threshold distance of the preset dataset can be discarded without being stored in the dataset.

[0130] Therefore, in the present disclosure, only touch coordinates greater than the threshold distance of the preset dataset can be used to update the touch coordinate dataset.

[0131] Next, as Figure 10 shown in (b), in the present disclosure, any two touch coordinates 510 can be selected from the touch coordinates 500 of the touch coordinate dataset, and a straight line 520 connecting the two selected touch coordinates 510 can be generated.

[0132] Here, in the present disclosure, when selecting any two touch coordinates 510, any one touch coordinate pair can be extracted from the multiple touch coordinate pairs included in the pre-stored touch coordinate pair table to select the two touch coordinates corresponding to the extracted touch coordinate pair.

[0133] In this case, in the present disclosure, the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table can be determined based on the calculation speed of the touch sensing device.

[0134] As an example, in the present disclosure, when the calculation speed of the touch sensing device is higher than the reference speed, it can be determined to increase the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table, and when the calculation speed of the touch sensing device is less than the reference speed, it can be determined to decrease the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table.

[0135] In some cases, in the present disclosure, the total number of generated straight lines can be determined. When determining the total number of generated straight lines, any two touch coordinates 510 are selected from the touch coordinates of the touch coordinate dataset, and a straight line 520 connecting the two selected touch coordinates 510 is generated.

[0136] Here, in the present disclosure, when determining the total number of the generated straight lines 520, the total number of the generated straight lines 520 can be determined based on the calculation speed of the touch sensing device.

[0137] As an example, in the present disclosure, when the computing speed of the touch sensing device is higher than the reference speed, it can be determined to increase the total number of lines 520 generated, and when the computing speed of the touch sensing device is lower than the reference speed, it can be determined to reduce the total number of lines 520 generated.

[0138] Next, as shown in Figure 10 (c), in the present disclosure, the number of inlier touch coordinates 540 located within the threshold range 530 of the line 520 can be counted, and the outlier touch coordinates 550 located outside the threshold range 530 can be ignored.

[0139] In some cases, in the present disclosure, the total distance between the line 520 and the inlier touch coordinates 540 can be calculated.

[0140] As another case, in the present disclosure, the length value of the line 520 can be calculated.

[0141] Here, in the present disclosure, when counting the number of inlier touch coordinates 540, the total distance between the line 520 and the inlier touch coordinates 540 can be calculated simultaneously.

[0142] In addition, in the present disclosure, when counting the number of inlier touch coordinates 540, the total distance between the line 520 and the inlier touch coordinates 540 and the length value of the line 520 can be calculated simultaneously.

[0143] In addition, as shown in Figure 10 (d), in the present disclosure, it can be checked whether there is still a combination of touch coordinates in the touch coordinates of the touch coordinate dataset that can generate a line. When there is still a combination of touch coordinates that can generate a line, another combination of touch coordinates 560 is selected to further generate another line 570, and when there is no combination of touch coordinates that can generate a line, the line generation is terminated.

[0144] In some cases, in the present disclosure, when determining the total number of lines generated, it can be checked whether the number of lines generated so far has reached the total number of lines generated. When the number of lines generated so far has not reached the total number of lines generated, other combinations of touch coordinates 560 can be selected to further generate another line 570, and when the number of lines generated so far has reached the total number of lines generated, the line generation can be terminated.

[0145] Here, in the present disclosure, the process of counting the number of inlier touch coordinates located within the threshold range of another line 570 and calculating the total distance between the line and the inlier touch coordinates can be repeatedly executed.

[0146] Next, in the present disclosure, a suitable line can be selected from multiple lines.

[0147] Here, in the present disclosure, a line having the largest number of inlier touch coordinates can be selected as a suitable line based on the number of inlier touch coordinates stored for each line.

[0148] In some cases, in the present disclosure, when there are multiple suitable lines having the largest number of inlier touch coordinates, the sum of the distances between the suitable lines and the inlier touch coordinates can be calculated, and a suitable line having the smallest sum of distances can be selected as the final suitable line among the multiple suitable lines.

[0149] As another case, in the present disclosure, when there are multiple suitable lines having the smallest sum of distances, the length values of the corresponding suitable lines can be calculated, and a suitable line having the longest length value can be selected as the final suitable line among the multiple suitable lines.

[0150] Next, in the present disclosure, a point on the selected suitable line that is closest to the current coordinate can be determined as the predicted coordinate to predict the motion vector of the touch coordinate.

[0151] Figure 11 is a diagram for describing a method for selecting a suitable line according to another embodiment of the present disclosure.

[0152] As Figure 11 (a) and Figure 11 (b) show, in the present disclosure, any two touch coordinates 510 can be selected from the touch coordinates of the touch coordinate dataset, and a line 520 connecting the two selected touch coordinates 510 can be generated.

[0153] In addition, in the present disclosure, the number of inlier touch coordinates 540 located within a threshold range 530 from the line 520 can be counted.

[0154] Here, in the present disclosure, a line having the largest number of inlier touch coordinates can be selected as a suitable line based on the number of inlier touch coordinates stored for each line, and as Figure 11 (a) and Figure 11 (b) show, when there are multiple lines 520 having the same number of inlier touch coordinates, the sum of the distances d between the lines 520 and the inlier touch coordinates 540 can be calculated.

[0155] It can be seen that, in Figure 11 (a), the sum of the distances d between the line 520 and the inlier touch coordinates 540 is 7 (3 + 1 + 3), and in Figure 11 (b), the sum of the distances d between the line 520 and the inlier touch coordinates 540 is 12 (5 + 3 + 5).

[0156] Therefore, in the present disclosure, among two straight lines 520 having the same number of inner-point touch coordinates 540, the straight line with the minimum sum of the distances d between the straight line 520 shown in Figure 11 (a) and the inner-point touch coordinates 540 can be selected as the final appropriate straight line.

[0157] Therefore, in the present disclosure, when there are multiple straight lines having the maximum number of inner-point touch coordinates, the straight line with the minimum sum of distances among the multiple straight lines can be selected as the appropriate straight line.

[0158] As another case, in the present disclosure, when there are multiple appropriate straight lines with the minimum sum of distances, the length values of the corresponding appropriate straight lines can be calculated, and the appropriate straight line with the longest length value among the multiple appropriate straight lines can be selected as the final appropriate straight line.

[0159] Therefore, in the present disclosure, the accuracy of the prediction vector corresponding to the straight-line drawing can be improved by selecting the straight line with the minimum noise to reduce the straight-line drawing jitter.

[0160] Figure 12 and Figure 13 are diagrams for describing the touch sensing method of a touch sensing device according to an embodiment of the present disclosure.

[0161] As Figure 12 shown, in the present disclosure, the raw data corresponding to the touch drawing event of the touch panel can be detected (S100).

[0162] In addition, in the present disclosure, the raw data can be preprocessed (S200).

[0163] Here, in the present disclosure, the touch intensity data can be obtained from the raw data, the touch intensity data can be marked, and finger separation can be performed based on the marked touch intensity data.

[0164] Next, in the present disclosure, the touch coordinates of the raw data can be calculated (S300).

[0165] Next, in the present disclosure, a straight line connecting any two of the calculated touch coordinates can be generated, the number of inner-point touch coordinates within the reference range starting from the straight line can be counted, an appropriate straight line can be selected based on the number of inner-point touch coordinates, and the touch coordinate closest to the selected appropriate straight line can be determined as the predicted coordinate to predict the motion vector of the touch coordinate (S400).

[0166] In some cases, in the present disclosure, when selecting a suitable straight line, the number of inner-point touch coordinates within a reference range starting from the straight line can be counted, the total distance between the suitable straight line and the inner-point touch coordinates can be calculated, and the suitable straight line can be selected based on the number of inner-point touch coordinates and the total distance.

[0167] That is, in the present disclosure, the straight line with the largest number of inner-point touch coordinates among multiple straight lines can be first selected as the suitable straight line, and when there are multiple suitable straight lines with the largest number of inner-point touch coordinates, the suitable straight line with the smallest total distance can be secondarily selected among the multiple suitable straight lines as the final suitable straight line.

[0168] In addition, in the present disclosure, touch data corresponding to a touch drawing event can be generated based on a predicted motion vector (S500).

[0169] Here, in the present disclosure, the touch data corresponding to a touch drawing event can be interpolated based on a predicted motion vector, and touch data corresponding to an actual touch drawing event can be generated based on the interpolated touch data.

[0170] Next, in the present disclosure, it can be checked whether a touch drawing event has terminated (S600), and when the touch drawing event has terminated, touch sensing can be terminated.

[0171] Hereinafter, step S400 of predicting the motion vector of touch coordinates will be described in more detail as follows.

[0172] As Figure 13 shown, in the present disclosure, touch coordinates of raw data corresponding to a touch drawing event can be received (S412).

[0173] In addition, in the present disclosure, it can be checked whether there is a pre-stored touch coordinate data set (S414).

[0174] Next, in the present disclosure, when there is no pre-stored touch coordinate data set, the touch coordinate data set can be updated based on the received touch coordinates (S416).

[0175] Here, in the present disclosure, when there is a pre-stored touch coordinate data set, the distance between the currently received touch coordinate P0 and the most recently received touch coordinate P1 in the pre-stored touch coordinate data set can be calculated, and it can be checked whether the calculated distance is greater than a threshold distance of the preset data set (S418).

[0176] As an example, in the present disclosure, the threshold distance of the data set can be determined based on the size of the touch panel.

[0177] That is, in the present disclosure, the threshold distance of the data set can be determined by increasing the threshold distance of the data set when the size of the touch panel increases and decreasing the threshold distance of the data set when the size of the touch panel decreases.

[0178] As another example, in the present disclosure, the threshold distance of the data set can be determined based on the dot pitch of the touch panel.

[0179] That is, in the present disclosure, the threshold distance of the data set can be determined by increasing the threshold distance of the data set when the dot pitch of the touch panel increases and decreasing the threshold distance of the data set when the dot pitch of the touch panel decreases.

[0180] Next, in the present disclosure, when the calculated distance is less than or equal to the threshold distance of the preset data set, it can be confirmed whether the number of touch coordinates of the preset data set is less than two (S420).

[0181] Here, in the present disclosure, when the number of touch coordinates of the preset data set is less than two, the next step can be executed without predicting the motion vector of the touch coordinates (S442).

[0182] However, in the present disclosure, when the number of touch coordinates in the preset data set is two or more, the motion vector of the touch coordinates can be predicted (S422) using the appropriate straight line used in the previous frame without generating a new straight line.

[0183] That is, in the present disclosure, the touch coordinates closest to the appropriate straight line used in the previous frame can be determined as the predicted coordinates to predict the motion vector of the touch coordinates (S424).

[0184] In addition, in the present disclosure, in step S418, when the calculated distance is greater than the threshold distance of the preset data set, the pre-stored touch coordinate data set can be updated based on the currently received touch coordinates (S426).

[0185] Next, in the present disclosure, any two touch coordinates can be selected from the touch coordinates of the touch coordinate data set (S428).

[0186] Here, in the present disclosure, any one touch coordinate pair can be extracted from the multiple touch coordinate pairs included in the pre-stored touch coordinate pair table to select two touch coordinates corresponding to the extracted touch coordinate pair.

[0187] As an example, in the present disclosure, the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table can be determined based on the calculation speed of the touch sensing device.

[0188] That is, in the present disclosure, when the computing speed of the touch sensing device is higher than the reference speed, it can be determined to increase the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table, and when the computing speed of the touch sensing device is lower than the reference speed, it can be determined to decrease the total number of touch coordinate pairs included in the pre-stored touch coordinate pair table.

[0189] Then, in the present disclosure, a straight line connecting the two selected touch coordinates can be generated (S430).

[0190] In addition, in the present disclosure, the number of in-point touch coordinates located within the reference range from the straight line can be counted (S432).

[0191] Here, in the present disclosure, when counting the number of in-point touch coordinates, the total distance between the straight line and the in-point touch coordinates can be calculated simultaneously.

[0192] In some cases, in the present disclosure, when counting the number of in-point touch coordinates, the total distance between the straight line and the in-point touch coordinates and the length value of the straight line can be calculated simultaneously.

[0193] Next, in the present disclosure, it can be checked whether there is still a combination of touch coordinates in the touch coordinate dataset that can generate a straight line (S434).

[0194] Here, in the present disclosure, when there is still a combination of touch coordinates that can generate a straight line, steps S428 to S432 of selecting another combination of touch coordinates to further generate another straight line and counting the number of in-point touch coordinates can be repeatedly executed.

[0195] In some cases, in the present disclosure, when the total number of generated straight lines is pre-determined, it can be checked whether the total number of generated straight lines so far has reached the total number of generated straight lines, and when the total number of generated straight lines so far has not reached the total number of generated straight lines, steps S428 to S432 can be repeatedly executed.

[0196] Here, in the present disclosure, the total number of generated straight lines can be determined based on the computing speed of the touch sensing device.

[0197] That is, in the present disclosure, when the computing speed of the touch sensing device is higher than the reference speed, it can be determined to increase the total number of generated straight lines, and when the computing speed of the touch sensing device is lower than the reference speed, it can be determined to decrease the total number of generated straight lines.

[0198] Next, in the present disclosure, when there is no combination of touch coordinates that can generate a straight line, the straight line generation can be terminated, and based on the number of inlier touch coordinates stored for each straight line, the straight line with the largest number of inlier touch coordinates is selected as the appropriate straight line (S436).

[0199] In addition, in the present disclosure, it can be checked whether there are multiple appropriate straight lines with the largest number of inlier touch coordinates (S438).

[0200] Next, in the present disclosure, when there are multiple appropriate straight lines with the largest number of inlier touch coordinates, the appropriate straight line with the smallest sum of distances (error_sum) between the straight line and the inlier touch coordinates can be selected as the final appropriate straight line (S440).

[0201] In some cases, in the present disclosure, when there are multiple appropriate straight lines with the smallest sum of distances, the length values of the corresponding appropriate straight lines can be calculated, and the appropriate straight line with the longest length value can be selected as the final appropriate straight line among the multiple appropriate straight lines.

[0202] Next, in the present disclosure, the coordinates closest to the final appropriate straight line can be determined as the predicted coordinates to predict the motion vector of the touch coordinates (S424).

[0203] Therefore, in the present disclosure, by selecting an appropriate straight line from the straight lines connecting any two touch coordinates corresponding to the straight line drawing based on the number of inlier touch coordinates within the reference range and the sum of the distances between the straight line and the internal coordinates, and predicting the motion vector of the touch coordinates, the accuracy of the predicted vector corresponding to the straight line drawing can be improved and the straight line drawing jitter can be reduced.

[0204] The above present disclosure can be implemented as computer-readable code on a program recording medium. The computer-readable medium includes all types of recording devices that store data readable by a computer system. As examples of computer-readable media, there are hard disk drives (HDDs), solid state drives (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc. Additionally, the computer may include a processor of an artificial intelligence device.

[0205] Industrial Applicability

[0206] According to the touch sensing device of the present disclosure, the touch sensing device can improve the accuracy of the predicted vector corresponding to the straight line drawing and reduce the straight line drawing jitter by selecting an appropriate straight line from the straight lines connecting any two touch coordinates corresponding to the straight line drawing based on the number of inlier touch coordinates within the reference range and the sum of the distances between the straight line and the inlier coordinates, and predicting the motion vector of the touch coordinates, and thus has significant industrial applicability.

Claims

1. A touch sensing device configured to process touches on a touch panel, the touch sensing device comprising: A sensing signal processor configured to detect raw data corresponding to a touch drawing event on the touch panel; And A controller configured to generate touch data by predicting a motion vector of touch coordinates based on the detected raw data, wherein, when inputting the raw data, the controller calculates touch coordinates of the raw data, generates a straight line connecting any two of the calculated touch coordinates, counts the number of inlier touch coordinates located within a reference range from the straight line, selects a suitable straight line based on the number of inlier touch coordinates, and determines a touch coordinate closest to the selected suitable straight line as a predicted coordinate to predict the motion vector of the touch coordinates.

2. The touch sensing device according to claim 1, wherein, When generating the straight line, the controller calculates a distance between the currently received touch coordinate and the most recently received touch coordinate in a pre-stored touch coordinate dataset when receiving the calculated touch coordinates, and when the calculated distance is greater than a threshold distance of the preset dataset, generates a straight line connecting any two of the touch coordinates in the touch coordinate dataset.

3. The touch sensing device according to claim 2, wherein, When calculating the distance, the controller checks whether the pre-stored touch coordinate dataset does not exist when receiving the touch coordinates, updates the touch coordinate dataset based on the received touch coordinates when the pre-stored touch coordinate dataset does not exist, and when the pre-stored touch coordinate dataset exists, calculates the distance between the received touch coordinate and the most recently received touch coordinate in the pre-stored touch coordinate dataset.

4. The touch sensing device according to claim 2, wherein, When the calculated distance is less than or equal to the threshold distance of the preset dataset, the controller determines whether to use a straight line of the previous frame without generating a new straight line based on the number of touch coordinates in the preset dataset.

5. The touch sensing device according to claim 2, wherein, When the calculated distance is greater than the threshold distance of the preset dataset, the controller updates the pre-stored touch coordinate dataset based on the currently received touch coordinates.

6. The touch sensing device according to claim 1, wherein, When generating the straight line, the controller selects any two touch coordinates among the touch coordinates in the touch coordinate dataset, generates the straight line connecting the selected two touch coordinates, counts the number of the inlier touch coordinates located within the reference range from the straight line, checks whether there is still a combination of touch coordinates in the touch coordinates of the touch coordinate dataset that can generate the straight line, when there is still a combination of touch coordinates that can generate the straight line, selects another combination of touch coordinates to further generate another straight line, and when there is no combination of touch coordinates that can generate the straight line, terminates the straight line generation.

7. The touch sensing device according to claim 1, wherein, When counting the number of the inner-point touch coordinates, the controller counts the number of the inner-point touch coordinates within the reference range starting from the straight line to store the number of the inner-point touch coordinates for each straight line, checks whether there still exists a combination of touch coordinates capable of generating the straight line among the touch coordinates in the touch coordinate data set, when there still exists the combination of the touch coordinates capable of generating the straight line, selects another combination of touch coordinates to further generate another straight line, and counts the number of the inner-point touch coordinates with respect to the another straight line generated additionally.

8. The touch sensing device according to claim 1, wherein, When selecting the appropriate straight line, the controller selects the straight line having the largest number of inner-point touch coordinates as the appropriate straight line based on the number of the inner-point touch coordinates stored for each straight line.

9. The touch sensing device according to claim 8, wherein, When there are multiple appropriate straight lines having the largest number of inner-point touch coordinates, the controller calculates the total sum of the distances between the appropriate straight lines and the inner-point touch coordinates, and selects the appropriate straight line having the smallest total distance among the multiple appropriate straight lines as the final appropriate straight line.

10. A touch sensing method of a touch sensing device configured to process touches of a touch panel, the touch sensing method comprising the following steps: Detecting raw data corresponding to a touch drawing event of the touch panel; Preprocessing the raw data; Calculating touch coordinates of the raw data; Generating a straight line connecting any two of the calculated touch coordinates; Counting the number of inner-point touch coordinates within a reference range starting from the straight line to select an appropriate straight line based on the number of the inner-point touch coordinates; Determining touch coordinates closest to the selected appropriate straight line as predicted coordinates to predict a motion vector of the touch coordinates; And Generating touch data corresponding to the touch drawing event based on the predicted motion vector.

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