Underwater high-precision touch screen touch recognition method and related device

Abstract

The application relates to the field of touch screen touch control technology, in particular to a touch screen underwater high-precision touch control recognition method and related equipment. The method comprises the following steps: a plurality of touch signal transmitting electrodes with different frequencies are arranged on a touch screen, the transmitting electrodes are distributed on the touch area in a specific arrangement mode, when a finger or a touch pen contacts the screen, the transmitting electrodes simultaneously transmit multi-frequency band touch signals, the signals are collected by receiving electrodes around the screen after underwater propagation and are transmitted to a signal processing module, and the signal processing module is used for acquiring reflection signals carrying touch position, contact area and force information. Through the transmitting and collecting mechanism of the multi-frequency band touch signals, the differences in underwater propagation of signals with different frequencies are utilized, a multi-dimensional feature space containing amplitude, frequency and phase information is constructed, real touch signals and environmental interference are effectively separated, and the anti-interference capability is improved from the signal source.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of touch screen touch control, in particular to a touch screen underwater high-precision touch control recognition method and related equipment. BACKGROUND

[0002] Industrial three-proof flat panel computers have become underwater human-computer interaction devices in industrial scenes such as marine resource exploration, underwater engineering operation and special rescue due to their water-proof, dust-proof and drop-proof characteristics. However, the complexity of underwater environment poses a severe challenge to touch control recognition technology: the conductivity of water changes the propagation medium characteristics of touch control signals, resulting in distortion and attenuation of signals in the transmission process; the optical refraction and scattering effect of water body interferes with the capture of position information by touch control sensors; at the same time, the slight deformation of the screen under water pressure and the noise caused by water flow disturbance further exacerbate the deterioration of the signal-to-noise ratio of touch control signals.

[0003] Traditional touch control recognition technology is mostly optimized for single interference factors, such as improving signal integrity by adding an insulating layer or suppressing light interference by adjusting optical sensor parameters, but lacks a coordinated processing mechanism for multi-band signals, making it difficult to establish an accurate touch control signal feature model in a complex underwater environment, resulting in a significant increase in touch position recognition error with environmental changes, and the inability to effectively perceive touch force, which seriously restricts the application of the device in high-precision operation scenarios. Therefore, the technical problem of the present application is how to break through the signal fusion processing bottleneck under the interference of multiple physical fields and construct an underwater touch control recognition method with both anti-interference ability and high precision. SUMMARY

[0004] The present disclosure proposes a touch screen underwater high-precision touch control recognition method and related equipment, aiming to overcome at least one of the deficiencies in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solutions disclosed by the present application are as follows:

[0006] According to one aspect of the present disclosure, a touch screen underwater high-precision touch control recognition method is provided, comprising the following steps:

[0007] A plurality of touch control signal emitting electrodes of different frequencies are arranged on the touch screen, the emitting electrodes are distributed in a specific arrangement manner in the touch area, when a finger or a touch pen contacts the screen, the emitting electrodes simultaneously emit multi-band touch control signals, the signals are collected by receiving electrodes around the screen after underwater propagation and transmitted to a signal processing module for obtaining reflection signals carrying touch position, contact area and force information;

[0008] The signal processing module performs filtering, amplification and de-noising preprocessing on the received multi-band signal, extracts the amplitude, frequency and phase characteristic parameters of the signal by using wavelet transform or Fourier transform algorithm, so as to enhance the signal-to-noise ratio of the signal and separate the effective touch feature;

[0009] Based on the characteristic parameters, the underwater propagation characteristics of different frequency signals are calculated by using a multi-band signal fusion algorithm to synthesize the touch position, and the calculation results are corrected and optimized in combination with the physical structure and geometric characteristics of the screen to eliminate the errors caused by screen deformation and light refraction;

[0010] According to the characteristic parameters, a touch force model is established, the touch force is estimated by the touch force model and fed back to the operating system, and the operating system performs corresponding operations based on the force size to realize differentiated interaction control.

[0011] Further, in the process of transmitting and collecting multi-band touch signals, the transmitting electrodes are arranged in an array, the transmitting frequency interval of adjacent transmitting electrodes is 10-50 kHz, the receiving electrodes are uniformly arranged along the four sides of the screen and the number is not less than 4 groups, each group of receiving electrodes corresponds to an independent signal receiving channel, and the receiving electrodes are used to synchronously collect reflection signals in different directions to construct a three-dimensional signal propagation model.

[0012] Further, in the filtering, amplification and de-noising preprocessing process of the received multi-band signal by the signal processing module, the filtering operation includes band-pass filtering and adaptive noise cancellation, the passband range of the band-pass filtering is dynamically adjusted according to the transmitting signal frequency, and the adaptive noise cancellation includes real-time collection of environmental noise samples and construction of a noise feature library to suppress electromagnetic interference and flow noise in the underwater environment.

[0013] Further, in the process of extracting the characteristic parameters, wavelet transform is used for time-frequency analysis, time-varying characteristics are extracted by decomposing the signal into different frequency subbands, and the signal instantaneous phase and amplitude are calculated by combining Hilbert transform to form a characteristic vector containing time-frequency-phase three-dimensional information, which is used to distinguish the real touch signal from the water drop interference signal.

[0014] Further, the steps of the multi-band signal fusion algorithm include:

[0015] The weighted average of the preliminary calculation results of the touch position of each frequency signal is performed, and the weight is dynamically allocated according to the attenuation coefficient of the signal in water;

[0016] A geometric correction model is established based on the screen coordinate system, the preliminary calculation results are subjected to coordinate transformation by using the screen deformation parameters obtained by pre-calibration, the deformation parameters include the screen curvature change amount caused by water pressure and the coordinate offset amount caused by light refraction, so as to realize millimeter-level position calibration.

[0017] Further, the method further comprises data transmission and display, the signal processing module encodes the touch position, contact area and force information into digital signals, transmits the digital signals to the operating system through an anti-interference data bus, the operating system calls an application program interface (API) to drive the screen to display the touch feedback information, and synchronizes the touch event to an external control module for linkage control of underwater operation equipment.

[0018] According to another aspect of the present disclosure, a touch screen underwater high-precision touch recognition system is provided for implementing the touch screen underwater high-precision touch recognition method as described above, comprising:

[0019] A signal transmitting module is configured to drive the transmitting electrode array to transmit multi-frequency band touch signals, the transmitting module comprises a signal generating chip and an impedance matching network to generate high-precision multi-frequency signals and reduce signal reflection loss;

[0020] A signal collecting module comprises a receiving electrode array around the screen and a high-sensitivity receiving circuit, the receiving circuit comprises a low-noise amplifier and a high-speed ADC, and is configured to collect reflected signals and convert the reflected signals into digital signals;

[0021] A signal preprocessing module is configured to filter, amplify and denoise the collected digital signals to improve signal quality; intelligent network control method and system with low-latency video backhaul, video conference terminal and storage medium

[0022] A feature extraction module integrates wavelet transform or Fourier transform algorithm and is configured to extract amplitude, frequency, phase and other characteristic parameters from the preprocessed signals; a position calculation module is loaded with multi-frequency signal fusion algorithm and geometric correction model and is configured to calculate and calibrate touch positions based on the characteristic parameters;

[0023] A force recognition module is configured to establish a touch force estimation model, output touch force levels based on the characteristic parameters and feed back the touch force levels to an external system;

[0024] The signal generating chip of the signal transmitting module supports simultaneous generation of signals with at least 5 different frequencies, the frequency range covers 50 kHz-500 kHz, the impedance matching network comprises adjustable capacitive and inductive components, and the characteristic impedance of the underwater environment is matched through an automatic tuning algorithm, the receiving electrodes of the signal collecting module are made of iridium alloy material and are covered with a hydrophobic coating to reduce the influence of water droplet adhesion on signal collection.

[0025] According to still another aspect of the present disclosure, a touch screen underwater high-precision touch recognition device is provided, comprising the touch screen underwater high-precision touch recognition system as described above, and further comprising:

[0026] The anti-water touch screen is made of waterproof optical material, the surface of which is treated by hydrophobic treatment and provided with a shielding grounding ring for reducing water drop interference and signal attenuation.

[0027] The sealing shell is made of waterproof material to encapsulate the touch control recognition system and the touch screen, and is internally provided with heat dissipation fins and flow guide grooves to realize circuit heat dissipation and waterproof sealing.

[0028] The power management module is used for providing an isolated power supply, and contains overvoltage protection and leakage detection circuits to ensure the safety of power utilization in underwater environment.

[0029] The shielding grounding ring is arranged around the touch control area, the ring width of the shielding grounding ring is 2-5mm, the shielding grounding ring is printed by conductive silver paste and connected to the equipment grounding end, and is used for guiding the interference current generated by water drops.

[0030] According to another aspect of the present disclosure, an industrial tablet computer is provided, comprising the touch screen underwater high-precision touch control recognition device as described above, and further comprising:

[0031] The central processing unit is equipped with an industrial-grade operating system and is configured to run the anti-water touch control recognition software and process touch position, contact area and force information.

[0032] The peripheral interface comprises USB, HDMI and Ethernet interfaces, and also supports underwater connectors, and is used for realizing communication interaction between the equipment and external sensors or working machines, so as to be suitable for complex underwater environments such as ocean exploration, underwater operation and fire rescue.

[0033] According to another aspect of the present disclosure, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to realize the touch screen underwater high-precision touch control recognition method as described above.

[0034] The present application has the following advantages:

[0035] The application uses the difference of different frequency signals in underwater environment, constructs a multi-dimensional feature space containing amplitude, frequency and phase information, effectively separates the real touch signal and environmental interference, and improves the anti-interference ability from the signal source; the signal preprocessing and feature extraction link combines wavelet transform and other time-frequency analysis algorithms, which can finely depict the time-varying characteristics of the touch signal, and provide high reliability input parameters for subsequent position calculation; the synergistic effect of multi-band signal fusion algorithm and screen geometry correction model not only considers the frequency dependence of underwater signal propagation, but also compensates the systematic errors introduced by screen deformation, light refraction and other physical factors, so that the touch position recognition accuracy breaks through the environmental adaptability limitation of traditional methods; the touch force recognition module establishes the mapping relationship between the characteristic parameters and the touch force, and gives the device the ability to perceive the user's operation force, and realizes the improvement from position recognition to interaction depth. The technical scheme of the application is closely linked, forms a complete anti-interference touch recognition system from signal acquisition, processing to application, systematically solves the technical problems of touch signal distortion, low recognition accuracy and single interaction dimension in underwater complex environment, provides a solution for reliable application of industrial three-proofing tablet computers in extreme scenes, and improves the operation accuracy of the device in underwater operation.

[0036] The above description is only a summary of the technical scheme of the application, in order to more clearly understand the technical means of the application, and can be implemented according to the content of the description, the following is a preferred embodiment of the application and the detailed description of the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 The flow chart of the touch screen underwater high-precision touch recognition method in an embodiment of the application;

[0038] Figure 2 The distribution diagram of the multi-band signal emitting electrode array in an embodiment of the application;

[0039] Figure 3 The underwater touch signal propagation model diagram in an embodiment of the application;

[0040] Figure 4 The time-frequency characteristic analysis diagram of the multi-band touch signal in an embodiment of the application;

[0041] Figure 5 The multi-band signal fusion positioning algorithm diagram in an embodiment of the application;

[0042] Figure 6 The underwater touch force recognition model diagram in an embodiment of the application;

[0043] Figure 7 The system anti-interference ability performance comparison diagram in an embodiment of the application;

[0044] Figure 8 Figure 1 is a schematic diagram of a three-dimensional signal propagation model and an equivalent surface for an embodiment of the present application;

[0045] Figure 9 Figure 2 is a hardware integration topology diagram of a system for an embodiment of the present application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application.

[0047] The present application provides the following preferred embodiments:

[0048] Embodiment one: In order to solve the problem that the touch screen touch recognition accuracy is affected by signal propagation interference, position positioning error and inaccurate force perception in the underwater environment, the present embodiment provides a touch screen underwater high-precision touch recognition method. Through the whole process optimization of touch signal transmission, collection, processing and feature analysis, the accurate recognition of touch position and force is realized. As shown in Figure 1 The flow of the recognition method is as follows:

[0049] S100: A plurality of touch signal transmitting electrodes with different frequencies are arranged on the touch screen. The transmitting electrodes are distributed in the touch area according to a specific arrangement. When a finger or a stylus contacts the screen, the transmitting electrodes simultaneously transmit multi-band touch signals. After underwater propagation, the signals are collected by the receiving electrodes around the screen and transmitted to the signal processing module for obtaining reflection signals carrying touch position, contact area and force information.

[0050] S200: The signal processing module performs filtering, amplification and denoising preprocessing on the received multi-band signals. Wavelet transform or Fourier transform algorithm is used to extract amplitude, frequency and phase feature parameters of the signals to enhance signal-to-noise ratio and separate effective touch features.

[0051] S300: Based on the feature parameters, the underwater propagation characteristics of signals with different frequencies are integrated by using multi-band signal fusion algorithm to calculate the touch position. The calculation result is corrected and optimized in combination with the physical structure and geometric characteristics of the screen to eliminate errors caused by screen deformation and light refraction.

[0052] S400: A touch force model is established according to the feature parameters. The touch force is estimated by the touch force model and fed back to the operating system. The operating system performs corresponding operations based on the force size to realize differentiated interaction control.

[0053] Specifically, a plurality of touch signal transmitting electrodes of different frequencies are set in the touch area of ​​the touch screen, and the transmitting electrodes are distributed in a specific arrangement. Specifically, the transmitting electrodes adopt a matrix layout, such as Figure 2 As shown in the figure, a 6×6 electrode array is formed in the touch area. Each electrode corresponds to a different transmission frequency in the range of 100kHz to 400kHz. The frequency intervals of adjacent electrodes are evenly distributed to avoid signal aliasing. When a finger or stylus touches the screen, all transmitting electrodes synchronously transmit multi-band touch signals. The signals propagate underwater in the form of electric fields or ultrasonic waves. After being reflected by the touch target, they are collected by the high-sensitivity receiving electrodes preset around the screen. The layout of the receiving electrodes is designed to be symmetrically distributed at the four corners of the screen, as shown in the figure. Figure 3 In the three-dimensional signal propagation model shown, the receiving electrodes are located at coordinates (-0.85, -0.85, 0), (-0.85, 0.85, 0), (0.85, 0.85, 0), and (0.85, -0.85, 0), ensuring omnidirectional collection of reflected signals. The collected signals carry propagation path information corresponding to the touch position and force-related energy attenuation characteristics.

[0054] Furthermore, after signal acquisition, the signal processing module pre-processes the received multi-band signals. The pre-processing process includes band-pass filtering to filter out the ambient noise band, program-controlled amplification to compensate for the signal attenuation of underwater propagation, and adaptive denoising algorithm to suppress random interference. It should be understood that factors such as water conductivity and bubble distribution in the underwater environment will introduce broadband noise. Therefore, the pre-processing link dynamically adjusts the filtering parameters through frequency domain analysis to ensure the effective separation of signals of different frequencies. The pre-processed signal uses wavelet transform or Fourier transform algorithm for feature extraction, among which Fourier transform is suitable for frequency component analysis of steady-state signals, while wavelet transform is more suitable for capturing the time-frequency local features of transient signals. Figure 4 The time-frequency characteristic analysis shown above, by extracting signal amplitude, frequency, and phase parameters, can accurately characterize the differences in signal characteristics corresponding to different touch behaviors. For example, the distance of the touch position affects the signal phase delay, while the strength of the touch is reflected in the degree of signal amplitude attenuation and changes in the spectrum width, thereby providing multi-dimensional feature data for subsequent processing.

[0055] Furthermore, based on the extracted feature parameters, a multi-band signal fusion algorithm is used to calculate the touch position. Different frequency signals have different attenuation characteristics and propagation speeds in water. Low-frequency signals have strong penetration but low positioning resolution, while high-frequency signals have high resolution but fast attenuation. Therefore, the fusion algorithm needs to integrate parameters such as the arrival time and amplitude ratio of each frequency band signal, such as Figure 5The fusion algorithm flow shown establishes an optimization model by a weighted least square method, and combines screen physical structure parameters (such as electrode array geometric coordinates, screen size) to solve spatial coordinates. Further, considering that the underwater light refraction may cause visual feedback deviation of the touch position, and the influence of the screen deformation under water pressure on the signal propagation path, the algorithm introduces a geometric correction model, iteratively optimizes the initial calculation result by using the pre-calibrated screen deformation coefficient and refraction compensation parameter, eliminates the positioning error caused by non-touch factors, and ensures that the coordinate solving accuracy meets the needs of the underwater interaction scene.

[0056] Further, in the touch force estimation aspect, a touch force model is established according to the extracted feature parameters. Experiments show that the touch force has a nonlinear mapping relationship with parameters such as signal amplitude, duration, and spectral width, such as Figure 6 The model architecture shown constructs a regression model by fitting the measured data, inputs the preprocessed feature parameters into the model, and outputs the corresponding force estimation value. The model considers the correlation between signal attenuation and contact area and pressure in the underwater environment, determines the weight coefficient of the feature parameter through a calibration experiment, and ensures the accuracy of the force estimation. After the estimation result is fed back to the operating system, the system performs differentiated operations according to the preset force threshold, for example, a light touch triggers the selection function, and a heavy touch triggers the dragging or scaling, to realize fine interaction control based on force sensing.

[0057] It should be noted that the multi-band synchronous transmitter mechanism of the transmitting electrode avoids the time delay error caused by time-sharing transmission, ensures the synchronous collection and feature alignment of signals of each frequency band; the symmetric layout design of the receiving electrode maximizes the signal collection coverage and reduces the positioning blind area; the algorithm selection in the preprocessing and feature extraction link is dynamically adjusted according to the signal characteristics to ensure adaptability in different underwater environments. Through the synergistic effect of the above links, the embodiment constructs a complete technical chain from signal transmission to interaction control, and each step is closely connected to form a high-precision recognition system for touch position and force.

[0058] The benefit of the embodiment is that, through the optimized layout of the multi-band signal transmitting and receiving electrodes, combined with the systematic processing of preprocessing, feature extraction, fusion positioning, and force modeling, the interference of the underwater environment on the touch signal is effectively solved, the geometric correction of the touch position and contact area and the accurate estimation of the force information are realized, and a reliable technical scheme is provided for human-computer interaction of underwater intelligent devices. The method cooperatively designs the signal processing algorithm and the hardware layout, improves the touch recognition performance in complex underwater environments while maintaining system compatibility, and meets the actual needs of high-precision interaction control.

[0059] Embodiment two: In order to solve the problem of limited positioning accuracy caused by signal aliasing and insufficient spatial coverage in the process of underwater touch signal collection, this embodiment optimizes the transmission and collection links of multi-band touch signal. By limiting the frequency interval, array layout of the transmission electrode and the spatial configuration of the receiving electrode, a more accurate three-dimensional signal propagation model is constructed to improve the signal analysis capability.

[0060] Specifically, in the array distribution design of the transmission electrode, as shown in the multi-band signal transmission electrode array distribution diagram Figure 2 , the transmission electrode in the touch area adopts a 6x6 matrix layout, and the transmission frequency interval of adjacent electrodes is set to 20 kHz, covering the frequency range of 100 kHz to 400 kHz. The selection of such frequency interval not only avoids the harmonic interference of adjacent frequency signals, but also ensures that the attenuation characteristics difference of different frequency signals in underwater propagation can be effectively distinguished, for example, 10 kHz interval can realize more fine frequency feature sampling, and 50 kHz interval is suitable for signal separation in strong attenuation environment. It should be understood that the parameter range of the frequency interval (10-50 kHz) provides adjustable margin for engineering implementation, and the specific value can be dynamically configured according to environmental parameters such as water conductivity and signal transmission distance to balance signal resolution and anti-interference capability. The array arrangement of the transmission electrode forms a dense signal transmission grid in the touch area, and each electrode unit corresponds to a unique frequency identifier, as shown in the frequency value mapping by color gradient Figure 2 , which facilitates frequency band tracing in signal processing.

[0061] Further, the arrangement scheme of the receiving electrode is as shown in the underwater touch signal propagation model diagram Figure 3 and the three-dimensional signal propagation model and isosurface diagram Figure 8 . Four groups of receiving electrodes are arranged uniformly along the four edges of the screen, each group containing two orthogonal polarization sensor units, respectively located at the screen four corner coordinates (-0.85, -0.85, 0), (-0.85, 0.85, 0), (0.85, 0.85, 0), (0.85, -0.85, 0). Each group of receiving electrodes corresponds to an independent signal receiving channel, and each channel uses a synchronous sampling circuit to ensure the time stamp consistency of signals reflected from different directions. This design enables the receiving end to collect signals from four main directions, combined with the array distribution of the transmission electrode, to construct a three-dimensional propagation model containing signal amplitude, phase and time difference of arrival. For example, when the touch point is located at the center of the screen, the signal strengths received by the four corner receiving electrodes present a symmetrical distribution, and when the touch point deviates, the time difference of arrival (TDOA) of the signals of each channel and the spatial geometric position form a mapping relationship, as shown in the isosurface representing the signal propagation path difference Figure 8 , which provides multi-dimensional constraint conditions for subsequent positioning algorithms.

[0062] Further, the design of independent signal receiving channels avoids the signal crosstalk problem that may be caused by traditional shared channels. Each channel integrates an independent low-noise amplifier and an anti-aliasing filter, and the bandwidth of each channel is dynamically adjusted according to the frequency range of the corresponding transmitting electrode. For example, a Butterworth filter with a cutoff frequency of 450 kHz is used for a channel receiving high-frequency signals, while a high-pass filter with a cutoff frequency of 150 kHz is used for a low-frequency channel, ensuring the purity of signals in each frequency range during the acquisition stage. The synchronous acquisition mechanism is realized through a hardware clock synchronization circuit, and the clock jitter error is controlled within nanoseconds, meeting the accuracy requirements of multi-channel signal phase difference analysis. When constructing a three-dimensional propagation model, the system establishes an equation set containing the water body attenuation coefficient and the interface reflection coefficient based on the spatial coordinates of the receiving electrodes and the signal propagation physical model, as shown in Figure 3 The spatial vector relationship between the touch point and the transmitting-receiving electrodes is solved by the least square method to obtain the three-dimensional coordinates of the touch position, effectively solving the problem of visual-touch position deviation caused by underwater light refraction that cannot be corrected by two-dimensional plane positioning.

[0063] It should be noted that the design of the number of receiving electrodes being no less than 4 provides a hardware basis for spatial diversity reception of signals. When there are multiple touch points or complex reflection interfaces, joint processing of multi-channel signals can separate reflection signals of different paths, improving the adaptability of the system in a multipath propagation environment. As shown in Figure 8 The signal amplitude contour lines collected by the receiving electrodes can intuitively reflect the signal energy distribution corresponding to the touch position, and combined with frequency characteristic analysis, the difference between effective touch signals and environmental noise can be more accurately identified. In addition, the frequency interval of the transmitting electrodes and the independent configuration of the receiving channels form a synergy, so that the signals in each frequency range have a unique "frequency-path" identifier in spatial propagation, providing a clear mapping relationship for the feature parameter extraction of the subsequent signal processing module, reducing the possibility of feature confusion.

[0064] The benefits of the present embodiment are that by limiting the frequency interval and array layout of the transmitting electrodes, and the four-side uniform arrangement and independent channel design of the receiving electrodes, a three-dimensional signal propagation model with spatial resolution capability is constructed, ensuring the integrity and accuracy of multi-frequency signals during the acquisition stage. This design not only provides rich input parameters for subsequent signal fusion algorithms, but also reduces the influence of environmental noise on touch recognition through anti-interference measures at the hardware level, forming a systematic optimization scheme from signal transmission to three-dimensional model construction, and providing a reliable front-end signal acquisition basis for high-precision touch recognition of underwater touch screens.

[0065] Embodiment three: In order to solve the problem of electromagnetic interference and water flow noise affecting the accuracy of touch signal acquisition in complex underwater environment, the preprocessing link of the signal processing module is optimized in this embodiment. Through the cooperative design of dynamic band-pass filtering and adaptive noise cancellation, the purity of multi-band signals is improved, and high-quality input signals are provided for subsequent positioning algorithms.

[0066] Further, in the filtering operation of signal preprocessing, as shown in the multi-band touch signal time-frequency characteristic analysis diagram, Figure 4 The passband range of the band-pass filter forms a dynamic matching mechanism with the frequency band configuration of the transmitting electrode. Specifically, when the transmitting electrode array transmits signals at a frequency of 100 kHz to 400 kHz with an interval of 20 kHz, as shown in the electrode frequency distribution, Figure 2 The band-pass filter of each receiving channel loads the filter coefficients of the corresponding frequency band in real time through the digital signal processor (DSP). For example, for a transmitting signal with a center frequency of 150 kHz, the passband range of the band-pass filter is automatically adjusted to 140 kHz to 160 kHz, forming a 10 kHz protection bandwidth, which not only preserves the energy of the target frequency band signal, but also effectively filters out the harmonic interference of adjacent frequency bands. It should be understood that this dynamic adjustment mechanism relies on the clock synchronization system of the transmitting end and the receiving end. By embedding frequency band identification information in the signal frame header, the receiving end filter parameters are updated before each signal period starts, avoiding the problem of filtering delay when switching between different frequency bands.

[0067] Further, the adaptive noise cancellation link realizes the targeted suppression of environmental noise by constructing a real-time noise feature library. As shown in the system hardware integration topology, Figure 9 The noise acquisition module is independent of the touch signal receiving channel and uses the same type of sensor unit as the receiving electrode. It is placed in the non-touch area of the screen or the shielding position of the device shell to avoid touch signal coupling interference. This module continuously acquires environmental noise samples at a sampling rate twice the highest transmission frequency. Through fast Fourier transform (FFT), the time-frequency domain features of the noise signal are extracted, including power spectral density, narrowband interference frequency points, and low-frequency Doppler shift characteristics of water flow noise. These features are real-time imported into the weight calculation unit of the adaptive filter. For example, when a 50 Hz power frequency electromagnetic interference is detected, the system automatically generates a counter signal for cancellation. For wideband noise caused by water flow, the filter coefficients are dynamically adjusted through the least mean square (LMS) algorithm to make the correlation between the noise component in the output signal and the reference noise sample approach zero. It should be noted that the noise feature library is updated using a sliding window mechanism, retaining the latest 100 ms of noise data to adapt to the time-varying characteristics of the underwater environment and ensure real-time response capability to sudden noise.

[0068] Further, a cascade processing architecture is formed by band-pass filtering and adaptive noise cancellation: first, the band-pass filtering is used to remove the wide-band noise outside the frequency band, so as to concentrate the signal energy in the target frequency interval and reduce the computational complexity of the subsequent noise cancellation; then, the adaptive algorithm is used to finely suppress the residual noise in the frequency band, especially the environmental interference overlapping with the touch signal frequency band. This hierarchical processing strategy is embodied in the modular design of the preprocessing circuit in hardware implementation, and each receiving channel integrates an independent programmable filter chip and an adaptive noise cancellation module, such as the channel preprocessing unit in Figure 9 During signal transmission, the preprocessed signal is attached with metadata such as frequency band identifier and noise suppression coefficient, so as to provide the environmental noise feature reference for the subsequent signal fusion algorithm, and facilitate the compensation of the influence of residual noise on the signal propagation model in the positioning calculation.

[0069] It can be understood that the dynamic filtering and adaptive cancellation in the preprocessing process are not independent operations, and the two interact through the system control bus: the frequency band range of the band-pass filtering provides the frequency range of the target signal for the noise cancellation, and the result of the noise cancellation is fed back to the filtering module for adjusting the passband protection bandwidth of the next period. This closed-loop control mechanism enables the preprocessing system to maintain stable noise suppression performance in dynamic environments such as water conductivity changes and device vibration, as shown by the preprocessed signal time-frequency diagram in Figure 4 The noise floor in the target frequency band is significantly reduced, and the time-frequency distribution boundary of the signal and the noise is clearer, providing a reliable signal basis for the subsequent positioning calculation based on time difference of arrival (TDOA) and received signal strength indication (RSSI).

[0070] The benefit of the embodiment is that, through the cooperative design of dynamic band-pass filtering and adaptive noise cancellation, a signal preprocessing system is constructed, which takes into account the frequency band selectivity and environmental adaptability. The system not only uses the multi-frequency characteristics of the transmitted signal to achieve accurate matching of the filtering parameters, but also captures the environmental interference characteristics in real time through independent noise acquisition modules, forming a hierarchical suppression capability for complex underwater noise. This preprocessing scheme lays a foundation for the subsequent processing of multi-frequency signals, ensures that the input signals of the three-dimensional signal propagation model have a high signal-to-noise ratio, and thus improves the stability of the entire touch recognition system in different underwater environments.

[0071] Embodiment Four: In order to solve the misjudgment problem caused by the overlap of water drop interference signal and real touch signal characteristics in the underwater environment, the embodiment optimizes the extraction process of signal characteristic parameters, constructs a feature representation system containing time-frequency-phase multi-dimensional information through the deep fusion of wavelet transform and time-frequency analysis, and realizes the effective differentiation of the two kinds of signals.

[0072] Further, in the time-frequency analysis link of feature extraction, such asFigure 4 The multi-band touch signal time-frequency characteristic analysis diagram shown, the wavelet transform module adopts Meyer wavelet basis function to carry out multi-layer decomposition to the preprocessed signal. Considering that the frequency range of the multi-band signal is 100 kHz to 400 kHz, such as Figure 2 The frequency configuration of the transmitting electrode array, the system decomposes the signal into 3 frequency subbands: low frequency subband (100 kHz-200 kHz), medium frequency subband (200 kHz-300 kHz), and high frequency subband (300 kHz-400 kHz), each subband corresponds to a time-frequency analysis window with different resolution. Specifically, the first layer wavelet decomposition divides the signal into an approximate component and a detail component, the approximate component is further decomposed to obtain time-varying features with lower frequency resolution, while the detail component retains high-frequency transient information. Among the subband signals, the system extracts time-varying feature parameters, including subband energy distribution, zero-crossing rate change curve, time-frequency energy barycenter offset trajectory, etc. These parameters can capture the dynamic change characteristics of the touch signal under different frequency bands, for example, the real touch signal will present energy concentration and stable barycenter in the medium frequency subband due to the impedance change of the contact medium, while the water drop interference presents significant time-varying fluctuations in the high frequency subband energy distribution due to the randomness of the contact area.

[0073] Further, the Hilbert transform module analyzes the wavelet-decomposed subband signals to generate corresponding analytic signals for calculating instantaneous phase and amplitude information. Specifically, the real signal is converted into a complex signal through Hilbert transform, whose phase information reflects the instantaneous frequency modulation characteristics of the signal, and the amplitude information represents the dynamic change of the signal energy. Taking the medium frequency subband signal as an example, the instantaneous phase curve of the real touch signal presents a continuous smooth change trend, corresponding to the gradual change of the contact position in the touch process; while the instantaneous phase of the water drop interference often has abrupt points, reflecting the unstable state of the contact interface. The system concatenates the time series, frequency components, instantaneous phase and amplitude information of each subband in the dimension to form a feature vector containing time-frequency-phase three-dimensional information, with a dimension of time sampling points x (subband number x feature parameter type). For example, for a 200 ms signal segment, 200 time points are generated at a 1 μs sampling interval, each time point corresponds to 3 subband energy, zero-crossing rate, instantaneous phase, and instantaneous amplitude, a total of 8 feature parameters, finally forming a 200 x 24-dimensional feature vector.

[0074] It should be understood that the time-frequency decomposition of wavelet transform and the instantaneous parameter calculation of Hilbert transform form a complementary mechanism: the former captures the time-varying features of the signal in different frequency bands through multi-resolution analysis, and the latter reveals the instantaneous modulation characteristics of the signal through phase-amplitude joint analysis, and the combination of the two can effectively depict the dynamic behavior difference of the signal. For example, Figure 4After processing, the time-frequency diagram shows that the real touch signal is represented as a track with concentrated energy and continuous phase on the time-frequency plane, while the water drop interference is characterized by dispersed energy and phase jump. This difference is quantitatively represented by a three-dimensional feature vector. In hardware implementation, the feature extraction process is performed in parallel by a dedicated digital signal processing unit (DSP). The wavelet transform module uses a reconfigurable filter bank to realize real-time decomposition. The Hilbert transform improves the computational efficiency by using fast Fourier transform (FFT) combined with a phase unwrapping algorithm, ensuring that the feature extraction of a single channel signal is completed within 1 ms.

[0075] Further, to enhance the recognition ability of the feature vector to noise, the system introduces normalization processing in the feature space: the feature parameters of each sub-band are standardized by Z-score, eliminating the influence of the amplitude difference of signals in different frequency bands; at the same time, principal component analysis (PCA) is used to reduce the dimension of the high-dimensional feature vector, and the principal components with a cumulative contribution rate of 95% are retained as the classification input. The preprocessing strategy combines Figure 9 the hardware integrated topology shown in the figure, the feature extraction and dimension reduction are completed in the receiving channel preprocessing unit, providing low-dimensional and high-discriminative feature input for the subsequent classification decision module. In the signal classification stage, the time-frequency-phase correlation information of the three-dimensional feature vector is used to train a support vector machine (SVM) classifier. The kernel function of the classifier considers the nonlinear mapping characteristics of the phase information, and uses radial basis function (RBF) to effectively divide the boundary of the two types of signal manifolds.

[0076] It can be understood that the effectiveness of the feature extraction method depends on the selection of the wavelet basis function and the optimization of the decomposition level. The system determines the optimal wavelet basis (such as db4 wavelet) and the decomposition level (3 layers) through offline training, so that the inter-class distance of real touch signals and water drop interference signals in the feature space is maximized. As Figure 7 the theoretical analysis part of the system anti-interference ability performance comparison diagram, the inter-class separability index of the feature extraction scheme of the embodiment in the noisy environment is improved by 30% compared with the traditional single-frequency feature, which is due to the complete description of the time-frequency dynamic characteristics of the signal by the three-dimensional feature vector. In practical applications, the feature vector can also be used as an input parameter to access subsequent touch positioning algorithms, such as Figure 5 the multi-band signal fusion positioning model shown in the figure, which provides a pre-screening condition for the authenticity of the signal source, avoiding the misleading of the interference signal to the positioning calculation.

[0077] The embodiment has the benefits that, through the cooperative processing of wavelet transform and Hilbert transform, a feature extraction system with multi-resolution time-frequency analysis capability and instantaneous parameter representation capability is constructed. The system can not only capture the time-varying energy distribution of signals in different frequency bands, but also reveal the dynamic modulation characteristics of signals through instantaneous phase and amplitude information, forming a multi-dimensional feature vector containing time-frequency-phase correlation. This feature representation method effectively amplifies the feature difference between real touch signals and water droplet interference signals, providing high-discrimination input parameters for subsequent classification decisions, thereby improving the anti-interference capability and discrimination accuracy of the entire touch recognition system in a complex underwater environment.

[0078] Embodiment five: In order to solve the problem of positioning accuracy deviation caused by attenuation difference and screen deformation of multi-frequency signals in underwater propagation, the embodiment specifically designs a multi-frequency signal fusion algorithm, and constructs a high-precision touch position solution system through the cooperative processing of dynamic weight distribution and geometric correction.

[0079] In the preliminary position solution link of multi-frequency signals, as shown in the multi-frequency signal fusion positioning algorithm diagram of Figure 5 , the system first performs independent positioning calculation on the received signal corresponding to each frequency of the transmitted signal. The frequency set is denoted as F={f k |k=1,2,…,N}, and the preliminary position coordinate set {(x k ,y k )∣k=1,2,…,N} is obtained. Since the attenuation characteristics of signals of different frequencies in water comply with the signal propagation model shown in Figure 3 , the attenuation coefficient α k is related to the frequency f k , the propagation distance d k , and the water medium conductivity σ, and specifically satisfies the following expression:

[0080] , and the water medium conductivity σ, and specifically satisfies the following expression:

[0081] , where σ is determined by the real-time water quality data collected by the preprocessing module. To realize dynamic compensation of the attenuation characteristics, the system uses a weighted average strategy to fuse the preliminary positions, and the weight w k is defined as:

[0082] Further, in view of the screen curvature change caused by water pressure in the underwater environment and the visual deviation caused by light refraction, the system establishes a geometric correction model to perform coordinate transformation on the preliminary positions. As shown in​​Figure 8 The three-dimensional signal propagation model and isosurface diagram shown in the figure show that the screen produces nonlinear deformation under the action of water pressure P. The change in its surface curvature is described by the polynomial model obtained in the pre-calibration stage. The model expression is:

[0083] , where the coefficients {a0, a1, …, a5} are obtained by least-squares fitting at 16 calibration points (rigid contacts with known coordinates) evenly spaced across the screen surface. The coordinate offset caused by light refraction is modeled based on Snell's law. This model takes into account the difference in refractive index between water and the screen medium (water refractive index n1 = 1.33, screen glass refractive index n2 = 1.52), and establishes the refraction offset function (Δx, Δy) = g(x, y, θ), where θ is the incident angle of light, measured in real time by an angle sensor mounted on the edge of the screen.

[0084] During the coordinate correction process, the initial position Substitute the screen deformation model to calculate the surface height , adjust the geometric mapping relationship of the touch point based on the surface normal vector to obtain the intermediate coordinates after water pressure correction , where δ x , δ y The coordinate offset caused by the curvature of the surface is determined by the formula. Then, the intermediate coordinates are corrected twice using the refraction parameters measured in real time to finally obtain the actual touch position. .

[0085] It should be understood that the above correction process achieves dual compensation for static deformation and dynamic refractive deviation by combining the deformation parameter library established by pre-calibration with real-time sensor data.

[0086] In order to improve the correction efficiency, the system integrates Figure 9 The pre-processing unit shown in the figure, in which the field programmable gate array (FPGA) module performs attenuation coefficient calculation, weight distribution and geometric transformation matrix operations in parallel. In terms of software implementation, the deformation parameters of the pre-calibration stage are stored in a non-volatile memory, which is automatically loaded each time the system is started and corrected in real time according to environmental parameters such as water temperature and water depth (obtained through external sensors) to ensure the environmental adaptability of the model parameters. In addition, the geometric correction model adopts the form of a homogeneous coordinate transformation matrix, which combines the curvature correction and refraction correction into a unified coordinate transformation matrix T to achieve The fast calculation meets the real-time requirements of touch positioning, and the processing delay is controlled within 5ms.

[0087] It can be understood that the combination of dynamic weight distribution and geometric correction forms a double mechanism of error compensation: the former suppresses the interference of environmental noise on the positioning result through the frequency differentiation processing of signal attenuation characteristics; the latter corrects the systematic error in the hardware level through the modeling of physical deformation and optical deviation. This hierarchical processing strategy enables the fusion algorithm to simultaneously cope with the attenuation difference in the signal propagation process and the geometric deviation of the device body, such as Figure 5 As shown in the algorithm flow in the middle, the error of the corrected positioning result in the screen edge area is reduced from 3mm in the traditional method to sub-millimeter level, meeting the accuracy requirements of underwater precise touch operation.

[0088] The benefits of the embodiment are that by constructing a dynamic weighting model based on the attenuation coefficient and a geometric correction model containing water pressure deformation and light refraction, a complete solution framework for multi-band signal fusion positioning is formed. This framework not only considers the attenuation characteristic differences of signals of different frequencies in underwater propagation, but also quantifies the systematic error introduced by hardware deformation through a pre-calibration mechanism, achieving full-process accuracy optimization from signal preliminary solution to physical coordinate correction. The collaborative design of this algorithm and hardware calibration provides a reliable engineering implementation path for high-precision touch recognition of underwater touch screens, effectively improving the geometric consistency and environmental adaptability of the positioning result.

[0089] Embodiment Six: To solve the problem of data transmission reliability and multi-module collaborative control in the underwater touch control system, the embodiment further refines the specific implementation method of data transmission and display, and constructs a complete information channel from signal processing to peripheral linkage. In the underwater complex environment, signal transmission is easily disturbed by water conductive medium and device electromagnetic noise, and the real-time performance of touch feedback directly affects the operation efficiency, so it is necessary to design the data coding, transmission link and system interaction mechanism.

[0090] Further, after the signal processing module completes touch position solution and force recognition, the accurate coordinates obtained through multi-band signal fusion and geometric correction in the previous embodiment, and the force information obtained based on the modeling of signal characteristic parameters, are first structured and coded. Considering the bandwidth limitation and anti-interference requirement of underwater transmission, the coding format adopts fixed-length binary data packets, including position coordinates (X / Y axis floating point data), force value (quantized integer), timestamp and check information (CRC check code), and completes data encapsulation through a special protocol stack. This coding method not only ensures information integrity, but also reduces data redundancy, adapting to the limited transmission bandwidth underwater.

[0091] Furthermore, the encoded digital signal is transmitted to the operating system via an anti-interference data bus. This data bus utilizes differential signal transmission technology, employs shielded twisted-pair wiring, and integrates an electromagnetic compatibility (EMC) filter module to effectively suppress common-mode signals such as power-frequency noise in the water and interference from the device's motor. The bus protocol supports an automatic repeat request (ARQ) mechanism, triggering retransmission when data errors are detected during verification, ensuring reliable transmission of touch data. The transmission rate is dynamically adjusted based on the underwater operation scenario. High-speed modes such as 10 Mbps are used for precision operations to ensure real-time performance, while low-power modes such as 1 Mbps are switched to for extended battery life in more common scenarios.

[0092] After the operating system layer receives the data, it drives the screen to display touch feedback information through a dedicated application program interface (API). The API interface is designed as a layered architecture. The bottom layer provides hardware register operation functions, the middle layer implements coordinate mapping and graphics rendering algorithms, and the upper layer encapsulates a unified calling interface for application calls. Display feedback includes visual touch marks such as real-time updated contact position icons, operation status indicators such as those that distinguish between clicks, long presses, and other events, and gradient color feedback based on force information. For example, the greater the force, the darker the mark color, forming a multi-dimensional human-computer interaction interface. It should be understood that the display driver synchronously executes the refresh rate optimization algorithm to reduce system resource usage while ensuring picture smoothness.

[0093] Furthermore, the operating system synchronizes touch events with the peripheral control module to establish a linkage control mechanism for underwater operating equipment. Touch events contain parameters such as position coordinates, force value, and event type (such as single-touch, multi-touch), which are transmitted to the peripheral control module via shared memory or message queues. The peripheral control module parses events according to preset mapping rules. For example, a single-point tap on the corresponding device switches the device, a long press on a specific area triggers sensor data collection, and a multi-point slide controls the angle of the robotic arm joint. This parameterized event definition method improves the scalability of the system and allows for flexible adaptation of different models of underwater operating equipment through configuration files. A priority queue management mechanism is used during transmission to ensure that emergency control commands are processed first, thereby improving system security.

[0094] In terms of hardware implementation, the signal processing module and operating system are connected via a dedicated interface chip, supporting hot-swappable and plug-and-play functionality, facilitating device maintenance and upgrades. The anti-interference data bus and display driver circuitry are integrated on the same printed circuit board (PCB). Ground plane segmentation and power supply filtering reduce crosstalk between modules. The peripheral control module utilizes an industrial-grade microcontroller with wide-temperature operation and a hardware watchdog mechanism to ensure stable operation under complex underwater conditions.

[0095] The benefit of this embodiment lies in the construction of a reliable data transmission and display control system through structured data encoding, anti-interference transmission links, and a layered system interface design. This system not only implements closed-loop processing from touch information acquisition to feedback, but also establishes a linkage control channel with peripherals through a parameterized event mechanism, providing an engineering solution for intelligent interaction with underwater equipment. Fault-tolerance mechanisms and bus adaptation technology in signal transmission effectively improve system reliability in complex underwater acoustic environments, while the layered API design enhances system compatibility and scalability, meeting the customized requirements of diverse underwater application scenarios.

[0096] Example 7: To address the issues of touch signal transmission loss and insufficient recognition accuracy in underwater environments, this example provides a high-precision underwater touch recognition system for touch screens. This system further refines the hardware architecture and module coordination mechanism for this system. The system establishes a complete processing chain from signal transmission to feature extraction. Through multi-module parametric design and material optimization, it achieves high-precision touch recognition in complex aquatic environments.

[0097] Furthermore, the signal transmission module integrates a signal generation chip and an impedance matching network. The signal generation chip supports the simultaneous generation of at least 5 touch signals with different frequencies, covering a frequency range of 50kHz-500kHz, and realizes the parallel transmission of multi-band signals through time-division multiplexing technology, such as Figure 2 The transmitting electrode array shown is arranged in such a way that each electrode corresponds to a different frequency band signal, forming spatially differentiated signal coverage. The impedance matching network, consisting of adjustable capacitors and inductors, uses an automatic tuning algorithm to match the characteristic impedance of the underwater environment in real time, reducing signal reflection losses at the interface between the water medium and the electrodes and ensuring that the transmitted signal energy is effectively coupled into the water. It is important to understand that the module's frequency coverage and tuning mechanism provide the fundamental data support for subsequent multi-band signal fusion.

[0098] Furthermore, the signal acquisition module is deployed in the receiving electrode array around the screen. The electrodes are made of iridium alloy material and covered with a hydrophobic coating on the surface, which can effectively reduce the signal acquisition deviation caused by water droplets. The receiving circuit integrates a low-noise amplifier and a high-speed ADC. The former improves the signal-to-noise ratio of weak reflected signals through a multi-stage amplification circuit, and the latter controls the quantization error when converting analog signals into digital signals to ensure the integrity of signal characteristics. Figure 3 In the underwater signal propagation model shown, the layout design and material properties of the receiving electrodes can effectively capture the multi-band signals scattered by the touch points, providing high-quality raw data for subsequent processing.

[0099] Furthermore, the signal preprocessing module filters, amplifies and denoises the collected digital signal, removes the ambient noise frequency band through a bandpass filter, and dynamically adjusts the signal amplitude in combination with an adaptive gain control algorithm to avoid saturation distortion in subsequent processing units. The feature extraction module integrates wavelet transform or Fourier transform algorithms to extract characteristic parameters such as amplitude, frequency, and phase from the preprocessed signal. The time-frequency characteristic analysis of multi-band signals is as follows: Figure 4 As shown in the figure, the multi-dimensional representation of signal characteristics is achieved by constructing a time-frequency matrix. The position calculation module is equipped with a multi-band signal fusion algorithm and a geometric correction model. The former suppresses the random influence of water attenuation on single-band signals by weighted fusion of the time difference of arrival (TDOA) or signal strength (RSSI) of each frequency band signal; Figure 8 As shown, the latter calibrates the spatial error of the calculated position based on the three-dimensional signal propagation model to correct the coordinate offset caused by the nonlinear distribution of the electrode array.

[0100] The force recognition module establishes a touch force estimation model, such as Figure 6 As shown in the figure, the model analyzes the mapping relationship between signal characteristic parameters and touch pressure and outputs the corresponding force level. This model considers the coupling effect of signal attenuation and contact area changes during underwater touch. It uses parameters such as signal amplitude attenuation rate and spectral width change as input variables and constructs a nonlinear mapping relationship through machine learning or parameterized regression methods to ensure that the force recognition results are consistent with actual touch behavior.

[0101] The benefits of this embodiment are that the multi-band design and impedance matching mechanism of the signal transmission module improve the transmission efficiency of the signal in the underwater medium; the material optimization and circuit design of the receiving module reduce the impact of environmental interference on signal acquisition; the algorithm integration and model calibration of each processing module build a high-precision processing chain from signal acquisition to feature output, providing a modular solution for the engineering application of underwater touch systems.

[0102] Example 8: To address the issues of waterproof sealing and heat dissipation reliability of underwater equipment, this example further optimizes the hardware packaging and structural design of the touch screen underwater high-precision touch recognition device. Through the coordinated design of the waterproof touch screen, sealed housing and power management module, the system is ensured to operate stably in deep water environments.

[0103] The water-resistant touch screen uses waterproof optical materials, and the surface is hydrophobic treated to reduce the surface tension of water droplets, reducing the interference of water droplets on the touch signal. A shielding ground ring is arranged around the edge of the screen. The ring width is controlled at 2-5mm, printed with conductive silver paste and connected to the device ground terminal. It can effectively guide the interference current generated by water droplets on the electrode surface, preventing stray signals from affecting the receiving electrode. Figure 9In the illustrated hardware integration topology diagram, the shielding ground ring and the array of transmitting electrodes form an electromagnetic shielding boundary, improving the purity of the touch area signal. It should be understood that the optical transparency and hydrophobicity of the screen material ensure the transmission of touch signals while also meeting the display clarity requirements in underwater environments.

[0104] The sealed housing uses IP68 grade waterproof material to package the entire touch identification system and touch screen, and is filled with heat-conducting silica gel to enhance heat conduction between modules. The heat sink is connected to the fins outside the housing through a heat pipe, forming an efficient heat dissipation path. The housing is provided with a flow guide groove structure to guide the condensed water to flow out along a specific path, avoiding water accumulation from eroding the circuit. This structure design meets the long-term operation requirements in water depths of 100 meters, reduces the water pressure stress on the housing through pressure equalization design, and ensures the physical safety of the internal circuit. The power management module provides an isolated power supply, integrates overvoltage protection and leakage detection circuit, the former triggers a fuse mechanism when the input voltage is abnormal, and the latter monitors the circuit insulation state in real time through a leakage current sensor to avoid the risk of short circuit caused by electrolyte in underwater environment.

[0105] In terms of structural integration, the combination of the waterproof touch screen and the sealed housing uses a double O-ring sealing structure, filled with waterproof glue to form a multi-layer waterproof barrier. The conductive silver paste layer of the shielding ground ring and the screen glass substrate are integrated by chemical vapor deposition (CVD) process, ensuring the low impedance characteristics of the ground path. The isolated power supply design of the power management module uses a high-frequency transformer to reduce the influence of magnetic coupling interference on the signal processing circuit, and the response time of its leakage detection circuit is controlled at the microsecond level, meeting the real-time safety monitoring requirements.

[0106] The benefits of this embodiment are that the shielding ground design of the waterproof touch screen effectively suppresses water droplet interference and signal attenuation; the waterproof and heat dissipation structure of the sealed housing solves the problems of sealing and thermal management in deep water environments; and the protection mechanism of the power management module improves the electrical safety of the device in conductive media. The material selection and process design of each structural component form an environmental adaptability solution at the hardware level, providing physical protection for the reliability of underwater touch devices.

[0107] Embodiment Nine: To meet the interaction needs of devices and external systems in complex underwater environments, this embodiment further constructs an industrial tablet computer architecture of integrated touch identification devices, realizing the functional integration of touch information processing and multi-device linkage control through the collaborative design of central processors and peripheral interfaces.

[0108] The central processor is equipped with an industrial-grade operating system, has a wide-temperature working capability (-20°C to 60°C) and a hardware watchdog mechanism, and ensures stable operation under complex underwater working conditions. The processor runs a water-resistant touch recognition software that integrates the multi-band signal fusion algorithm, the geometric correction model and the force recognition model in the foregoing embodiments, and processes the digital signals output by the signal acquisition module in real time to generate touch position coordinates and force level information. It should be understood that the task scheduling mechanism of the industrial-grade operating system prioritizes touch events to ensure low-latency response and meet the real-time requirements of underwater precision operations.

[0109] The peripheral interface part integrates standard interfaces such as USB, HDMI and Ethernet, and is configured with underwater special connectors. The latter adopts a metal armored shell and waterproof sealed terminals to support reliable data transmission in underwater environments. The interface circuit design includes an electromagnetic compatibility (EMC) filter module to suppress electromagnetic noise generated by underwater equipment motors, sensors and the like to interfere with communication. Through the Ethernet interface, an industrial tablet computer can establish a communication link with external sensors (such as sonar and water quality detectors) or operating machinery (such as underwater robotic arms and submersible thrusters), parse touch event parameters based on a preset protocol, and realize cross-device transmission of human-computer interaction instructions. For example, a multi-point touch operation can be converted into a robotic arm joint angle control signal, which is sent in real time to the actuator through the underwater connector to form a closed-loop control circuit.

[0110] At the hardware integration level, the central processor and the signal processing module of the touch recognition device are connected through a special interface chip, supporting hot plugging and plug-and-play functions for easy device maintenance and upgrade. The peripheral interface circuit and the mainboard are integrated on the same printed circuit board (PCB), and the stability of high-speed data transmission is ensured by ground layer segmentation and power filter design to reduce crosstalk between modules. The display unit of the industrial tablet computer is designed in an integrated manner with the water-resistant touch screen, which uses a sunlight readable technology to improve underwater display effects, and its backlight system has an automatic brightness adjustment function to dynamically adjust power consumption according to ambient light intensity.

[0111] The benefits of this embodiment are that through the task scheduling and algorithm integration of the industrial-grade central processor, efficient processing of touch information is achieved; the diversified design of peripheral interfaces and the configuration of underwater connectors meet the device interconnection needs of complex scenarios such as marine exploration and fire rescue. This architecture deeply integrates touch recognition functions with industrial control platforms to form an underwater intelligent interaction terminal with environmental adaptability and system expandability, providing an integrated solution for multi-device collaborative operations.

[0112] To achieve the standardization deployment and cross-platform application of the underwater high-precision touch recognition method of the touch screen, this embodiment provides a computer readable storage medium, and a computer program stored on the computer readable storage medium can be executed by a processor to implement the touch recognition method. The storage medium ensures the decoupling of the algorithm logic and the hardware system through the modular design at the software level, and improves the portability and upgrade flexibility of the system.

[0113] Further, the computer program includes signal processing, feature extraction, position calculation, force recognition and other functional modules, each module corresponds to the hardware processing flow in the preceding embodiment, and the equivalent logic is realized through software algorithm. For example, the signal processing module integrates digital filtering algorithm and adaptive gain control, and pre-processes the collected digital signal; the feature extraction module realizes wavelet transform or Fourier transform algorithm, and analyzes the signal feature parameters from the time domain and frequency domain dimensions; the position calculation module carries a multi-frequency signal fusion algorithm and a geometric correction model, and calibrates the touch position through matrix operation and spatial coordinate transformation; the force recognition module constructs a mapping relationship based on the feature parameters, and outputs the touch force level. It should be understood that the program design adopts a layered architecture, the bottom layer driving module adapts to different types of signal generation chips and ADC devices, the middle layer algorithm module encapsulates the core calculation logic, and the upper layer application interface provides a unified parameter calling mode, which is convenient for migration and adaptation of different hardware platforms.

[0114] Further, the storage medium supports multiple types, including but not limited to solid state disk (SSD), flash chip (Flash), read-only memory (ROM), etc., and its physical characteristics meet the wide temperature and shock resistance requirements of underwater environment. The program code is written in high-efficiency programming languages such as C / C++, and combined with the task scheduling mechanism of real-time operating system (RTOS), the low latency of algorithm execution and the rationality of resource allocation are ensured. During software debugging, through collaborative testing with the hardware system, the runtime sequence of each module is optimized to avoid response delay caused by data processing bottleneck.

[0115] At the system integration level, the computer program and the signal emission module and the acquisition module of the hardware system establish a communication interface through the driver program, and implement instruction interaction and state monitoring in accordance with the standardized data protocol. For example, the frequency configuration instruction is sent to the signal generation chip, and the real-time sampling data is read from the ADC device, which is realized through the preset register operation function. This design mode reduces the complexity of the collaborative development of software and hardware, and facilitates subsequent algorithm upgrade and function extension without large-scale modification of the hardware circuit.

[0116] The benefit of the embodiment is that the underwater touch recognition method is converted into a reusable program resource through software implementation of the computer readable storage medium, supporting rapid deployment of different hardware platforms. The layered architecture design and standardized interface definition improve the compatibility and maintainability of the system, providing a standardized software level solution for the industrial application of underwater touch technology, so that the hardware device can continuously optimize the recognition performance through program updating, and adapt to the changing underwater operation requirements.

[0117] Although the application has been described above with reference to the preferred embodiments, it is to be understood that the application is not limited to the described embodiments, but that various modifications and changes can be made without departing from the essence of the application, which is defined in the claims and their equivalents.

Claims

1. A high-precision touch screen underwater touch recognition method, characterized in that, The method comprises the following steps: A plurality of different frequency touch signal transmitting electrodes are arranged on the touch screen, and the transmitting electrodes are arranged in an array in the touch area. When a finger or a touch pen contacts the screen, the transmitting electrodes simultaneously transmit multi-frequency band touch signals. The signals are collected by receiving electrodes around the screen after underwater propagation and transmitted to a signal processing module for obtaining reflected signals carrying touch position, contact area and force information. The signal processing module performs filtering, amplification and denoising preprocessing on the received multi-frequency band signals, extracts amplitude, frequency and phase characteristic parameters of the signals by using wavelet transform or Fourier transform algorithm, so as to enhance the signal-to-noise ratio of the signals and separate effective touch characteristics. Based on the characteristic parameters, the underwater propagation characteristics of signals of different frequencies are integrated by using a multi-frequency band signal fusion algorithm to calculate the touch position, and the calculation result is corrected and optimized in combination with the physical structure and geometric characteristics of the screen, so as to eliminate errors caused by screen deformation and light refraction. A touch force model is established according to the characteristic parameters, the touch force is estimated by the touch force model and fed back to an operating system, and the operating system performs corresponding operations based on the force size to realize differentiated interaction control. The steps of the multi-frequency band signal fusion algorithm comprise: The weighted average of the preliminary calculation results of the touch positions of signals of different frequencies is performed, and the weights are dynamically allocated according to the attenuation coefficients of the signals underwater. A geometric correction model is established based on a screen coordinate system, and the preliminary calculation results are subjected to coordinate transformation by using screen deformation parameters obtained by pre-calibration, the deformation parameters comprising a screen curvature change amount caused by water pressure and a coordinate offset amount caused by light refraction, so as to realize millimeter-level position correction.

2. The method of claim 1, wherein the method is performed by a touch screen. In the transmission and collection process of the multi-frequency band touch signals, the transmission frequency interval of adjacent transmitting electrodes is 10-50 kHz, the receiving electrodes are uniformly arranged along the four sides of the screen and the number of the receiving electrodes is not less than 4 groups, each group of the receiving electrodes corresponds to an independent signal receiving channel, and the receiving channels are used to synchronously collect reflected signals of different directions to construct a three-dimensional signal propagation model.

3. The method of claim 1, wherein the method is performed by a touch screen. In the filtering, amplification and denoising preprocessing process of the signal processing module on the received multi-frequency band signals, the filtering operation comprises band-pass filtering and adaptive noise cancellation, the passband range of the band-pass filtering is dynamically adjusted according to the transmission signal frequency, and the adaptive noise cancellation comprises real-time collection of environmental noise samples and construction of a noise feature library to suppress electromagnetic interference and water flow noise in the underwater environment.

4. The method of claim 1, wherein the method is performed by a touch screen. In the extraction process of the characteristic parameters, time-frequency analysis is performed by using wavelet transform, time-varying characteristics are extracted by decomposing the signals into different frequency subbands, and signal instantaneous phase and amplitude are calculated by using Hilbert transform to form a characteristic vector containing three-dimensional information of time, frequency and phase, which is used to distinguish real touch signals from water drop interference signals.

5. The method of claim 1, wherein the method is performed by a touch screen. The method further comprises data transmission and display, the signal processing module encodes the touch position, contact area and force information into digital signals, transmits the digital signals to the operating system through an anti-interference data bus, the operating system calls an application program interface (API) to drive the screen to display the touch feedback information, and synchronizes the touch event to an external control module for linkage control of the underwater operation equipment.

6. A high-precision touch screen underwater touch recognition system for implementing the high-precision touch screen underwater touch recognition method according to any one of claims 1-5, characterized in that, Comprise: a signal transmitting module for driving the transmitting electrode array to transmit multi-frequency band touch signals, the transmitting module comprising a signal generating chip and an impedance matching network to generate high-precision multi-frequency signals and reduce signal reflection loss; a signal collecting module comprising a receiving electrode array around the screen and a high-sensitivity receiving circuit, the receiving circuit comprising a low-noise amplifier and a high-speed ADC for collecting reflected signals and converting them into digital signals; a signal preprocessing module configured to filter, amplify and denoise the collected digital signals to improve signal quality; a feature extraction module integrating wavelet transform or Fourier transform algorithms for extracting amplitude, frequency and phase feature parameters from the preprocessed signals; a position calculation module loaded with a multi-frequency signal fusion algorithm and a geometric correction model for calculating and correcting the touch position based on the feature parameters; a force recognition module for establishing a touch force estimation model to output touch force levels based on the feature parameters and feed them back to an external system; the signal generating chip of the signal transmitting module supports simultaneous generation of at least 5 signals of different frequencies, with a frequency range of 50 kHz-500 kHz, the impedance matching network comprises adjustable capacitive and inductive components that match the characteristic impedance of the underwater environment through an automatic tuning algorithm, and the receiving electrodes of the signal collecting module are made of iridium alloy material coated with a hydrophobic coating to reduce the impact of water droplet adhesion on signal collection.

7. A high-precision touch screen underwater touch recognition device, characterized in that, The underwater high-precision touch recognition system as claimed in claim 6 further comprises: a waterproof touch screen made of waterproof optical material, the surface of which is treated with a hydrophobic coating and provided with a shielding ground ring for reducing water droplet interference and signal attenuation; a sealed housing made of waterproof material to encapsulate the touch recognition system and the touch screen, and provided with heat sinks and flow guide grooves inside to achieve circuit cooling and waterproof sealing; a power management module for providing an isolated power supply, comprising an overvoltage protection circuit and a leakage detection circuit to ensure the safety of electricity use in underwater environments; the shielding ground ring is arranged around the touch area, the shielding ground ring has a ring width of 2-5 mm, is printed with conductive silver paste and connected to the equipment ground end for guiding the interference current generated by water droplets.

8. An industrial tablet computer, characterized by The underwater high-precision touch recognition device as claimed in claim 7 further comprises: a central processing unit loaded with an industrial-grade operating system and configured to run waterproof touch recognition software and process touch position, contact area and force information; a peripheral interface comprising USB, HDMI and Ethernet interfaces, and also supporting underwater connectors for realizing communication and interaction between the device and external sensors or operation machinery to adapt to complex underwater environments such as ocean exploration, underwater operation and fire rescue.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the touch screen underwater high-precision touch recognition method according to any one of claims 1-5.

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