Magnetic suspension curtain and control method and control system thereof

Abstract

The invention discloses a magnetic suspension curtain and a control method and system thereof, and relates to the technical field of curtains. Extracting action features; comparing the action features with a preset screening requirement and a human body micro-motion feature library; according to the effective action signals, excitation currents applied to the electromagnets are adjusted, and the curtain body is driven to move. Suspension and non-contact driving of the curtain body are achieved through magnetic interaction between the electromagnet set and the magnetic array, a traditional rigid physical sliding rail is thoroughly abandoned, and the processes of disassembly, cleaning, replacement and maintenance are simplified. Meanwhile, an intelligent control algorithm based on feature recognition is combined with a dual matching mechanism of a preset screening requirement and a human body micro-motion feature library, effective instructions and environmental noise can be effectively distinguished, high-reliability control can still be ensured even in severe environments such as dark light and humidity in which a traditional sensor is prone to failure or false triggering, false triggering is effectively avoided, and the safety of the system is improved. And the accuracy and the user satisfaction degree are improved.

Description

Technical Field

[0001] This application relates to the technical field of curtains, and more particularly to a magnetic levitation curtain and its control method and control system. Background Technology

[0002] As an important part of modern homes, the convenience and user experience of smart curtains directly affect their market acceptance. Currently, most mainstream smart curtain products on the market rely on traditional physical track structures to open and close the curtains.

[0003] However, this structural design has the following inherent drawbacks that are difficult to overcome: 1) Drilling holes in the wall / window frame is required to fix the track, causing damage to the wall surface. This is especially problematic for renters, as it restricts installation and makes restoration difficult upon move-out. Furthermore, the wiring process is cumbersome and time-consuming, and ordinary users typically cannot complete it independently, requiring professional on-site service, increasing the barrier to entry and costs. 2) When cleaning or replacing the curtain itself, disassembly often requires unscrewing the screws securing the track, a cumbersome and time-consuming process. 3) Current smart curtains heavily rely on smartphone apps or voice assistants for control. In low-light environments, users struggle to accurately operate the touchscreen; when hands are wet, touchscreen operation has a high failure rate and poses safety hazards. Voice control is also unsuitable in noisy environments or scenarios requiring silence, and these inconvenient operating conditions reduce the product's usability and user experience. Summary of the Invention

[0004] The main purpose of this application is to provide a magnetic levitation curtain and its control method and control system, which aims to solve the technical problems of existing curtains relying on physical tracks, which leads to wall damage during installation, difficulty in disassembly and maintenance, and low control reliability in dark / humid environments.

[0005] To achieve the above objectives, this application proposes a control method for a magnetically levitated curtain, applicable to a magnetically levitated curtain. The magnetically levitated curtain includes a magnetic guide strip and a curtain body. The magnetic guide strip is provided with a magnetic array, and the curtain body is provided with an electromagnet assembly. An interaction force is generated between the electromagnets and the magnetic array. The control method includes: Obtain the action signal of the target object; The action signal is processed to extract action features; The extracted motion features are compared with preset screening requirements. If the motion features of the target object match the preset screening requirements, the filtered motion features are matched with a model in the human micro-motion feature library. If the motion characteristics of the target object do not match the preset screening requirements or the motion characteristics of the target object do not match the model in the human micro-motion feature library, then the current motion signal is ignored. If the motion characteristics of the target object match a model in the human micro-motion feature library, the current motion signal is determined to be a valid motion signal. According to the effective action signal, the excitation current applied to each electromagnet is adjusted so that the electromagnet group and the magnetic array generate a thrust parallel to the direction of movement, driving the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action.

[0006] In one embodiment, the magnetically levitated curtain includes a millimeter-wave radar, and the specific steps for acquiring the motion signal of the target object include: Drive the millimeter-wave radar to transmit millimeter-wave signals; The system receives millimeter-wave signals reflected by target objects within the monitoring area and obtains the target object's motion signal based on Doppler frequency shift calculation and phase difference analysis.

[0007] In one embodiment, the motion characteristics include frequency, amplitude, and motion trajectory.

[0008] In one embodiment, the specific steps of comparing the extracted motion features with preset screening requirements, and if the motion features of the target object match the preset screening requirements, then matching the screened motion features with a model in the human micro-motion feature library include: When the frequency of the extracted motion features is higher than the first preset threshold, the current motion signal is determined to be pet interference, and the motion features of the target object do not match the preset screening requirements. When the amplitude of the extracted motion feature meets the preset amplitude condition, the current motion signal is determined to be environmental interference, and the motion feature of the target object does not match the preset screening requirements. When the frequency of the extracted motion features is not higher than the first preset threshold and the amplitude does not meet the preset amplitude condition, it is determined that the motion features of the target object match the preset screening requirements, and the motion features of the current motion signal match a certain model in the human micro-motion feature library.

[0009] In one embodiment, the first preset threshold is 2Hz, and the preset amplitude condition is that the amplitude is random and has no specific regularity.

[0010] In one embodiment, the specific steps of adjusting the excitation current applied to each electromagnet according to the effective action signal, so as to generate a thrust parallel to the direction of movement between the electromagnet group and the magnetic array, driving the curtain body to move along the magnetic guide strip and in the direction corresponding to the user's action, include: According to the effective action signal, the magnitude, energizing sequence and timing of the current supplied to each electromagnet in the electromagnet group are adjusted so that an attraction force perpendicular to the direction of movement is generated between the electromagnet group and the magnetic array, thereby controlling the curtain body to suspend below the magnetic guide strip. And, according to the effective action signal, adjust the current magnitude, energizing sequence and timing of each electromagnet in the electromagnet group, and the thrust parallel to the direction of movement, drive the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action.

[0011] In one embodiment, the specific steps of adjusting the magnitude, energizing sequence, and timing of the current supplied to each electromagnet in the electromagnet group, and the thrust parallel to the direction of movement to drive the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action include: The current direction of each electromagnet is switched cyclically according to a preset time sequence, so that the magnetic polarity generated by it and the magnetic polarity of the magnetic array form a composite force sequence of attraction-repulsion-attraction, which synthesizes the directional thrust that drives the curtain to move.

[0012] In one embodiment, it further includes: Obtain feedback signals of the real-time position or speed of the curtain body; Based on the difference between the feedback signal and the target position, the parameters of the excitation current are adjusted in a closed loop to adjust the moving position of the curtain body.

[0013] In addition, to achieve the above objectives, this application also proposes a control system, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method for the magnetically levitated curtain as described above.

[0014] In addition, to achieve the above objectives, this application also proposes a magnetic levitation curtain, including a magnetic guide rail, a curtain body and a control system as described above. The magnetic guide rail is installed on the top of the window frame, and the magnetic array is disposed on the side of the magnetic guide rail facing away from the window frame. The magnetic array includes a plurality of permanent magnets arranged alternately along the length of the magnetic guide rail in a first preset order. The top of the curtain body is provided with an electromagnet assembly, which includes multiple electromagnets arranged along the length of the magnetic conductor strip, and the control system is electrically connected to the electromagnets. The control system is used to adjust the excitation current applied to each electromagnet so that the attraction force between the electromagnet group and the magnetic array is perpendicular to the direction of movement and the thrust force is parallel to the direction of movement, thereby driving the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action.

[0015] One or more technical solutions proposed in this application have at least the following technical effects: This application achieves levitation and contactless actuation of the curtain body through the magnetic interaction between electromagnets and a magnetic array, completely eliminating the need for traditional rigid physical tracks. This fundamentally avoids drilling damage to walls or ceilings during installation, maintaining the integrity of the building structure. The trackless design allows the curtain body to be easily placed and removed from the magnetic guide strip, simplifying disassembly, cleaning, replacement, and maintenance processes, reducing maintenance costs and time. Simultaneously, a feature-based intelligent control algorithm, combined with a dual matching mechanism of preset screening requirements and a human micro-motion feature database, effectively distinguishes between valid commands and environmental noise. Even in harsh environments such as low light and humidity, where traditional sensors are prone to failure or false triggering, it still ensures high-reliability control, effectively avoiding false triggering and improving accuracy and user satisfaction. Furthermore, by precisely controlling the excitation current applied to each electromagnet, the required thrust magnitude and direction can be precisely generated, achieving precise positioning and smooth speed control of the curtain's opening and closing. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating an embodiment of a control method for a magnetically levitated curtain according to this application. Figure 2 This is a structural diagram of a second embodiment of a magnetically levitated curtain provided in this application.

[0019] The diagram shows the following symbols: Magnetic strip 01, Magnetic array 02, Curtain body 03, Electromagnet assembly 04, Window frame 05.

[0020] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0022] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0023] The main solution in this application's embodiments is: This application proposes a control method for magnetically levitated curtains, such as... Figure 1 and Figure 2 As shown, this is applied to a magnetic levitation curtain. The magnetic levitation curtain includes a magnetic guide strip 01 and a curtain body 03. The magnetic guide strip 01 is provided with a magnetic array 02, and the curtain body 03 is provided with an electromagnet assembly 04. The electromagnets and the magnetic array 02 generate an interaction force. The control method includes: S100: Acquire the action signal of the target object; S200: Perform signal processing on the action signal to extract action features; S300: Compare the extracted motion features with the preset screening requirements. If the motion features of the target object match the preset screening requirements, then match the screened motion features with a model in the human micro-motion feature library. S400: If the motion characteristics of the target object do not match the preset screening requirements or the motion characteristics of the target object do not match the model in the human micro-motion feature library, then ignore the current motion signal; S500: If the motion characteristics of the target object match a model in the human micro-motion feature library, the current motion signal is determined to be a valid motion signal. S600: According to the effective action signal, adjust the excitation current applied to each electromagnet so that the electromagnet group 04 and the magnetic array 02 generate a thrust parallel to the direction of movement, driving the curtain body 03 to move along the magnetic guide strip 01 in the direction corresponding to the user's action.

[0024] More specifically, as an important element in enhancing the convenience of modern home life, the ease of operation and overall user experience of smart curtains are key factors determining their market acceptance. Currently, most mainstream smart curtain products on the market still rely on traditional physical track structures for their core opening and closing functions. However, this seemingly mature structural design has several inherent and unavoidable flaws that seriously affect the user's actual experience.

[0025] First, the installation process of physical tracks is itself a significant pain point. To achieve stable load-bearing and smooth sliding, the tracks must be firmly fixed to the wall or window frame, inevitably requiring drilling into the building surface. This installation method directly damages the wall, posing a significant limitation for users who value aesthetics, especially renters with high turnover. They face numerous concerns during installation and often encounter cumbersome restoration responsibilities and high costs upon moving out. Furthermore, the wiring required to power or communicate with the electric curtain motor further increases the complexity and professionalism of the installation. Ordinary users typically cannot complete this independently and must rely on professional on-site service. This not only raises the initial barrier to entry but also increases additional installation costs and time consumption.

[0026] Secondly, the physical track structure makes the later maintenance of curtains inconvenient. As home furnishings, curtains need to be cleaned or replaced regularly. However, under the current design, disassembling the curtain body usually requires unscrewing the screws fixing the track or disassembling the complex buckle structure, which is cumbersome and time-consuming. This inconvenience reduces users' willingness to perform daily maintenance and also makes changing the curtain style or dealing with damage less convenient. Furthermore, the control methods of existing smart curtains have obvious shortcomings in certain scenarios. Their heavy reliance on smartphone apps or voice assistants for operation often encounters difficulties in actual use: in dimly lit environments, users have difficulty seeing and accurately operating the phone touchscreen; when users' hands are wet, touchscreen operation is prone to failure, not only causing operational frustration but also posing potential safety hazards when operating electrical appliances with wet hands. While voice control has the advantage of freeing up hands, its recognition effect is greatly reduced or even completely unusable in noisy environments or scenarios where quiet is required. These operational obstacles in these situations greatly diminish the "smart" experience of smart curtains, seriously weakening the product's usability and user satisfaction.

[0027] In summary, the installation disruptions and maintenance difficulties caused by physical tracks, as well as the failure of single control methods in low-light, humid, noisy, or silent environments, are the core challenges that smart curtains urgently need to address. To overcome these limitations and improve product versatility and user experience, the key lies in fundamentally innovating the drive structure, abandoning reliance on physical tracks, and exploring more adaptable and convenient contactless human-computer interaction methods for complex environments. This is a crucial starting point for enhancing the practical value and market appeal of smart curtains.

[0028] This application proposes a control method for a magnetically levitated curtain. The method comprises two main parts: a magnetic guide strip 01 and a curtain body 03. The magnetic guide strip 01 contains a specially arranged array of permanent magnets to provide a stable background magnetic field. The curtain body 03 is equipped with an electromagnet group 04 consisting of multiple electromagnets. By controlling the current of each electromagnet, an interaction force is generated with the permanent magnet array in the magnetic guide strip 01, thereby achieving contactless and smooth movement of the curtain. This control method aims to intelligently regulate the opening and closing state of the curtain by recognizing the user's intention. The specific function, composition, and working principle of each step in the control process will be described in detail below.

[0029] In step S100, the system actively or passively captures dynamic information of the target object within a specific sensing area using deployed sensors, such as millimeter-wave radar. The target object is typically a user, but pets may cause interference during actual use. Specifically, the system collects raw motion signals, including but not limited to changes in the user's gestures, body movements, or specific commands, through sensors mounted around the curtains or inside the room. These signals serve as the initial input for the system to determine the user's intent and are the foundation for achieving contactless control. The key to this step lies in the real-time performance and accuracy of signal acquisition, ensuring that subsequent processing is based on effective and high-quality data.

[0030] In step S200, the acquired raw motion signal often contains environmental noise, non-target interference, and truly useful user action information. This step is responsible for preprocessing and feature extraction of the raw motion signal, and its core function is to identify meaningful motion patterns from the potentially noisy raw data. The system uses a built-in signal processing module to denoise, smooth, and normalize the signal to eliminate environmental interference and sensor errors. Subsequently, feature extraction algorithms, such as methods based on keypoint trajectories, motion amplitude, or frequency characteristics, are used to extract feature vectors that represent the essence of the action, such as the direction, speed, amplitude, or specific trajectory shape of the action. This process provides a standardized and comparable data representation for subsequent intent recognition.

[0031] Since not all captured actions are valid control commands, steps S300-500 distinguish the valid control commands.

[0032] Step S300 performs preliminary screening and fine-tuning of motion signals, using a multi-level discrimination mechanism to eliminate invalid or unintended actions, thereby improving control accuracy and anti-interference capabilities. The system first compares the extracted motion features with preset screening requirements, such as motion amplitude thresholds, movement direction ranges, or duration conditions, to filter out obviously unreasonable signals. If the preliminary screening passes, the features are further matched with typical motion models pre-stored in a human micro-motion feature library. This feature library is typically generated based on a large amount of ergonomic data or machine learning training, containing dynamic patterns corresponding to various common control intentions.

[0033] Step S400 serves as the system's fault tolerance and energy-saving mechanism. Its function is to prevent erroneous operations caused by accidental triggering or environmental interference, ensuring that the system only responds to valid user commands. When the target object's motion characteristics fail to meet preset screening requirements, or do not match any models in the human micro-motion feature library, the system determines the motion as a non-intended signal, such as a pet passing by, accidental shaking, or other irrelevant movement, and then ignores the current signal and returns to standby mode. This step reduces the system's false response rate and minimizes unnecessary energy consumption.

[0034] Step S500 is the final confirmation step of the action intent, which identifies the action features that have been filtered through multiple layers into specific control commands. When the motion features of the target object highly match a model in the human micro-motion feature library, such as matching the "waving to the right" model, the system classifies the action signal as a valid command and triggers the corresponding curtain control logic. This judgment is usually based on a similarity threshold or classification confidence level to ensure that the mapping relationship between user actions and system responses is clear and reliable.

[0035] Step S600, as the execution phase of the control method, translates the identified intentional action into the actual movement of the curtain. Based on the direction and amplitude parameters corresponding to the valid action signal (e.g., "move to the left" or "open halfway"), the system dynamically adjusts the magnitude and direction of the excitation current applied to each electromagnet via the current control module. By changing the current, a Lorentz force or magnetic resistance of controllable magnitude and direction is generated between the electromagnet group 04 and the permanent magnet array 02 of the magnetic guide strip 01, thereby forming a push or pull force parallel to the direction of curtain movement. This force drives the curtain body 03 to move smoothly and quietly along the track of the magnetic guide strip 01, ultimately achieving the desired movement. Figure 1 The entire process of opening, closing, or pausing operations is characterized by the high precision and responsiveness of the magnetic levitation technology.

[0036] In summary, this control method achieves intelligent perception and analysis of user actions through multi-level signal processing and pattern recognition mechanisms, and utilizes electromagnetic force precision control technology to achieve magnetic levitation drive of the curtains, combining automation, user-friendliness, and energy efficiency. Each step of the system is progressively advanced, jointly ensuring the reliability, accuracy, and smoothness of the user experience. This step serves as the first layer of "coarse screening." The system quickly compares the extracted motion features with a set of pre-set, broad "pre-selection requirements." If the motion features of the target object do not match these basic requirements at all, they are directly ignored to avoid processing invalid information. If a preliminary match is successful, the motion feature is sent to the next layer for more refined identification.

[0037] In summary, the control method of this application operates on a closed-loop "perception-understanding-execution" process: First, step S100 accurately senses the user's actions; step S200 extracts key information through signal processing and feature extraction; then, steps S300-S500 employ a dual matching mechanism to intelligently identify effective control intentions and filter interference; finally, step S600 uses precise electromagnetic field control to transform the identification results into contactless magnetic drive, achieving intelligent, reliable, and smooth control of the curtains. This entire process effectively solves the drawbacks of physical tracks and improves the control experience in complex environments.

[0038] This application achieves levitation and contactless actuation of the curtain body 03 through the magnetic interaction between the electromagnet group 04 and the magnetic array 02, completely eliminating the need for traditional rigid physical tracks and fundamentally avoiding drilling damage to walls or ceilings during installation, thus maintaining the integrity of the building structure. The trackless design allows the curtain body 03 to be easily placed and removed from the magnetic guide strip 01, simplifying disassembly, cleaning, replacement, and maintenance processes, reducing maintenance costs and time. Simultaneously, the intelligent control algorithm based on feature recognition, combined with a dual matching mechanism of preset screening requirements and a human micro-motion feature database, can effectively distinguish between valid commands and environmental noise. Even in harsh environments such as low light and humidity, where traditional sensors are prone to failure or false triggering, it can still ensure high-reliability control, effectively avoiding false triggering and improving accuracy and user satisfaction. Furthermore, by precisely controlling the excitation current applied to each electromagnet, the required thrust magnitude and direction can be precisely generated, achieving precise positioning and smooth speed control of the curtain's opening and closing.

[0039] In one embodiment, the magnetically levitated curtain includes a millimeter-wave radar, and the specific steps for acquiring the motion signal of the target object include: S110: Drives the millimeter-wave radar to transmit millimeter-wave signals; S120: Receives millimeter-wave signals reflected by the target object within the monitoring area, and obtains the target object's motion signal based on Doppler frequency shift calculation and phase difference analysis.

[0040] In this embodiment, the magnetic levitation curtain system integrates a millimeter-wave radar sensor as its device for sensing the external environment and interacting with the user. Unlike optical sensors such as cameras, millimeter-wave radar detects objects by emitting and receiving electromagnetic waves, offering advantages such as being unaffected by lighting conditions, ignoring visual obstructions, and providing absolute protection of user privacy. Its specific operating steps are as follows: Step S110 actively transmits electromagnetic wave energy of a specific frequency band into the monitored environment to provide the signal source required for detecting the presence and movement of target objects. The millimeter-wave radar includes a radio frequency transmitting unit. This unit consists of a high-frequency oscillator and a transmitting antenna. After the system is powered on, the control circuit drives the oscillator to generate extremely high-frequency millimeter-wave signals. This electromagnetic wave energy is radiated directionally in the form of a beam through the transmitting antenna into a pre-defined monitoring area, such as the space in front of a curtain. This millimeter-wave signal has strong penetrating power, capable of covering the entire interaction area, and awaits interaction with any object within the area.

[0041] Step S120 receives the millimeter-wave signal reflected from the target object and, based on Doppler frequency shift calculation and phase difference analysis, obtains the target object's motion signal. The system captures the weak electromagnetic wave signals reflected back from the target object, performs in-depth signal processing on these echo signals, and deciphers key information describing the target object's motion state, ultimately forming a system-recognizable "motion signal." The millimeter-wave radar's receiving antenna continuously captures millimeter-wave signals reflected back from the monitoring area. When the emitted electromagnetic waves encounter a moving or stationary object, some energy is reflected back. The receiving antenna's task is to sensitively capture these extremely weak echoes. When the target object moves relative to the radar, according to the Doppler effect, the frequency of the reflected echo will shift slightly relative to the emitted frequency. This frequency shift is proportional to the radial velocity of the target object.

[0042] Specifically, the radar's internal mixer mixes the received echo with the original transmitted signal to generate a difference frequency signal. By analyzing the frequency of this difference frequency signal, the signal processing unit can accurately calculate the target's speed and direction of motion. This is the core basis for determining whether action has occurred and how fast it is. By analyzing the phase difference between these antennas using sophisticated algorithms (such as FFT and DBF), the system can accurately measure the target's azimuth and minute distance changes. This allows the radar not only to know that something is moving, but also to precisely locate the specific position of the action, and even capture very subtle finger movements or hand gestures.

[0043] Finally, by combining the velocity / direction information provided by Doppler frequency shift and the angle / distance change information provided by phase difference analysis, the signal processing unit can generate a rich set of digital motion signals. This set of signals contains the target object's distance, velocity, orientation, and motion trajectory features, providing a high-quality, high-precision raw data foundation for subsequent steps of motion feature extraction and intent recognition.

[0044] In one embodiment, the motion characteristics include frequency, amplitude, and motion trajectory.

[0045] After acquiring the raw motion signal via millimeter-wave radar, the system needs to extract key parameters that accurately describe the nature of the motion. In this embodiment, motion features include frequency, amplitude, and motion trajectory, which together constitute a "feature fingerprint" that can identify a specific gesture or action.

[0046] Frequency describes the number of periodic movements a target object (such as a hand) completes per unit of time, typically measured in Hertz (Hz). Frequency characteristics are crucial for distinguishing different action intentions. For example, a quick, abrupt wave might be defined as an "emergency closure," while a slow, steady wave might be identified as a "normal opening." It also effectively distinguishes between continuous and single actions. Amplitude describes the peak intensity of changes in position, distance, or velocity of a target object during movement. For example, a large arm swing might be used to control curtains to open or close fully, while a small wrist swing might be used to control curtains to be fine-tuned or partially opened. Amplitude characteristics provide information about the "intensity" or "range" of the action.

[0047] A motion trajectory is the path of a target object's movement in space, describing the continuous spatial changes of an action. For example, a horizontal wave from left to right and a vertical wave from top to bottom have distinctly different trajectories. Trajectory features enable the system to recognize a wide variety of gestures, such as complex commands like drawing circles, checkmarks, and crosses. Extracting a motion trajectory is a continuous tracking process. Millimeter-wave radar, through its antenna array and phase difference analysis, can continuously calculate the distance and azimuth of a target object at an extremely high refresh rate, thus obtaining its position in polar coordinates. By connecting these continuous time points and performing coordinate transformations and trajectory smoothing in software algorithms, the system can reconstruct the target object's motion path in two-dimensional or three-dimensional space. Subsequently, a pattern recognition algorithm compares the reconstructed trajectory with pre-stored model trajectories in a feature library, thereby achieving accurate gesture recognition.

[0048] By comprehensively analyzing and comparing the combination of these three features, the system can accurately parse the user's original actions into a clear and unambiguous control command, thus providing a precise basis for subsequently driving the magnetic levitation curtain. This multi-feature fusion recognition strategy enhances the system's anti-interference capability and the naturalness of interaction.

[0049] In one embodiment, the specific steps of comparing the extracted motion features with preset screening requirements, and if the motion features of the target object match the preset screening requirements, then matching the screened motion features with a model in the human micro-motion feature library include: S310: When the frequency of the extracted motion features is higher than the first preset threshold, the current motion signal is determined to be pet interference, and the motion features of the target object do not match the preset screening requirements. S320: When the amplitude of the extracted motion feature meets the preset amplitude condition, the current motion signal is determined to be environmental interference, and the motion feature of the target object does not match the preset screening requirements. S330: When the frequency of the extracted motion features is not higher than the first preset threshold and the amplitude does not meet the preset amplitude condition, it is determined that the motion features of the target object match the preset screening requirements, and the motion features of the current motion signal match a certain model in the human micro-motion feature library.

[0050] In this embodiment, step S300 includes steps S310 to S330. Step S310 is used to identify and filter out interference from pets. Domestic pets typically move quickly, suddenly, and at a high frequency, but with potentially small amplitude. One of the biggest differences between these movements and human gestures, as perceived by millimeter-wave radar, is their abnormally high frequency. This step sets a frequency upper limit, directly classifying any vigorous movements exceeding this limit as invalid signals, thus effectively preventing accidental actions triggered by pets.

[0051] The system has a preset key threshold parameter—the first preset threshold, specifically 2Hz. This threshold is an upper limit of frequency set based on statistical data of a large number of normal human hand gestures. It is much higher than the speed of any reasonable human gesture to control curtains. For example, the frequency of a human waving hand is usually within a few hertz, while the frequency of a pet running or swinging rapidly may easily exceed this range.

[0052] The signal processing unit compares the motion frequency features extracted in the previous step with this "first preset threshold" in real time. Once the frequency is found to be higher than the first preset threshold, the system immediately triggers a decision mechanism, marking the motion signal as "pet interference" and determining that it does not match the preset screening requirements. After the decision is made, the process will directly jump to S400, ignore the signal, and no further calculations will be performed, saving system resources.

[0053] Step S320 is used to identify and filter out interference from the environment. Environmental interference typically refers to indirect, unintentional object movements, such as the shadow of a pedestrian passing by a doorway in the distance, swaying branches outside a window, or paper being blown by the wind. The movements of these interfering objects may not be frequent, but their amplitude is often abnormal, either too large or too small, and is significantly different from the moderately sized control gestures that a user intentionally makes while standing in front of the curtains.

[0054] The system internally sets a set of preset amplitude conditions, which is usually not a single value, but a reasonable amplitude range. This range defines the typical amplitude of motion that an effective control gesture should possess. The system compares the extracted motion amplitude features with the preset amplitude conditions. The judgment criterion is whether the amplitude falls within the preset reasonable range. If the motion amplitude does not meet this condition, the system will determine that the signal is "environmental interference" and determine that it does not match the preset screening requirements. Similarly, such signals will be directly discarded, and the process will proceed to step S400 to prevent environmental factors such as wind and grass from causing false triggering of the system.

[0055] Step S330 represents the "otherwise" case after the first two steps of screening. Its purpose is to issue a "pass" to the high-probability valid action signals that have passed the initial inspection. Action signals that can pass both the frequency and amplitude thresholds have already initially possessed the characteristics of "intentional human gestures," and are thus allowed to enter the next stage of recognition, which is more precise and computationally intensive—model matching with the human micro-motion feature library. This step is a logical decision node. Its working principle is that this branch will only be triggered when the extracted action features simultaneously meet the following two conditions: frequency ≤ first preset threshold (excluding pet interference); amplitude meets preset amplitude conditions (excluding environmental interference). Once these conditions are met, the system determines that the motion features of the target object match the preset screening requirements. Subsequently, the system will pass this "screened" action feature, which has had most of the noise removed, to the next processing module for a refined comparison with various gesture models pre-stored in the human micro-motion feature library to ultimately determine the user's specific intention.

[0056] In summary, S310, S320, and S330 together constitute a highly efficient and low-power preprocessing pipeline. They utilize simple yet effective rules to quickly filter out the aforementioned common interferences, thereby ensuring the overall accuracy, real-time performance, and reliability of the magnetic levitation curtain control system.

[0057] In one embodiment, the first preset threshold is 2Hz, and the preset amplitude condition is that the amplitude is random and has no specific regularity.

[0058] This embodiment defines two key parameters in the preset screening requirements: the first preset threshold is explicitly set to 2Hz, and the preset amplitude condition is described as random amplitude without specific regularity. These specific definitions provide clear and actionable decision criteria for the system's pre-filtering mechanism. 2Hz is determined based on extensive ergonomic research and experimental data, effectively capturing the typical upper speed limit of human gestures used to control devices. The vast majority of clear, intentional control gestures have a frequency lower than or equal to this value. In step S310, the system performs a very fast numerical comparison operation. The signal processing unit compares the extracted action frequency with this fixed 2Hz benchmark.

[0059] If the frequency is >2Hz: the system will immediately determine that the action exceeds the speed range of normal human hand gestures. Pets or certain mechanical vibrations are likely to generate such high-frequency signals. In this case, the system will unhesitatingly classify it as "pet interference" and immediately discard the signal without any further processing. If the frequency is ≤2Hz: the action passes the initial test in the speed dimension, indicating that it is likely a valid human action. However, it still needs to undergo a further check on amplitude. This explicit numerical threshold makes the filtering judgment fast, objective, and reliable.

[0060] Defining the preset amplitude condition as "random amplitude with no specific regularity" is a qualitative screening strategy for environmental interference. Its purpose is not to set a fixed amplitude range, but to identify movements that lack the purposefulness and regularity characteristic of human gestures. Environmental interference, such as curtains blowing in the wind, swaying branches, or blurry movements in the distance, is typically characterized by chaotic amplitude changes, lacking clear beginnings, ends, and stable movement patterns, exhibiting random fluctuations. In step S320, the system performs pattern recognition rather than simple numerical comparison. It analyzes the sequence of amplitude changes over time in the motion signal.

[0061] How to determine "random and irregular": The system calculates the statistical characteristics of the amplitude sequence or checks whether its waveform exhibits a clear, repetitive pattern. Amplitude curves caused by environmental interference typically resemble "noise," lacking a stable period or trend. If the amplitude is determined to be "random and irregular": The system considers the movement to lack the intentionality of human gestures. Human gestures used for communication typically exhibit controlled, smooth amplitude changes that are consistent with the movement trajectory. Therefore, such chaotic movements are categorized as "environmental interference" and filtered out. If the amplitude is determined to be "regular and patterned": Even if the absolute value of the amplitude may vary, as long as it exhibits a certain regularity, it matches the characteristics of controlled human muscle movement. Such signals, even with large or small amplitudes, will meet the preset amplitude conditions and thus pass the screening.

[0062] In one embodiment, such as Figure 2 As shown, the specific steps of adjusting the excitation current applied to each electromagnet according to the effective action signal, so that the electromagnet group 04 and the magnetic array 02 generate a thrust parallel to the direction of movement, driving the curtain body 03 to move along the magnetic guide strip 01 in the direction corresponding to the user's action, include: According to the effective action signal, the magnitude, energizing sequence and timing of the current supplied to each electromagnet in the electromagnet group 04 are adjusted so that the electromagnet group 04 and the magnetic array 02 generate an adsorption force perpendicular to the direction of movement, thereby controlling the curtain body 03 to suspend below the magnetic guide strip 01. And, according to the effective action signal, adjust the current magnitude, energizing sequence and timing of each electromagnet in the electromagnet group 04 to generate a thrust parallel to the direction of movement, driving the curtain body 03 to move along the magnetic guide strip 01 in the direction corresponding to the user's action.

[0063] This embodiment describes in detail the final execution step S600 of the control method. Step S600 generates vertical levitation force and horizontal thrust by independently controlling the current applied to each electromagnet in the electromagnet assembly 04, thereby achieving stable levitation and directional drive of the curtain body 03. Firstly, a vertical attraction force is generated to achieve levitation; by independently and rapidly adjusting the current of each electromagnet, the system can generate a uniform and stable vertical magnetic field network along the entire length of the curtain body 03. This force network is balanced with the gravity of the curtain body 03, making the curtain levitate at a predetermined height as if supported by an invisible hand.

[0064] Secondly, a parallel thrust is generated to achieve directional movement. Based on stable levitation, a horizontal thrust is generated along the direction of the magnetic guide bar 01 to drive the curtain body 03 to open, close, or pause according to user commands. The system control no longer allows all electromagnets to output a constant force, but instead cyclically supplies current to each unit in the electromagnet assembly 04 according to a preset, reversible sequence and precise timing. This sequential and timed energizing method generates a moving magnetic field in the electromagnet assembly 04. This moving magnetic field interacts with the stationary permanent magnet array below, thus synthesizing a thrust parallel to the direction of movement. The direction of the thrust is determined by the sequence of the current circulation. If the sequence is reversed, the direction of the moving magnetic field is reversed, and the thrust is also reversed, thereby realizing the left and right movement of the curtain. The magnitude of the thrust is adjusted by the magnitude of the current and the frequency of the control timing.

[0065] The system first parses the instructions derived from the valid motion signals. The system continuously runs the suspension control algorithm to ensure that the curtain body 03 maintains a stable suspended posture throughout the entire movement. Simultaneously, the controller calculates the required thrust magnitude and direction based on the instructions and generates a corresponding current control signal, which is sent to the electromagnet assembly 04. The electromagnet assembly 04 stabilizes the curtain vertically and applies a precise thrust horizontally, thereby driving the curtain body 03 to smoothly and quietly glide towards the target position along the magnetic guide bar 01.

[0066] In one embodiment, the specific steps of adjusting the magnitude, energizing sequence, and timing of the current supplied to each electromagnet in the electromagnet group 04, and the thrust parallel to the direction of movement to drive the curtain body 03 to move along the magnetic guide strip 01 in the direction corresponding to the user's action include: The current direction of each electromagnet is switched cyclically according to a preset time sequence, so that the magnetic polarity generated by it forms a composite force sequence of attraction-repulsion-attraction with the magnetic polarity of the magnetic array 02, which synthesizes the directional thrust that drives the curtain to move.

[0067] This embodiment describes a control strategy based on the cyclic switching of electromagnet current direction, which essentially simulates and implements the working principle of a linear motor. Stable DC power is converted into electromagnetic force that moves continuously in a straight line through specific timing control, thereby driving the suspended curtain body 03 to move precisely and smoothly without contact. This solves the horizontal driving problem of the magnetic levitation system and is key to achieving "movement." Magnetic conductor 01 (stator): An array of permanent magnets is fixedly installed inside. These permanent magnets are typically arranged equidistantly with alternating north and south magnetic poles, forming a static magnetic field space with periodically changing polarity. Electromagnet assembly 04 (mover): Installed on the curtain body 03, it consists of multiple independent electromagnet units. Each electromagnet unit can independently control the polarity and strength of its generated magnetic field by changing the direction and magnitude of the input current. The system receives movement commands and generates complex multi-channel current control signals accordingly, precisely controlling the timing of the current switching, magnitude, and direction switching of each electromagnet unit.

[0068] Assume the permanent magnet array polarity of the magnetic conductor 01 is [...S, N, S, N, S...]. The permanent magnets directly below the electromagnet group 04 (e.g., three units A, B, C) on the curtain body 03 have polarities of S, N, S respectively. At this time, the controller applies current, causing electromagnet A to generate an N pole (attracted to the S pole below), electromagnet B to generate an S pole (attracted to the N pole below), and electromagnet C to generate an N pole (attracted to the S pole below). At this point, the curtain is firmly attracted to its current position, in a state of force equilibrium.

[0069] When the system receives the "move to the right" command, the controller starts a preset timing program. It does not change the current of all electromagnets simultaneously, but instead cycles through the current direction of each electromagnet in a preset order and timing sequence.

[0070] First, the current direction of electromagnet A is changed, flipping its polarity from N to S. At this point, electromagnet A (S pole) and the permanent magnet below (S pole) change from attraction to repulsion. This repulsive force generates a rightward pushing force. Simultaneously, electromagnets B and C remain in their original state (attracted to the permanent magnet below), providing stability and guidance. Next, after a very short time interval, the current direction of electromagnet B is changed, flipping its polarity from S to N. At this point, electromagnet B (N pole) and the permanent magnet below (N pole) become repulsive, generating a new rightward pushing force. Meanwhile, the current direction of electromagnet A may remain unchanged or undergo a further change, while electromagnet C maintains its attractive force. Subsequently, the controller switches the current direction of electromagnet C, flipping its polarity from N to S, causing it to repel the permanent magnet below (S pole), continuing to provide a rightward pushing force.

[0071] The above process repeats continuously (A->B->C->A...). From a macroscopic and dynamic perspective, this series of operations generates a moving magnetic field wave in the electromagnet assembly 04. This traveling magnetic field interacts with the stationary permanent magnet array. At any given moment, some electromagnets generate a repulsive thrust, while others generate an attractive pull to "pull" the permanent magnets in front towards them, preparing for the next step of propulsion. All these instantaneous, local attractive and repulsive forces are vector-combined, ultimately forming a continuous, stable, and directionally controllable thrust in the horizontal direction. This thrust is parallel to the magnetic conductor 01, driving the curtain body 03 forward.

[0072] In one embodiment, it further includes: Obtain feedback signals of the real-time position or speed of the curtain body 03; Based on the difference between the feedback signal and the target position, the parameters of the excitation current are adjusted in a closed loop to adjust the moving position of the curtain body 03.

[0073] This embodiment can be understood as describing a feedback control loop. The system continuously monitors the execution results and compares them with the expected target, dynamically adjusting the output to eliminate errors and achieve high-precision control. Sensors acquire real-time position or speed feedback signals from the curtain body 03. The system receives these signals and compares them with the internally stored target position. Specifically, the system presets or receives user instructions, i.e., the target position, for example, "move to 1.5 meters from the starting point." The system subtracts the received real-time position feedback signal from this target position to obtain a position error value. If the error value is positive, it means the curtain has not yet reached the target and needs to continue moving forward; if the error value is zero, it means it has accurately reached the target and needs to stop and maintain suspension; if the error value is negative, it means the curtain has overshot and needs to reverse and return to its original position. Simultaneously, the controller may also compare the real-time speed with a preset ideal speed curve to obtain a speed error value to ensure smooth operation.

[0074] Based on the calculated error value, the system uses its internal control algorithm to determine how to adjust the output. After the algorithm calculates the result, the controller generates a new pulse width modulation (PWM) signal or other control signal and sends it to the electromagnet drive circuit to dynamically adjust the parameters of the excitation current supplied to each electromagnet. This changes the operating state of the electromagnets, thereby adjusting the thrust acting on the curtain body 03. The movement state of the curtain changes accordingly. The sensor immediately detects this new change and feeds back the updated position / velocity signal to the controller, initiating the next control cycle.

[0075] Furthermore, to achieve the above objectives, this application also proposes a control system, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method for the magnetically levitated curtain described above. The system can be implemented using a main controller, such as a DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), MCU (Microcontroller Unit), or SOC (System-on-Chip).

[0076] It is worth noting that since the image processing device of the present invention is applied to the above-mentioned control method for magnetic levitation curtains, the embodiments of the image processing device of the present invention include all the technical solutions of all embodiments of the above-mentioned control method for magnetic levitation curtains, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0077] Furthermore, to achieve the above objectives, this application also proposes a magnetic levitation curtain, including a magnetic guide rail, a curtain body 03, and a control system as described above. The magnetic guide rail 01 is installed on the top of the window frame 05, and the magnetic array 02 is disposed on the side of the magnetic guide rail 01 facing away from the window frame 05. The magnetic array 02 includes a plurality of permanent magnets arranged alternately along the length direction of the magnetic guide rail 01 in a first preset order. An electromagnet group 04 is provided at the top of the curtain body 03. The electromagnet group 04 includes a plurality of electromagnets arranged along the length direction of the magnetic guide rail 01. The control system is electrically connected to the electromagnets. The control system is used to adjust the excitation current applied to each electromagnet so that the attraction force perpendicular to the direction of movement and the thrust parallel to the direction of movement between the electromagnet group 04 and the magnetic array 02 drive the curtain body 03 to move along the magnetic guide rail 01 in the direction corresponding to the user's action.

[0078] Specifically, the magnetic guide strip 01 uses a flexible PCB substrate as its base material, giving it physical cutability. Users can easily cut the guide strip to a matching size, just like cutting fabric, based on the actual width and curvature of the window, completely solving the installation compatibility issues of irregularly shaped windows, curved windows, or non-standard sized windows. A high-performance electrostatic adsorption film (such as VHB adhesive) is integrated at the bottom of the guide strip. This material characteristic allows for extremely strong instantaneous adhesion simply by cleaning the top surface of the window frame 05 and pressing it in, without the need for drilling, nailing, or using any installation tools. More importantly, it can be completely peeled off by slowly pulling it flat, leaving no residue or damage on the wall / window frame 05, especially meeting the rigid demand of rental users for "installation anytime, restoration without damage."

[0079] The magnetic array 02, a "static" source for generating the fundamental magnetic field required for driving and levitation, is located on the surface of the magnetic guide strip 01 facing away from the window frame 05, extending along the length of the magnetic guide strip 01. The core feature of the magnetic array 02 is that it contains multiple permanent magnets arranged alternately in a specific preset order (e.g., NSNS…). This alternating polarity arrangement creates a spatially periodically varying strong magnetic field distribution above the surface of the magnetic array 02. This spatially varying magnetic field is the physical basis for subsequent control of the direction and intensity of the electromagnetic force. The curtain body 03 integrates an electromagnet assembly 04 at its top. This electromagnet assembly 04, also arranged along the length of the magnetic guide strip 01, contains multiple independent electromagnet units. The electromagnet assembly 04 is the system's "active" magnetic source and actuator. Firstly, under the action of a specific excitation current output by the control system, each electromagnet unit generates a controllable magnetic field. This controllable magnetic field interacts with the fixed magnetic field of the magnetic array 02 below, generating an attractive or repulsive force perpendicular to the surface of the magnetic guide strip 01, depending on the direction and magnitude of the current. It is this vertical magnetic force that overcomes gravity and maintains a constant, tiny air gap between the electromagnet assembly 04 and the magnetic guide strip 01 / magnetic array 02, thereby achieving a contactless and stable levitation state for the curtain body 03. Secondly, by dynamically adjusting the current applied to each electromagnet through the control system, the interaction mode between the magnetic field generated by the electromagnet assembly 04 as a whole and the magnetic field of the magnetic array 02 can be changed, thereby generating a controllable pushing or pulling force in the direction parallel to the magnetic guide strip 01, i.e., the direction in which the curtain opens and closes.

[0080] The control system continuously outputs excitation current to each electromagnet, ensuring that the vertical magnetic force generated between the electromagnet group 04 and the magnetic array 02 always counteracts gravity and maintains a preset constant air gap. It also monitors or calculates position information in real time and dynamically adjusts the current through a closed-loop control algorithm to counteract disturbances and maintain stable levitation. The magnetic levitation curtain also includes millimeter-wave radar to capture user motion signals. The control system receives motion signals from the millimeter-wave radar and, based on user intentions such as opening, closing, or stopping, strategically adjusts the excitation current applied to each electromagnet. This current adjustment allows the magnetic field generated by the electromagnet group 04 to interact with the periodic magnetic field of the magnetic array 02 below, producing a net thrust or pull force in a direction parallel to the magnetic guide bar 01. This horizontal magnetic force drives the levitated curtain body 03 to move smoothly along the magnetic guide bar 01 in the direction specified by the user.

[0081] After system startup, the control system first outputs an excitation current to activate the electromagnet assembly 04, generating an upward-directed vertical magnetic force that interacts with the magnetic array 02. This stabilizes the curtain body 03 at a preset air gap height below the magnetic guide strip 01, placing it in a standby state. When the user performs a specific action, the sensing module detects this action and generates a corresponding action signal, which is then sent to the control system. Upon receiving this signal, the control system immediately calculates the current pattern to be applied to each unit of the electromagnet assembly 04 based on the current state of the curtain and the target action. By dynamically adjusting these currents, the control system ensures that the interaction between the magnetic fields of the electromagnet assembly 04 and the magnetic array 02 generates a net driving force in the horizontal direction. This horizontal magnetic force drives the suspended curtain body 03 to move smoothly and frictionlessly along the magnetic guide strip 01 in the "open" direction. During this movement, the control system continues to operate, maintaining stable vertical levitation while controlling the speed and position of the horizontal movement until the target state is reached. The entire process requires no physical contact with the track, making the control method flexible and reliable.

[0082] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A control method for a magnetically levitated curtain, characterized in that, An application is made to magnetically levitated curtains, wherein the magnetically levitated curtains include magnetic guide strips and a curtain body, the magnetic guide strips are provided with a magnetic array, and the curtain body is provided with an electromagnet assembly, wherein an interaction force is generated between the electromagnets and the magnetic array, and the control method includes: Obtain the action signal of the target object; The action signal is processed to extract action features; The extracted motion features are compared with preset screening requirements. If the motion features of the target object match the preset screening requirements, the filtered motion features are matched with a model in the human micro-motion feature library. If the motion characteristics of the target object do not match the preset screening requirements or the motion characteristics of the target object do not match the model in the human micro-motion feature library, then the current motion signal is ignored. If the motion characteristics of the target object match a model in the human micro-motion feature library, the current motion signal is determined to be a valid motion signal. According to the effective action signal, the excitation current applied to each electromagnet is adjusted so that the electromagnet group and the magnetic array generate a thrust parallel to the direction of movement, driving the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action.

2. The control method for magnetic levitation curtains as described in claim 1, characterized in that, The magnetically levitated curtain includes millimeter-wave radar, and the specific steps for acquiring the motion signal of the target object include: Drive the millimeter-wave radar to transmit millimeter-wave signals; The system receives millimeter-wave signals reflected by target objects within the monitoring area and obtains the target object's motion signal based on Doppler frequency shift calculation and phase difference analysis.

3. The control method for magnetic levitation curtains as described in claim 2, characterized in that, The motion characteristics include frequency, amplitude, and trajectory.

4. The control method for magnetically levitated curtains as described in claim 3, characterized in that, The specific steps for comparing the extracted motion features with preset screening requirements, and matching the selected motion features with a model in the human micro-motion feature library if the motion features of the target object match the preset screening requirements, include: When the frequency of the extracted motion features is higher than the first preset threshold, the current motion signal is determined to be pet interference, and the motion features of the target object do not match the preset screening requirements. When the amplitude of the extracted motion feature meets the preset amplitude condition, the current motion signal is determined to be environmental interference, and the motion feature of the target object does not match the preset screening requirements. When the frequency of the extracted motion features is not higher than the first preset threshold and the amplitude does not meet the preset amplitude condition, it is determined that the motion features of the target object match the preset screening requirements, and the motion features of the current motion signal match a certain model in the human micro-motion feature library.

5. The control method for magnetic levitation curtains as described in claim 4, characterized in that, The first preset threshold is 2Hz, and the preset amplitude condition is that the amplitude is random and has no specific regularity.

6. The control method for magnetically levitated curtains as described in claim 1, characterized in that, The specific steps of adjusting the excitation current applied to each electromagnet according to the effective action signal, so as to generate a thrust parallel to the direction of movement between the electromagnet group and the magnetic array, and drive the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action, include: According to the effective action signal, the magnitude, energizing sequence and timing of the current supplied to each electromagnet in the electromagnet group are adjusted so that an attraction force perpendicular to the direction of movement is generated between the electromagnet group and the magnetic array, thereby controlling the curtain body to suspend below the magnetic guide strip. And, according to the effective action signal, adjust the current magnitude, energizing sequence and timing of each electromagnet in the electromagnet group to generate a thrust parallel to the direction of movement, driving the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action.

7. The control method for magnetically levitated curtains as described in claim 6, characterized in that, The specific steps for adjusting the magnitude, energizing sequence, and timing of the current supplied to each electromagnet in the electromagnet group, and the thrust parallel to the direction of movement to drive the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action include: The current direction of each electromagnet is switched cyclically according to a preset time sequence, so that the magnetic polarity generated by it and the magnetic polarity of the magnetic array form a composite force sequence of attraction-repulsion-attraction, which synthesizes the directional thrust that drives the curtain to move.

8. The control method for magnetic levitation curtains as described in claim 1, characterized in that, Also includes: Obtain feedback signals of the real-time position or speed of the curtain body; Based on the difference between the feedback signal and the target position, the parameters of the excitation current are adjusted in a closed loop to adjust the moving position of the curtain body.

9. A control system, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method for the magnetically levitated curtain as claimed in any one of claims 1 to 8.

10. A magnetically levitated curtain, characterized in that, The system includes a magnetic guide rail, a curtain body, and a control system as described in claim 8. The magnetic guide strip is installed on the top of the window frame, and the magnetic array is located on the side of the magnetic guide strip facing away from the window frame. The magnetic array includes a plurality of permanent magnets arranged alternately along the length of the magnetic guide strip in a first preset order. The top of the curtain body is provided with an electromagnet assembly, which includes multiple electromagnets arranged along the length of the magnetic conductor strip, and the control system is electrically connected to the electromagnets. The control system is used to adjust the excitation current applied to each electromagnet so that the attraction force between the electromagnet group and the magnetic array is perpendicular to the direction of movement and the thrust force is parallel to the direction of movement, thereby driving the curtain body to move along the magnetic guide strip in the direction corresponding to the user's action.

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