201250525 六、發明說明： 【發明所屬之技術領域】 本發明是有關於一種感測方法及其裝置，且特別是有 關於一種觸控感測方法及其襄置。 【先前技術】 在現今資訊時代中，人類對於電子產品之依賴性與曰 倶增。筆記型電腦、行動電話、個人數位助理器（pers〇nal digital assistant，PDA )、數位隨身聽等電子產品均已成為 現代人生活及工作中不可或缺之應用工具。上述之電子產 品均具有一輸入介面，用以輸入使用者所須指令，以使電 子產品之内部系統自動執行此項指令。目前使用最廣泛之 輸入介面裝置包括鍵盤（keyboard)以及滑鼠（mouse)。 對於使用者來說，使用鍵盤、滑鼠等傳統的輸入介面 在部分的場合無疑會造成相當大的不便。為了解決這樣的 問題，製造商便開始電子裝置上配置一個例如是觸控板 (touch pad)或觸控面板（touch panel)等的觸控輸入介 面’進而透過觸控板或觸控面板來取代鍵盤或滑鼠的功 能。就觸控輸入介面而言’目前使用者大都是利用手指或 觸控筆與觸控輸入介面之間所產生的接觸或感應行為來進 行點選動作。 以觸控面板而言，電容式觸控輸入介面通常相當敏 銳。在進行觸控感測時，觸控物體的油潰及其他髒污的影 響總是無可避免。因此，如何使觸控感測裝置適切地判斷 201250525 該觸控物體是否為一欲偵測之目標物乃當前重要的課題之 【發明内容】 _本务明提供一種觸控感測方法，其利用物體特性的不 同，使觸控感測裝置可適切地判斷觸控物體是否為一欲偵 測之目標物。 ' β本發明提供一種觸控感測裝置可適切地判斷觸控物 體是否為一欲偵測之目標物。 本發明提供一種觸控感測方法，適於一觸控面板。觸 控感測方法包括如下步驟。在—第―圖框顧内，計算一 觸控物體在觸控面板上所產生的—觸控平均值。在一第二 圖框期間内’基於觸控平均值，計算觸控物體在觸控面板 上=產生的~觸控振幅值。基於觸控振幅值，判斷觸控物 體是否為一欲偵測之目標物。 μ在本發明之一實施例中，上述之判斷觸控物體是否為 測5目標物的步驟包括如下步驟。判斷觸控振幅值是 於一預設振幅值，以判斷觸控物體是否為欲偵測之目 標物。 發明之一實施例中，上述之觸控感測方法更包括 ν 、判斷觸控物體在觸控面板上所產生的多個觸控 2 =大於預設臨界值。當觸控值大於預設臨界值時， 圖才1期間内，計算觸控物體的觸控平均值。 在本务明之一實施例中，上述之觸控感測方法更包括 201250525 如下步驟。計數觸控面板之圖框 期間及第二圖框期間。 彳刀別疋義第-圖框 本發明提供一種觸控感測裝 控感測裝置包括一計算星开以兒丄，駿觸控面板觸 間内物體在觸控面板上所產生 杵平均：、；？。计昇早凡在一第二圖框期間内，基於觸 1"鼻觸控物體在觸控面板上所產生的-觸控振 “測之目=基於觸控振幅值，判斷觸控物體是否為一 餐巾s 明之—實&例巾’上述之判斷單元係判斷觸控 X大於—預5邊巾自值，以判斷觸控物體是否為欲 偵測之目標物。 發明之—實施例中，上述之判斷料判斷觸控物 二:面板上所產生的多侧控值是否大於—預設臨界 二虽觸控值大於賴臨界斜，計算單元在第—圖框期 間内’計算觸控物體的觸控平均值。 總伙ί本發明之一實施例中’上述之觸控值係觸控物體在 觸仏面板上所產生的電容變化值。 蝴/·，柄明之—實施例中’上述之觸控振幅值係觸控物 脱在觸控面板上所產生的電容變化值之峰對峰值。 在本發明之一實施例中，上述之第一圖框期間及第二 圖框期間分別包括多個圖框數。 …在本發明之—實施例中，上述之計算單元包括一計數 早疋°十數單元計數觸控面板之圖框數，以分別定義第一 201250525 圖框期間及第二圖框期間。 為讓本發明之上述特徵和優點能更明顯易懂，下文特 舉實施例，並配合所附圖式作詳細說明如下。 【實施方式】 圖1A及圖1B分別繪示同—觸控面板在不同的情況 下，其感測通道的電容變化值。請參照圖1A及圖1B，一 般而言，觸控面板110通常包括多個沿著X方向排列的感 測通道112及多個沿著Y方向排列的感測通道丨14。感測 通道112、114分別用以感測觸控面板11〇上因觸控物體所 產生的電容變化值。 圖1A所繪示者係使用者尚未對觸控面板11〇進行觸 控拉作’因此無_疋感測通道112或114，其所感測的電 容變化值皆未超過X臨界值及Y臨界值。此時，觸控面板 110會回傳並未偵測到觸控物體的結果。 另一方面，圖1B所繪示者係觸控面板11〇因觸控物 體的油潰及其他髒污的影響而產生的電容變化值。如圖i B 所示，在髒污200所覆蓋的區域，觸控面板11〇上對應的 感測通道112'114會產生電容值的變化。因此，當該電容 值的變化均超過X臨界值及γ臨界值時，觸控面板11〇 會據此回傳髒污200的座標值。然而，觸控物體的油潰及 其他髒污通常並非觸控面板11〇所欲偵測之目標物。 因此，本發明之範例實施例提供一種觸控感測方法， 其可使觸控感測裝置適切地判斷觸控物體是否為一欲偵測 6 201250525 之目標物。在本發明之範例實施例中’相較於使用者的手 指或觸控筆，觸控物體的油潰及其他髒污並非觸控面板 110所欲偵測之目標物。 圖2繪示本發明一實施例之觸控感測系統的功能方塊 圖。圖3A及圖3B分別繪示同一觸控面板在不同的情況 下’其感測通道的電容變化值。圖3A所繪示者係使用者 對觸控面板110進行觸控操作。圖3B所繪示者係觸控面 板110因觸控物體的油潰及其他髒污的影響而產生的電容 變化值。 請參考圖2至圖3B，本實施例之觸控感測系統1〇〇 包括觸控面板110及觸控感測裝置120 ’其中觸控感測裝 置120包括一計算單元122及一判斷單元124，且計算單 元122包括一計數單元123。 在本實施例中，計數單元123用以計數觸控面板11〇 之圖框數’以分別定義第一圖框期間T1及第二圖框期間 T2。在此，第一圖框期間T1例如包括8個圖框數，第二 圖框期間T2例如包括12個圖框數。 以圖3A為例，當觸控物體300接觸觸控面板110時， 觸控物體300會在觸控面板11〇上產生的觸控值。在本實 施例中，該觸控值係觸控物體300在觸控面板110上所產 生的電容變化值，其隨時間而擾動。圖3A所繪示的擾動 情形係沿著X方向排列的感測通道112的電容變化值。另 外’在圖3A中，觸控物體300例如是以使用者的手指為 例’但本發明並不限於此。 201250525 接著，判斷單元124判斷觸控物體3〇〇在觸控面板u〇 上所產生的電容變化值是否大於一預設臨界值TH。當電 容變化值大於預設臨界值TH時，計算單元122在第一圖 框期間T1内，計算觸控物體3〇〇的電容變化值之平均值 AV1 〇 之後，計算單元110在第二圖框期間T2内，基於電 谷變化值之平均值AV1 ’計算觸控物體300在觸控面板110 上所產生的一觸控振幅值API。在此，觸控振幅值API例 如是觸控物體300在觸控面板11〇上所產生的電容變化值 之峰對峰值。接著，判斷單元124判斷觸控振幅值API是 否大於一預設振幅值N，以判斷觸控物體300是否為欲偵 測之目標物。 另一方面，在圖3B中’觸控物體例如是髒污200。 一般而言’不同的觸控物體在觸控面板11〇上所產生的電 容變化值並不相同。因此，在觸控面板110感測髒污2〇〇 時’計算單元122計算而得的觸控平均值AV2及觸控振幅 值AP2與圖3A之觸控平均值AV1及觸控振幅值API並 不相同。因此，基於不同的觸控物體具有不同的觸控振幅 值’設計者可依設計需求’設定預設振幅值N的大小，以 使觸控感測裝置12〇可適切地判斷觸控物體是否為一欲偵 測之目標物。在本實施例中’相較於觸控物體的油潰及其 他髒污’使用者的手指或觸控筆係觸控面板110所欲偵測 之目標物。 圖4繪示本發明一實施例之觸控感測方法的步驟流程 8 201250525 图月 > 考圖2至圖4，本實施之觸控感測方法例如可在 觸，感測裝置120上執行。在步驟S400中，計數單元123 會计數觸控面板11G之圖框數，以分別定義第—圖框期間 T1及第—圖框期間T2。在本實施例中，第一圖框期間T1 例如包括8個圖框數’第二圖框期間T2例如包括12個圖 框數，但本發明並不限於此。 隨著時間的進行’計數單元123之計數值持續增加。 在步驟S402中’計算單元m依據計數單元123之計數 值來確5忍目前時序。若圖框數之計數值小於8，代表目前 &第―圖框期間T卜觸控感測方法會進行步驟 S404 °在步驟S4〇4中’計算單元122持續接收觸控面板 Π0所輸入的電容變化值。直到圖框數之計數值等於8,觸 控感測，方法始進行步驟S4G6。在步驟S4G6巾，計算單元 122計算觸控物體3〇〇的觸控平均值AV1。 此時’计數單元123持續計數觸控面板u〇之圖框 ^。在步驟S408中’若圖框數之計數值小於2〇，代表目 刚時序仍處於第二圖框期間T2，觸控感測方法會進行步驟 S41〇。在步驟S41G中’計算單S I22持續接收觸控面板 110所輸人的電容變化值。朗隨數之計數值等於， 觸控感測?法始進行步驟⑷2。在步驟中，計算單 疋122計算觸控物體300的觸控振幅值AP卜 之，，在步驟S414中’判斷單元124判斷觸控振幅 值AP1是否大於—預設振幅值N，以判斷觸控物體3〇〇是 否為机偵測之目標物。若觸控振幅值API大於預設振幅值 201250525 N，代表觸控物體300為欲俄測之目標物。例如，在圖3A 中’觸控物體3GG之觸控振幅值Αρι係大於預設振幅值 N ’則在步驟S416中’判斷單元124即判斷觸控物體3〇〇 為使用者的手指或觸控筆，其係欲侧之目標物。 相反地’若觸控振幅值Αρι小於預設振幅值N，代表 觸控物體300不為欲偵測之目標物。例如，在圖3B中， 觸控物體300之觸控振幅值Ap2係小於預設振幅值N，則 在步驟S418中，判斷單元124即判斷觸控物體3〇〇為觸 控物體的油潰或其他髒污，其並非欲偵測之目標物。 接著’在步驟S420中，計數單元123之計數值會被 重置為0。觸控感測方法重新回到步驟S400，再次進入第 一圖框期間T1 ’以進行下一階段的觸控感測。 在本實施例中，相較於使用者的手指或觸控筆，觸控 物體的油潰及其他髒污並非觸控面板11〇所欲偵測之目標 物，但本發明並不限於此。在其他實施例中，只要經判斷 單元124之判斷，觸控物體之觸控振幅值大於預設振幅 值，該觸控物體即為欲偵測之目標物，並不限於使用者的 手指或觸控筆。 另外，圖3A及圖3B所繪示者係感測通道112在X 方向上的電容變化值。感測通道114在Y方向上的電容變 化值，其觸控感測方法可以由圖3A至圖4實施例之敘述 中獲致足夠的教示、建議與實施說明，因此不再贅述。 綜上所述，在本發明之範例實施例中，觸控感測裝置 在不同圖框期間内，分別計算觸控物體在觸控面板上所產 201250525 生的觸控平均值及其觸控其 有不同的觸抑A 田 土 ：同的觸控物體且 “祕控振幅值，因此觸控感測裝置可、翁+， 控物體是否為—欲_之目標物。 了適切地判斷觸 ΛΛ;本發明已以實施例揭露如上， =’任何所屬技術領域中具有通常；=限定 發明之保護範圍當視後附之申請專利範本 【圖式簡單說明】 圖1A及® 1B分別繪示同一觸控面板在不同的情況 下’其感測通道的電容變化值。 圖2繪示本發明一實施例之觸控感測系統的功能方塊 圖。 圖3A及圖3B分別繪示同一觸控面板在不同的情況 下，其感測通道的電容變化值。 圖4繪示本發明一貫施例之觸控感測方法的步驟流程 圖。 【主要元件符號說明】 100 :觸控感測系統 110 :觸控面板 112、114 :感測通道 120 :觸控感測装f 122 :計算單元 201250525 123 :計數單元 124 :判斷單元 200 :髒污 T1 :第一圖框期間 T2 :第二圖框期間 TH :預設臨界值 AVI、AV2 :觸控平均值 API、AP2 :觸控振幅值 S400、S402、S404、S406、S408、S410、S412、S414、 S416、S418、S420 :觸控感測方法之步驟 12201250525 VI. Description of the Invention: [Technical Field] The present invention relates to a sensing method and apparatus thereof, and more particularly to a touch sensing method and a device thereof. [Prior Art] In today's information age, human dependence on electronic products has increased. Electronic products such as notebook computers, mobile phones, personal digital assistants (PDAs), digital walkmans, etc. have become indispensable tools for modern people's lives and work. Each of the above electronic products has an input interface for inputting instructions required by the user so that the internal system of the electronic product automatically executes the command. The most widely used input interface devices today include a keyboard and a mouse. For the user, the use of a traditional input interface such as a keyboard or mouse can undoubtedly cause considerable inconvenience in some occasions. In order to solve such a problem, the manufacturer starts to configure a touch input interface such as a touch pad or a touch panel on the electronic device, and then replaces the touch panel or the touch panel. Keyboard or mouse function. As far as the touch input interface is concerned, most users currently use the touch or sensing behavior between the finger or the stylus and the touch input interface to perform a click operation. In terms of touch panels, the capacitive touch input interface is usually quite sensitive. When performing touch sensing, the effects of oil collapse and other dirt on the touch object are always unavoidable. Therefore, how to make the touch sensing device properly determine whether the touch object is a target to be detected is a current important subject. [Invention] The present invention provides a touch sensing method, which utilizes The difference in the characteristics of the object enables the touch sensing device to appropriately determine whether the touch object is a target to be detected. The present invention provides a touch sensing device that can appropriately determine whether a touch object is a target to be detected. The invention provides a touch sensing method suitable for a touch panel. The touch sensing method includes the following steps. In the - frame, calculate the average value of the touch generated by the touch object on the touch panel. During a second frame period, based on the touch average, the touch object is calculated on the touch panel. Based on the touch amplitude value, it is determined whether the touch object is a target to be detected. In one embodiment of the present invention, the step of determining whether the touch object is a target 5 includes the following steps. The touch amplitude value is determined as a preset amplitude value to determine whether the touch object is the target to be detected. In one embodiment of the invention, the touch sensing method further includes: determining a plurality of touches generated by the touch object on the touch panel 2 = greater than a preset threshold. When the touch value is greater than the preset threshold, the average value of the touch of the touch object is calculated during the period of the map. In an embodiment of the present invention, the touch sensing method described above further includes the following steps: 201250525. Count the frame of the touch panel and the period of the second frame.彳 疋 第 - - - - - - - - - - - - - - - - - - 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控 触控;? . In the second frame period, based on the touch 1" the touch object generated on the touch panel, the touch sensor is based on the touch amplitude value to determine whether the touch object is A napkin s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s s The above judgment judges whether the touch object 2: the multi-side control value generated on the panel is greater than - the preset threshold 2, although the touch value is greater than the critical slope, the calculation unit calculates the touch object during the first frame period The touch average value. In one embodiment of the present invention, the above-mentioned touch value is a capacitance change value of the touch object on the touch panel. The butterfly/·, the handle is in the embodiment - the above The touch amplitude value is a peak-to-peak value of the capacitance change value generated by the touch object on the touch panel. In one embodiment of the present invention, the first frame period and the second frame period respectively include multiple Number of frames. In the embodiment of the present invention, the above The calculation unit includes a number of frames for counting the number of units of the touch panel to calculate the first 201250525 frame period and the second frame period respectively. To make the above features and advantages of the present invention more obvious and understandable The following is a detailed description of the embodiments, and is described in detail below with reference to the accompanying drawings. [Embodiment] FIG. 1A and FIG. 1B respectively show the capacitance change values of the sensing channels of the same-touch panel under different conditions. Referring to FIG. 1A and FIG. 1B , in general, the touch panel 110 generally includes a plurality of sensing channels 112 arranged along the X direction and a plurality of sensing channels 排列 14 arranged along the Y direction. The sensing channel 112 , 114 is used to sense the change in capacitance of the touch panel 11 caused by the touch object. The user shown in FIG. 1A has not touch-touched the touch panel 11 ' The measured channel 112 or 114 does not exceed the X threshold and the Y threshold. At this time, the touch panel 110 returns the result that the touch object is not detected. 1B is shown as a touch panel 11 due to touch objects The value of the capacitance change caused by the oil smash and other contamination effects. As shown in Figure iB, in the area covered by the dirt 200, the corresponding sensing channel 112'114 on the touch panel 11A generates a capacitance value. Therefore, when the change in the capacitance value exceeds the X threshold and the γ threshold, the touch panel 11 will return the coordinate value of the dirty 200 accordingly. However, the oil of the touch object and other dirt Generally, the touch panel is not the target of the touch panel. Therefore, the exemplary embodiment of the present invention provides a touch sensing method, which can determine whether the touch sensing device is suitable for the touch object. In the exemplary embodiment of the present invention, in comparison with the user's finger or the stylus, the oily and other contamination of the touch object is not the target to be detected by the touch panel 110. . 2 is a functional block diagram of a touch sensing system according to an embodiment of the invention. 3A and 3B respectively show capacitance changes of the sensing channel of the same touch panel in different cases. The user shown in FIG. 3A performs a touch operation on the touch panel 110. FIG. 3B shows the change in capacitance of the touch panel 110 due to the oil collapse of the touch object and other effects of dirt. Referring to FIG. 2 to FIG. 3B , the touch sensing system 1 of the present embodiment includes a touch panel 110 and a touch sensing device 120 ′. The touch sensing device 120 includes a computing unit 122 and a determining unit 124 . And the computing unit 122 includes a counting unit 123. In this embodiment, the counting unit 123 is configured to count the number of frames of the touch panel 11A to define the first frame period T1 and the second frame period T2, respectively. Here, the first frame period T1 includes, for example, eight frame numbers, and the second frame period T2 includes, for example, twelve frame numbers. As shown in FIG. 3A , when the touch object 300 contacts the touch panel 110 , the touch object 300 generates touch values on the touch panel 11 . In this embodiment, the touch value is a capacitance change value generated by the touch object 300 on the touch panel 110, which is disturbed with time. The disturbance situation illustrated in Fig. 3A is the capacitance change value of the sensing channel 112 arranged along the X direction. Further, in Fig. 3A, the touch object 300 is exemplified by a user's finger, for example, but the present invention is not limited thereto. 201250525 Next, the determining unit 124 determines whether the capacitance change value generated by the touch object 3〇〇 on the touch panel u〇 is greater than a predetermined threshold TH. When the capacitance change value is greater than the preset threshold TH, the calculation unit 122 calculates the average value AV1 电容 of the capacitance change value of the touch object 3〇〇 in the first frame period T1, and the calculation unit 110 is in the second frame. During the period T2, a touch amplitude value API generated by the touch object 300 on the touch panel 110 is calculated based on the average value AV1' of the electric valley change value. Here, the touch amplitude value API is, for example, a peak-to-peak value of a capacitance change value generated by the touch object 300 on the touch panel 11A. Next, the determining unit 124 determines whether the touch amplitude value API is greater than a predetermined amplitude value N to determine whether the touch object 300 is the target to be detected. On the other hand, in Fig. 3B, the touch object is, for example, dirty 200. In general, the values of capacitance changes generated by different touch objects on the touch panel 11A are not the same. Therefore, when the touch panel 110 senses the dirtyness 2〇〇, the touch average value AV2 and the touch amplitude value AP2 calculated by the calculation unit 122 are compared with the touch average value AV1 and the touch amplitude value API of FIG. 3A. Not the same. Therefore, based on different touch objects having different touch amplitude values, the designer can set the preset amplitude value N according to the design requirement, so that the touch sensing device 12 can appropriately determine whether the touch object is A target to be detected. In the present embodiment, the target of the user's finger or the stylus touch panel 110 is detected as compared with the oily and other dirty of the touch object. 4 is a flow chart of a touch sensing method according to an embodiment of the present invention. The process is performed on the touch sensing device 120. For example, the touch sensing method of the present embodiment can be executed on the touch sensing device 120. . In step S400, the counting unit 123 counts the number of frames of the touch panel 11G to define the first frame period T1 and the first frame period T2, respectively. In the present embodiment, the first frame period T1 includes, for example, eight frame numbers. The second frame period T2 includes, for example, twelve frame numbers, but the present invention is not limited thereto. The count value of the counting unit 123 continues to increase as time progresses. In step S402, the calculation unit m confirms the current timing according to the count value of the counting unit 123. If the count value of the frame number is less than 8, it means that the current & frame period T T touch sensing method will perform step S404 ° in step S4 〇 4 'the calculation unit 122 continues to receive the touch panel Π 0 input Capacitance change value. Until the count value of the number of frames is equal to 8, the touch sensing is performed, and the method proceeds to step S4G6. In step S4G6, the calculating unit 122 calculates the touch average value AV1 of the touch object 3〇〇. At this time, the counting unit 123 continuously counts the frame of the touch panel u〇. In step S408, if the count value of the number of frames is less than 2, the representative timing is still in the second frame period T2, and the touch sensing method proceeds to step S41. In step S41G, the calculation unit S I22 continuously receives the capacitance change value of the person input by the touch panel 110. The count value of the logarithm is equal to, the touch sensing method starts with step (4) 2. In the step, the calculation unit 122 calculates the touch amplitude value AP of the touch object 300. In step S414, the determination unit 124 determines whether the touch amplitude value AP1 is greater than the preset amplitude value N to determine the touch. Whether the object 3 is the target of the machine detection. If the touch amplitude value API is greater than the preset amplitude value 201250525 N, it means that the touch object 300 is the target of the Russian test. For example, in FIG. 3A, the touch amplitude value Αρι of the touch object 3GG is greater than the preset amplitude value N′, then in step S416, the determination unit 124 determines that the touch object 3 is the user's finger or touch. Pen, which is the target of the desire side. Conversely, if the touch amplitude value Αρι is smaller than the preset amplitude value N, it means that the touch object 300 is not the target to be detected. For example, in FIG. 3B, the touch amplitude value Ap2 of the touch object 300 is less than the preset amplitude value N, then in step S418, the determining unit 124 determines that the touch object 3 is the oily object of the touch object or Other dirt, it is not the target to be detected. Then, in step S420, the count value of the counting unit 123 is reset to 0. The touch sensing method returns to step S400 to enter the first frame period T1' again for the next stage of touch sensing. In this embodiment, the oil collapse and other contamination of the touch object are not the objects to be detected by the touch panel 11 compared to the user's finger or the stylus, but the present invention is not limited thereto. In other embodiments, as long as the touch amplitude value of the touch object is greater than the preset amplitude value, the touch object is the target to be detected, and is not limited to the user's finger or touch. Control the pen. In addition, FIG. 3A and FIG. 3B show the capacitance change value of the sensing channel 112 in the X direction. The capacitance change value of the sensing channel 114 in the Y direction, the touch sensing method can be sufficiently taught, suggested and implemented by the description of the embodiment of FIG. 3A to FIG. 4, and therefore will not be described again. In summary, in the exemplary embodiment of the present invention, the touch sensing device calculates the touch average of the 201250525 generated by the touch object on the touch panel and touches it during different frame periods. There are different touches of A soil: the same touch object and "secret control amplitude value, so the touch sensing device can, Weng +, control whether the object is - the target of the desired. The appropriate judgment of the touch; The invention has been disclosed in the above embodiments, = 'is common in any technical field; = the scope of protection of the invention is defined as attached to the patent application template [Simplified description of the drawings] FIGS. 1A and 1B respectively illustrate the same touch panel FIG. 2 is a functional block diagram of a touch sensing system according to an embodiment of the invention. FIG. 3A and FIG. 3B respectively illustrate the same touch panel in different manners. In this case, the capacitance change value of the sensing channel is shown in Fig. 4. Fig. 4 is a flow chart showing the steps of the touch sensing method according to the consistent embodiment of the present invention. [Main component symbol description] 100: touch sensing system 110: touch panel 112, 114: Sensing pass Road 120: touch sensing device f 122: calculation unit 201250525 123: counting unit 124: judging unit 200: dirty T1: first frame period T2: second frame period TH: preset threshold AVI, AV2: Touch average API, AP2: touch amplitude values S400, S402, S404, S406, S408, S410, S412, S414, S416, S418, S420: step 12 of the touch sensing method