Extractor control method and device

Abstract

The invention provides an extractor control method and device, and belongs to the technical field of automatic control, the method comprises the following steps: in response to a received first trigger signal, controlling a first filter pressing mechanism to move to an opening end of an extraction cylinder, and pressing down to a first position along the cylinder wall of the extraction cylinder; a second filter pressing mechanism is controlled to ascend along the barrel wall of the extraction barrel so as to compact the raw materials in the extraction barrel; in response to the condition that the current of a driving motor of the second filter pressing mechanism is greater than a first current threshold value, controlling a liquid inlet switch to be turned on to inject water into an extraction barrel to obtain an extraction liquid; in response to the received second trigger signal, controlling the first filter pressing mechanism to move out of the extraction cylinder; the second filter pressing mechanism is controlled to rise to a second position along the barrel wall of the extraction barrel, so that extracted residues are pushed to the opening end of the extraction barrel; the first filter pressing mechanism is controlled to move in the horizontal direction so as to push the residue pushing mechanism to discharge residues at the opening end. According to the extractor control method and device, the extraction effect can be improved.

Description

Technical Field

[0001] The present application belongs to the field of automatic control technology, and more specifically, relates to an extractor control method and device. Background Art

[0002] Coffee / tea extractors can extract active ingredients (such as caffeine, tea polyphenols, flavor substances, etc.) from coffee powder, tea leaves and other raw materials through physical pressure, temperature, water flow control and other technologies, thereby improving the quality of beverages. They are widely used in home and commercial scenarios (such as coffee shops and teahouses), food industry and other scenarios.

[0003] During the operation of the coffee / tea extractor, the raw materials are first pressed into a flat "powder cake" and then water is added. This allows the water flow to evenly pass through the entire powder layer, ensuring that each raw material particle is in full contact with the water, thereby optimizing the extraction effect.

[0004] Existing coffee / tea extractors lack perfect pressure, temperature, and flow control devices and methods, which can easily lead to uneven powder compaction and concentrated water flow, resulting in poor extraction effects and affecting the quality of the beverage. Summary of the Invention

[0005] The purpose of this application is to provide an extractor control method and device to improve the extraction effect.

[0006] According to a first aspect of an embodiment of the present application, there is provided an extractor control method, which is applied to an extractor, the extractor comprising an extraction cylinder, a first filter press mechanism, a second filter press mechanism, a slag pushing mechanism, and a controller, wherein the slag pushing mechanism is horizontally slidably arranged at the open end of the extraction cylinder, the first filter press mechanism is used to press down or remove the extraction cylinder along the cylinder wall of the extraction cylinder, the second filter press mechanism is used to move up and down along the cylinder wall of the extraction cylinder, the second filter press mechanism has a liquid inlet pipe, a liquid inlet switch is provided on the liquid inlet pipe, the first filter press mechanism has a liquid outlet pipe, the liquid inlet pipe and the liquid outlet pipe are both connected to the extraction cylinder, the liquid inlet switch, the first filter press mechanism, and the second filter press mechanism are all in communication with the controller; the method is executed by the controller, and the method comprises: In response to receiving a first trigger signal, the first filter press mechanism is controlled to move from a first starting position to the open end of the extraction cylinder and to press down along the cylinder wall of the extraction cylinder to a first position; the second filter press mechanism is controlled to rise from a second starting position along the cylinder wall of the extraction cylinder until the current of the drive motor of the second filter press mechanism exceeds a first current threshold, thereby compacting the raw material in the extraction cylinder; In response to the current of the driving motor of the second filter press mechanism being greater than a first current threshold, controlling the liquid inlet switch to open so as to inject water into the extraction cylinder to obtain an extract; In response to receiving a second trigger signal, the first filter press mechanism is controlled to move out of the extraction cylinder; the second filter press mechanism is controlled to rise to a second position along the cylinder wall of the extraction cylinder to push the extracted residue to the open end of the extraction cylinder; the first filter press mechanism is controlled to move in a horizontal direction to push the residue pushing mechanism to discharge the residue from the open end.

[0007] According to a second aspect of an embodiment of the present application, there is provided an extractor control device, which is arranged in a controller, wherein the controller is included in the extractor, the extractor further comprising an extraction cylinder, a first filter press mechanism, a second filter press mechanism and a slag pushing mechanism, wherein the slag pushing mechanism is arranged to slide horizontally at the open end of the extraction cylinder, the first filter press mechanism is used to press down or remove the extraction cylinder along the cylinder wall of the extraction cylinder, the second filter press mechanism is used to move up and down along the cylinder wall of the extraction cylinder, the second filter press mechanism has a liquid inlet pipe, a liquid inlet switch is provided on the liquid inlet pipe, the first filter press mechanism has a liquid outlet pipe, the liquid inlet pipe and the liquid outlet pipe are both connected to the extraction cylinder, the liquid inlet switch, the first filter press mechanism and the second filter press mechanism are all in communication with the controller; the extractor control device comprises: a compaction control module, configured to, in response to receiving a first trigger signal, control the first filter press mechanism to move from a first starting position to the open end of the extraction cylinder and press down along the cylinder wall of the extraction cylinder to a first position; and control the second filter press mechanism to rise from a second starting position along the cylinder wall of the extraction cylinder until a current of a drive motor of the second filter press mechanism exceeds a first current threshold, thereby compacting the raw material in the extraction cylinder; a water injection control module, configured to control the liquid inlet switch to open in response to the current of the driving motor of the second filter press mechanism being greater than a first current threshold, so as to inject water into the extraction cylinder to obtain an extract; The residue discharge control module is used to control the first filter press mechanism to move out of the extraction cylinder in response to receiving a second trigger signal; control the second filter press mechanism to rise to a second position along the cylinder wall of the extraction cylinder to push the extracted residue to the open end of the extraction cylinder; and control the first filter press mechanism to move in a horizontal direction to push the residue pushing mechanism to discharge the residue at the open end.

[0008] In a third aspect of an embodiment of the present application, a controller is provided, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the above-mentioned extractor control method when executing the computer program.

[0009] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned extractor control method are implemented.

[0010] The beneficial effects of the extractor control method and device provided in the embodiments of the present application are: The embodiment of the present application can ensure uniform compaction of the raw materials and obtain a raw material cake with uniform density through the coordinated control of the first filter press mechanism and the second filter press mechanism; at the same time, by adjusting the current of the driving motor of the second filter press mechanism, the compaction strength of the raw materials can be adjusted, thereby meeting the compaction requirements of different raw materials, which is conducive to achieving uniform extraction and improving the extraction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0012] Figure 1 A schematic structural diagram of an extractor provided in one embodiment of the present application; Figure 2 A schematic flow chart of an extractor control method provided in one embodiment of the present application; Figure 3 A schematic diagram of the moving positions of the first filter press mechanism and the second filter press mechanism provided in one embodiment of the present application (the first filter press mechanism is at the first starting position at this time); Figure 4 A piping connection diagram of an extractor provided in one embodiment of the present application; Figure 5 A structural block diagram of an extractor control device provided in one embodiment of the present application; Figure 6 A schematic block diagram of a controller provided in accordance with an embodiment of the present application.

[0013] In the figure: extraction cylinder-101, first filter press mechanism-102, second filter press mechanism-103, liquid inlet pipe-104, liquid outlet pipe-105, slag pushing mechanism-106, 107-first position, 108-second starting position, 109-second position, 110-third position110, 111-fourth position, 400-first three-way valve, 401-A interface, 402-B interface, 403-C interface, 500-second three-way valve, 501-A1 interface, 502-B1 interface, 503-C1 interface. DETAILED DESCRIPTION

[0014] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0015] In order to make the purpose, technical solutions and advantages of this application clearer, specific embodiments will be described below with reference to the accompanying drawings.

[0016] An extractor control method provided in an embodiment of the present application is applied to an extractor, such as Figure 1 As shown, the extractor includes an extraction cylinder 101, a first filter press mechanism 102, a second filter press mechanism 103, a residue pushing mechanism 106 and a controller. The residue pushing mechanism 106 is arranged to slide horizontally at the open end of the extraction cylinder 101. The first filter press mechanism 102 is used to press down or remove the extraction cylinder 101 along the cylinder wall of the extraction cylinder 101. The second filter press mechanism 103 is used to move up and down along the cylinder wall of the extraction cylinder 101. The second filter press mechanism 103 has a liquid inlet pipe 104, and a liquid inlet switch is provided on the liquid inlet pipe 104. The first filter press mechanism 101 has a liquid outlet pipe 105. The liquid inlet pipe 104 and the liquid outlet pipe 105 are both connected to the extraction cylinder 101. The liquid inlet switch, the first filter press mechanism 102 and the second filter press mechanism 103 are all in communication with the controller.

[0017] Furthermore, the extractor control method provided in the embodiment of the present application can be executed by the controller in the extractor, please refer to Figure 2 , Figure 2 A schematic flow chart of an extractor control method provided in one embodiment of the present application, the method may include: S101: In response to receiving a first trigger signal, the first filter press mechanism 102 is controlled to move from a first starting position to the open end of the extraction cylinder 101, and is pressed down along the wall of the extraction cylinder 101 to a first position 107; the second filter press mechanism 103 is controlled to rise from a second starting position 108 along the wall of the extraction cylinder 101 until the current of the drive motor of the second filter press mechanism 103 is greater than a first current threshold, so as to compact the raw materials in the extraction cylinder 101.

[0018] In this embodiment, the first trigger signal can be issued by the user by operating a button. For example, after the user puts the raw materials (coffee powder or tea powder) into the extraction cartridge 101, he presses the "start" button to issue the first trigger signal.

[0019] The first filter press mechanism 102 and the second filter press mechanism 103 can adopt a piston mechanism. When the extractor is not working, the first filter press mechanism 102 is located outside the extraction cylinder 101, and the second filter press mechanism 103 is located at the bottom of the extraction cylinder 101. That is, the first starting position of the first filter press mechanism 102 can be a designated position outside the extraction cylinder 101, and the second starting position 108 of the second filter press mechanism 103 can be a designated position inside the extraction cylinder 101.

[0020] When the controller receives the first trigger signal, indicating that the user has inserted the raw material, the first filter press mechanism 102 and the second filter press mechanism 103 can be controlled to move relative to each other to compact the raw material. Specifically, the controller realizes the movement of the second filter press mechanism 103 by controlling the drive motor of the second filter press mechanism 103. During the process of squeezing the raw material between the second filter press mechanism 103 and the first filter press mechanism 102, the controller collects the current of the drive motor of the second filter press mechanism 103 in real time. The greater the current of the drive motor of the second filter press mechanism 103, the greater the compaction force on the raw material. When the current of the drive motor of the second filter press mechanism 103 is greater than the first current threshold, indicating that the compaction force has reached the first set force, the power supply to the drive motor of the second filter press mechanism 103 can be stopped, thereby stopping the movement of the second filter press mechanism 103.

[0021] The first filter press mechanism 102 is controlled to move from a first starting position to the open end of the extraction cylinder 101 and to be pressed down along the wall of the extraction cylinder 101 to a first position 107; the second filter press mechanism 103 is controlled to rise from a second starting position 108 along the wall of the extraction cylinder 101. This can be described in detail as follows: first, the first filter press mechanism 102 is controlled to move from the first starting position to the open end of the extraction cylinder 101 and to be pressed down along the wall of the extraction cylinder 101 to the first position 107; then, the second filter press mechanism 103 is controlled to rise from the second starting position 108 along the wall of the extraction cylinder 101; Alternatively, the second filter press mechanism 103 is first controlled to rise from the second starting position 108 along the wall of the extraction cylinder 101, and then the first filter press mechanism 102 is controlled to move from the first starting position to the open end of the extraction cylinder 101 and press down along the wall of the extraction cylinder 101 to the first position 107; alternatively, the first filter press mechanism 102 is controlled to move from the first starting position to the open end of the extraction cylinder 101 and press down along the wall of the extraction cylinder 101 to the first position 107, and at the same time, the second filter press mechanism 103 is controlled to rise from the second starting position 108 along the wall of the extraction cylinder 101.

[0022] S102: In response to the current of the driving motor of the second filter press mechanism 103 being greater than the first current threshold, the liquid inlet switch is controlled to be opened to inject water into the extraction cylinder 101 to obtain an extract.

[0023] When the current of the drive motor of the second filter press mechanism 103 exceeds the first current threshold, indicating that the pressure has reached the first set level, the liquid inlet switch can be controlled to open to inject water into the extraction cylinder 101, starting the extraction process and obtaining the extract. The first current threshold can be a preset constant, which can be set by those skilled in the art based on actual needs.

[0024] S103: In response to receiving the second trigger signal, the first filter press mechanism 102 is controlled to move out of the extraction cylinder 101; the second filter press mechanism 103 is controlled to rise along the cylinder wall of the extraction cylinder 101 to the second position 109 to push the extracted residue to the open end of the extraction cylinder 101; the first filter press mechanism 102 is controlled to move in the horizontal direction to push the residue pushing mechanism to discharge the residue at the open end.

[0025] In this embodiment, the second trigger signal can be issued by the user by operating a button. For example, when the user determines that the extraction process can be ended, the second trigger signal can be issued by pressing the button. The second trigger signal can also be issued by a timer. For example, when water injection begins, the timer is started, and when the timing time is reached, the second trigger signal is issued.

[0026] When the controller receives the second trigger signal, it indicates that the extraction is completed. At this time, the first filter press mechanism 102 can be controlled to move out of the extraction cylinder 101; then the second filter press mechanism 103 can be controlled to rise along the cylinder wall of the extraction cylinder 101 to the second position 109 to push the extracted residue to the open end of the extraction cylinder 101; finally, the first filter press mechanism 102 is controlled to move in the horizontal direction to push the residue pushing mechanism to discharge the residue at the open end, thereby avoiding the burden of manual residue discharge.

[0027] From the above, it can be concluded that this embodiment can ensure uniform compaction of the raw materials and obtain a raw material cake with uniform density through the coordinated control of the first filter press mechanism 102 and the second filter press mechanism 103; at the same time, by adjusting the current of the driving motor of the second filter press mechanism 103, the compaction strength of the raw materials can be adjusted, thereby meeting the compaction requirements of different raw materials, which is conducive to achieving uniform extraction and improving the extraction effect.

[0028] In one embodiment of the present application, the different compaction forces required for different raw materials affect the setting of the first current threshold. For example, fine powder (such as espresso) has high compaction resistance, requires high compaction force, and corresponds to a high first current threshold, while coarse powder (such as pour-over) has low compaction resistance, requires low compaction force, and corresponds to a low first current threshold. For another example, the higher the initial density of the raw material, the greater the pressure required to compact to the target density, and the corresponding first current threshold is higher. Lightly roasted raw materials have high density and high elasticity, requiring high compaction force and corresponding to a high first current threshold, while darkly roasted raw materials have low density and are fragile, requiring low compaction force and corresponding to a low first current threshold.

[0029] At the same time, considering that different user preferences are different, the setting of the pressure intensity will also be affected, thereby affecting the setting of the first current threshold.

[0030] Therefore, in this embodiment, the specific value of the first current threshold can be determined in the following manner: Acquiring physical parameters of the raw material, user preference information, and a reference value of the first current threshold; determining a first adjustment parameter based on a physical parameter of the raw material; determining a second adjustment parameter based on the user preference information; The reference value of the first current threshold is adjusted based on the first adjustment parameter and the second adjustment parameter to obtain the first current threshold.

[0031] Specifically, the physical parameters of the raw materials may include initial density, grind level, and roast level. These physical parameters can be obtained from the raw material packaging instructions, which typically include the raw material content / volume (g / ml), from which the raw material's initial density can be derived. Grind levels may include extra fine (assigned a value of 1), medium fine (assigned a value of 1 / 2), and coarse (assigned a value of 1 / 4). Roast levels may include light roast (assigned a value of 1 / 4), medium roast (assigned a value of 1 / 2), and dark roast (assigned a value of 3 / 4). Users can enter these physical parameters using buttons or the touch screen.

[0032] At the same time, the user can input his or her preference information through buttons or touch screen, and the controller can determine the corresponding second adjustment parameter based on the user preference information. If the user preference information indicates that the user likes a strong taste, the second adjustment parameter can be set to a value greater than 1, increasing the compaction pressure, making the powder layer tighter, extending the water flow time, and increasing the solute extraction rate; if the user preference information indicates that the user likes a light taste, the second adjustment parameter can be set to a value less than 1, reducing the compaction pressure, retaining the porosity of the powder layer, speeding up the water flow rate, and reducing over-extraction.

[0033] On this basis, the specific value of the first current threshold can be calculated using the following first formula: ; in, ; In the first formula above, represents the first current threshold, represents a reference value of the first current threshold, represents the second adjustment parameter, represents the initial density of the raw material, represents the reference value of the initial density, Indicates the grinding grade of the raw material. Indicates the reference value of the grinding grade, Indicates the degree of baking of the raw materials. Indicates the reference value of the baking degree of the raw materials. 、 、 are all preset proportional coefficients. Represents the first adjustment parameter.

[0034] In this embodiment, the driving mechanism of the second filter press mechanism 103 adopts a screw structure, and the reference value of the first current threshold is It can be obtained based on the structural parameters of the screw structure. In the first formula above, Indicates the reference value of compaction pressure, Indicates the compaction area of the first filter press mechanism 102 or the second filter press mechanism 103, Indicates the pitch, Indicates the transmission efficiency of the drive mechanism, Indicates the motor torque constant of the drive mechanism.

[0035] It can be concluded from the above that this embodiment determines the reference value of the first current threshold based on the structural parameters of the driving mechanism of the second filter press mechanism 103, and adjusts the reference value of the first current threshold based on the physical parameters of the raw materials and user preference information to obtain the first current threshold. The movement of the second filter press mechanism 103 is controlled based on the first current threshold, and the compaction strength can be dynamically adjusted according to actual needs, thereby meeting the compaction requirements of different raw materials and users.

[0036] In one embodiment of the present application, before the step of controlling the first filter press mechanism 102 to move out of the extraction cylinder 101, the extractor control method further includes: Controlling the second filter press mechanism 103 to rise along the wall of the extraction cylinder 101 to a third position 110 to compact the residue after extraction; Controlling the second filter press mechanism 103 to rise to the second position 109 along the wall of the extraction cylinder 101 includes: The second filter pressing mechanism 103 is controlled to rise from the third position 110 to the second position 109 along the wall of the extraction cylinder 101 .

[0037] In this embodiment, after the extraction is completed, the second filter press mechanism 103 can be controlled to rise along the wall of the extraction cylinder 101 to compact the residue after extraction and discharge the residual extract. Then, the first filter press mechanism 102 can be controlled to move out of the extraction cylinder 101. This can make the discharged waste cake drier and the extract remain in the extraction cylinder 101.

[0038] Specifically, the third current threshold can be set in advance, and the current of the driving motor of the second filter press mechanism 103 can be collected in real time. When the current of the driving motor of the second filter press mechanism 103 is greater than the third current threshold, it indicates that the pressing force has reached the second set force. At this time, the power supply to the driving motor of the second filter press mechanism 103 can be stopped, thereby stopping the movement of the second filter press mechanism 103. The position where the movement is stopped is the third position 110.

[0039] In one embodiment of the present application, a first limiting mechanism is provided at the first position 107 of the extraction cylinder 101 to control the first filter pressing mechanism 102 to move from the first starting position to the open end of the extraction cylinder 101 and to press down along the cylinder wall of the extraction cylinder 101 to the first position 107, including: Output a first control instruction to control the first filter pressing mechanism 102 to move from the first starting position to the open end of the extraction cylinder 101 and press down along the cylinder wall of the extraction cylinder 101 to the first position 107; In response to the current of the driving motor of the first filter press mechanism 102 being greater than the second current threshold, the first control instruction is stopped to control the first filter press mechanism 102 to stop at the first position 107 .

[0040] In this embodiment, a first limiting mechanism is provided at the first position 107 of the extraction cylinder 101. When the first filter press mechanism 102 moves to the first position 107, it is blocked by the first limiting mechanism, causing the drive motor of the first filter press mechanism 102 to stall, and the current of the drive motor of the first filter press mechanism 102 to increase. Therefore, by comparing the current of the drive motor of the first filter press mechanism 102 with a pre-set second current threshold, it is possible to accurately identify whether the drive motor of the first filter press mechanism 102 is stalled, and thus determine whether the first filter press mechanism 102 has reached the first position 107.

[0041] From the above, it can be concluded that this embodiment, by setting a first limiting mechanism, realizes the judgment of whether the first filter press mechanism 102 reaches the first position 107 based on the current of the driving motor of the first filter press mechanism 102, thereby realizing precise control of the moving position of the first filter press mechanism 102, which is beneficial to improving the control accuracy of the entire device.

[0042] In one embodiment of the present application, a process of determining whether the current of the drive motor of the first filter press mechanism 102 is greater than the second current threshold includes: In response to receiving for the first time that the current of the driving motor of the first filter press mechanism 102 is greater than the second current threshold, the current of the driving motor of the first filter press mechanism 102 is collected multiple times within a first time period to obtain multiple first current data; if the proportion of the second current data in the multiple first current data is greater than the first set threshold, it is determined that the current of the driving motor of the first filter press mechanism 102 is greater than the second current threshold; wherein, the second current data is the current data in the multiple first current data that is greater than the second current threshold.

[0043] In this embodiment, in order to avoid misjudgment of the current of the driving motor of the first filter press mechanism 102 due to interference signals, a first time period (for example, 500ms) can be delayed when the information that the current of the driving motor of the first filter press mechanism 102 is greater than the second current threshold is received for the first time. The current of the driving motor of the first filter press mechanism 102 is collected multiple times within the first time period to obtain multiple first current data. The multiple first current data are compared with the second current threshold respectively, where the current data greater than the second current threshold is recorded as the second current data. The ratio of the number of second current data to the total number of first current data is calculated as the proportion of the second current data. If the proportion of the second current data is greater than the first set threshold, it is judged that the current of the driving motor of the first filter press mechanism 102 has reached the second current threshold, the first filter press mechanism 102 has reached the first position 107, and the first filter press mechanism 102 is controlled to stop moving. Otherwise, if the proportion of the second current data is less than or equal to the first set threshold, it is determined that the current of the drive motor of the first filter press mechanism 102 has not reached the second current threshold, the first filter press mechanism 102 has not reached the first position 107, and the first filter press mechanism 102 is controlled to continue moving.

[0044] From the above, it can be concluded that this embodiment sets the first time length to perform delay control on the first filter press mechanism 102, thereby ensuring that the signal triggering the shutdown is a real and effective stall signal, thereby avoiding erroneous shutdown caused by instantaneous interference.

[0045] In one embodiment of the present application, after controlling the first filter press mechanism 102 to move horizontally to push the residue pushing mechanism to discharge the residue at the open end, the extractor control method further includes: The first filter press mechanism 102 is controlled to move to the first starting position, and the second filter press mechanism 103 is controlled to move to the second starting position 108 .

[0046] In this embodiment, after controlling the first filter press mechanism 102 to move in the horizontal direction to push the residue pushing mechanism to discharge the residue at the open end, it indicates that the entire extraction operation process is completed. At this time, the first filter press mechanism 102 is controlled to move to the first starting position, and the second filter press mechanism 103 is controlled to move to the second starting position 108, so that the first filter press mechanism 102 and the second filter press mechanism 103 can be reset to prepare for the next extraction operation.

[0047] In one embodiment of the present application, an encoder is provided on the driving motor of the second filter press mechanism 103 to control the second filter press mechanism 103 to move to the second starting position 108, including: Outputting a second control instruction to control the second filter press mechanism 103 to descend along the wall of the extraction cylinder 101; In response to the encoder pulse number reaching the first pulse number, the second control instruction is stopped to control the second filter press mechanism 103 to stop at the second starting position 108; wherein, the difference between the first pulse number and the second pulse number is equal to the first change amount, and the second pulse number is the encoder pulse number corresponding to when the second filter press mechanism 103 is at the second position 109.

[0048] In this embodiment, the position control of the second filter press mechanism 103 can be performed based on the encoder. Specifically, the first change amount can be set in advance. When the second filter press mechanism 103 moves to the second position 109, the number of pulses of the encoder (that is, the second number of pulses) is recorded. In the process of the second filter press mechanism 103 descending from the second position 109, the number of pulses of the encoder is collected in real time, and the difference between the number of pulses of the encoder and the second number of pulses is calculated. When the difference between the two is equal to the first change amount, it indicates that the number of pulses of the encoder has reached the first number of pulses, and the second filter press mechanism 103 has reached the second starting position 108.

[0049] Alternatively, after obtaining the second pulse number corresponding to the second position 109, the first pulse number can be calculated based on the second pulse number and the first change. During the process of the second filter press mechanism 103 descending from the second position 109, the pulse number of the encoder is collected in real time. When the pulse number of the encoder is equal to the first pulse number, it indicates that the second filter press mechanism 103 has reached the second starting position 108.

[0050] Similarly, the process of controlling the second filter press mechanism 103 to ascend along the wall of the extraction cylinder 101 to the second position 109 can also be controlled using an encoder. Specifically, when the second filter press mechanism 103 is at the second starting position 108, the number of encoder pulses (i.e., the third number of pulses) is recorded. As the second filter press mechanism 103 ascends from the second starting position 108, the number of encoder pulses is collected in real time, and the difference between the encoder pulse number and the third number of pulses is calculated. When the difference between the encoder pulse number and the third number of pulses equals the first change, it indicates that the second filter press mechanism 103 has reached the second position 109.

[0051] Alternatively, after obtaining the third pulse number corresponding to the second starting position 108, the fourth pulse number can be calculated based on the third pulse number and the first change amount. During the process of the second filter press mechanism 103 rising from the second starting position 108, the pulse number of the encoder is collected in real time. When the pulse number of the encoder is equal to the fourth pulse number, it indicates that the second filter press mechanism 103 has reached the second position 109.

[0052] It can be concluded from the above that the present embodiment performs position control on the second filter press mechanism 103 based on the encoder, which is beneficial to improving the accuracy of position control of the second filter press mechanism 103 .

[0053] In one embodiment of the present application, the second portion of the extraction cartridge 101 is provided with a second limiting mechanism, and the bottom portion of the extraction cartridge 101 is provided with a third limiting mechanism. The first variation is determined by: Control the second filter press mechanism 103 to rise along the wall of the extraction cylinder 101 to the second position 109 where the second limiting mechanism is located; Control the second filter press mechanism 103 to descend along the wall of the extraction cylinder 101 to the fourth position 111 where the third limit mechanism is located, and save a second change in the number of pulses of the encoder during the movement of the second filter press mechanism 103 from the second position 109 to the fourth position 111; Controlling the second filter press mechanism 103 to rise along the wall of the extraction cylinder 101 until the change in the number of pulses of the encoder reaches a third change; A difference between the second variation and the third variation is determined as the first variation.

[0054] In this embodiment, the extractor has a power-on self-test function, and the specific value of the first variation can be determined during the power-on self-test process.

[0055] The self-test process includes: ① Driven by the transmission component, the first filter press mechanism 102 (filter press piston) advances to the open end of the extraction cylinder 101 and presses downward along the wall of the extraction cylinder 101 until it reaches the first mechanical limit (the location of the first limit mechanism, also known as first position 107). When the controller detects that the current has reached the locked-rotor current, it delays for several milliseconds (e.g., 500 milliseconds) to stop the motor and continue with step ②.

[0056] ② The second filter press mechanism 103 (top filter piston) moves upward under the drive of the transmission component until it presses against the first filter press mechanism 102 to block the motor. Then, after a delay of several milliseconds (for example, 500 milliseconds), the power supply to the motor is stopped and step ③ is continued.

[0057] ③ The first filter press mechanism 102 (filter press piston) is driven by the transmission component to lift and move backward until it reaches the second mechanical limit point (first starting position). The motor is blocked and the power supply to the motor is stopped after a delay of several milliseconds. Then, step ④ is continued.

[0058] ④ The second filter press mechanism 103 (top filter piston) continues to move upward driven by the transmission component until it reaches the upper mechanical limit point (the position where the second limit mechanism is located, that is, the second position 109). The motor is blocked and the power supply to the motor is stopped after a delay of several ms. Then, the process of ⑤ is continued.

[0059] ⑤ The first filter press mechanism 102 (filter press piston) is driven forward by the transmission component (if there is residual powder residue in the extraction chamber, it will be discharged at this time) until it reaches the third mechanical limit point, and the motor is blocked. When the blocking current is reached, the power supply to the motor is stopped after a delay of several milliseconds, and the process continues to ⑥.

[0060] ⑥ First filter press mechanism 102 (filter press piston) moves backward driven by the transmission component. The motor of first filter press mechanism 102 (filter press piston) reaches the second mechanical limit (first starting position) and stalls. The control board detects the stall current and then stops after a delay of several milliseconds. While ⑥ is being executed, ⑦ is also executed.

[0061] ⑦ The drive motor of the second filter press mechanism 103 is equipped with an encoder. Driven by the transmission components, the second filter press mechanism 103 (top filter piston) moves downward (resets) until it reaches the lower mechanical limit (the fourth position 111 where the third limit mechanism is located). The motor reaches the stall current, and power to the motor is stopped after a delay of several milliseconds. During this process, the system records the number of pulses from the motor encoder of the second filter press mechanism 103 (top filter piston), which is the number of pulses P1 required for the entire movement of the second filter press mechanism 103 (top filter piston) (the total number of pulses between the upper and lower mechanical limits, or the second variation). At this point, the drive motor of the second filter press mechanism 103 (top filter piston) will reverse for P2 (the third variation) pulses. P1 minus the number of reverse pulses P2 is the stroke pulse P3 required for normal operation. That is, when the second filter press mechanism 103 (top filter piston) is reset thereafter, the motor will no longer be blocked by the mechanical limit device, thereby stopping the power supply to the motor. Instead, its position will be determined by the pulse value P3. This prevents impact damage to the structure each time the second filter press mechanism 103 (top filter piston) is reset, thereby extending the service life of the components.

[0062] The device self-test is now completed.

[0063] On this basis, when the extractor is operating normally, the distance between the second position 109 and the second starting position 108 is the normal operating stroke of the second filter press mechanism 103, and the corresponding number of pulses is P3. The number of pulses of the encoder corresponding to the second filter press mechanism 103 being at the second position 109 is recorded as the second pulse number. During the process of the second filter press mechanism 103 descending from the second position 109, the number of pulses of the encoder is collected in real time. When the difference between the number of pulses of the encoder and the second number of pulses is equal to the first change (that is, P3), it indicates that the second filter press mechanism 103 has reached the second starting position 108, that is, the second filter press mechanism 103 has completed resetting.

[0064] From the above, it can be concluded that in this embodiment, the second starting position 108 is set at a distance above the second limit mechanism (corresponding to the distance of the P2 pulse), and the reset control of the second filter press mechanism 103 is performed based on the number of pulses of the encoder. This can prevent impact damage to the bottom structure of the extraction cylinder 101 each time the second filter press mechanism 103 is reset, thereby extending the service life of the components.

[0065] In one embodiment of the present application, the extractor control method further includes: In response to the time length for the first filter press mechanism 102 to move from the first starting position to the first position 107 being greater than the second time length, controlling the first filter press mechanism 102 to stop and outputting a first alarm message; In response to the time length for the second filter press mechanism 103 to move from the second starting position 108 to the second position 109 being greater than the third time length, the second filter press mechanism 103 is controlled to stop and a second alarm message is output.

[0066] In this embodiment, the normal time for the first filter press mechanism 102 to move from the first starting position to the first position 107 is 3 seconds. A second time duration of 1.5 seconds may be added to this time duration. If the time duration for the first filter press mechanism 102 to move from the first starting position to the first position 107 exceeds the second time duration, the drive motor of the first filter press mechanism 102 is powered off, causing the first filter press mechanism 102 to stop. This protects the motor from abnormal stalling and prevents damage to the motor winding coils caused by prolonged stalling. Simultaneously, a first alarm message is output, providing prompt user action.

[0067] Similarly, the normal time for the second filter press mechanism 103 to move from the second starting position 108 to the second position 109 is 5 seconds. A third time duration of 1.5 seconds can be added to this time duration. If the time duration for the second filter press mechanism 103 to move from the second starting position 108 to the second position 109 exceeds the third time duration, the drive motor of the second filter press mechanism 103 is powered off, and the second filter press mechanism 103 is stopped. This protects the motor from abnormal stalling and prevents damage to the motor winding coils caused by prolonged stalling. Simultaneously, a second alarm message is output, providing prompt action for the user.

[0068] From the above, it can be concluded that this embodiment can timely detect motor stalling failures by adding time limit protection to the drive motors of the first filter press mechanism 102 and the second filter press mechanism 103, thereby avoiding motor damage caused by long-term stalling.

[0069] Please refer to Figure 4 In one embodiment of the present application, the extractor further includes a first three-way valve 400 and a second three-way valve 500, the first three-way valve 400 having an A interface 401, a B interface 402 and a C interface 403, wherein the A interface 401 is fixedly connected to the liquid inlet pipe 104 of the extraction cylinder 101, the B interface 402 is connected to the first branch pipeline of the hot water source, and the C interface 403 is connected to the tea outlet pipeline; the three-way valve can realize the communication between the A interface 401 and the B interface 402 or the communication between the A interface 401 and the C interface 403 through the linear sliding or rotation of the valve core. The second three-way valve 500 has an A1 port 501, a B1 port 502, and a C1 port 503. The A1 port 501 is fixedly connected to the liquid outlet pipe 105 of the extraction cartridge 101, the B1 port 502 is connected to the second branch pipe of the hot water source, and the C1 port 503 is connected to the coffee outlet pipe. Similarly, switching the valve core enables communication between the A1 port 501 and the B1 port 502, or between the A1 port 501 and the C1 port 503. In the device, the pressure control system can be used to adjust the pressure in the extraction chamber during coffee extraction. The pressure in the extraction chamber can be controlled by controlling the force of the coffee cake press and the flow rate of the liquid supply pump through the electronic control system, as well as adjusting the coarseness of the coffee grounds.

[0070] In coffee extraction mode, the control system drives the valve core of the first three-way valve 400, disconnecting port A 401 from port C 403 and connecting it to port B 402. Simultaneously, it drives the valve core of the second three-way valve 500, disconnecting port A1 501 from port B1 502 and connecting it to port C1 503. At this point, hot water from the hot water source flows into the liquid inlet pipe 104 through ports B 402 and A 401 of the first three-way valve 400, passes through the coffee grounds layer within the extraction cartridge 101, and carries the extracted material out of the liquid outlet pipe 105, passing through ports A1 501 and C1 503 of the second three-way valve 500 and entering the pressure control system. The pressure control system detects that the fluid pressure has reached the high pressure threshold required for coffee extraction (e.g., 8-9 bar). It then controls the pressure within the extraction chamber during extraction by controlling the force of the coffee press, the flow rate of the liquid pump, and adjusting the coarseness of the coffee grounds. The extracted liquid is ultimately discharged through the coffee outlet.

[0071] In tea powder brewing mode, the control system switches the valve core of the first three-way valve 400 to disconnect port A 401 from port B 402 and connect it to port C 403. Simultaneously, it switches the valve core of the second three-way valve 500 to connect it to port A1 501 and connect it to port B1 502, disconnecting it from port C1 503. Hot water from the hot water source flows through ports B1 502 and A1 501 of the second three-way valve 500 into the liquid outlet pipe 105, passing through the tea powder layer within the extraction cartridge 101 from top to bottom. After exiting through the liquid inlet pipe 104, it flows directly to the tea outlet through ports A 401 and C 403 of the first three-way valve 400. At this point, the pressure control system no longer needs to control pressure. Water flows through the chamber at normal pressure (near atmospheric pressure) and at a flow rate suitable for tea extraction, preventing high pressure from damaging the tea components.

[0072] Through the coordinated switching of the first three-way valve 400 and the second three-way valve 500, the extraction cartridge 101 realizes bidirectional conversion between the water inlet and the water outlet: when extracting coffee, a "bottom-in, top-out" path is adopted, and the high-pressure environment established in the coffee outlet pipeline by the pressure control system meets the high-pressure penetrating extraction conditions required for coffee powder extraction, ensuring that caffeine, oil and other ingredients are fully extracted; when brewing tea powder, a "top-in, bottom-out" path is adopted, utilizing the gravity osmosis effect under normal pressure to release tea polyphenols, amino acids and other ingredients in the tea according to different solubility gradients, thereby avoiding component imbalance caused by high pressure.

[0073] The two-way and three-way valve design integrates the fluid pathways for coffee extraction and tea brewing into the same extraction cartridge 101. By switching the valves on and off (with four available connection states, only two of which are active), this eliminates the drawback of traditional equipment requiring separate coffee extraction and tea brewing units, reducing the duplication of heating modules and piping systems. The pressure control system precisely controls the pressure parameters during the coffee extraction process. Working in conjunction with the three-way valve, it enables the same chamber to exhibit different fluid dynamic characteristics in two modes (high pressure and high speed vs. normal pressure and low speed), resolving the technical bottleneck mentioned in the background technology that "coffee extraction equipment cannot be used for tea brewing."

[0074] This structure achieves functional integration while maintaining a compact device footprint by sharing the logic control of the core extraction chamber and valve assembly. This eliminates the need for separate coffee and tea makers, reducing both space and cost. Furthermore, the bidirectional liquid flow design allows for future expansion capabilities (such as extracting different powder amounts and adjusting particle size). By optimizing the valve switching logic, the device can be adapted to accommodate the extraction needs of a wider range of beverage ingredients, enhancing its versatility and market adaptability.

[0075] Corresponding to an extractor control method of the above embodiment, Figure 5 This is a structural block diagram of an extractor control device provided in an embodiment of the present application. The device is arranged in a controller, and the controller is included in the extractor. The extractor also includes an extraction cylinder, a first filter press mechanism, a second filter press mechanism and a slag pushing mechanism. The slag pushing mechanism is arranged to slide horizontally at the open end of the extraction cylinder. The first filter press mechanism is used to press down or remove the extraction cylinder along the cylinder wall of the extraction cylinder. The second filter press mechanism is used to move up and down along the cylinder wall of the extraction cylinder. The second filter press mechanism has a liquid inlet pipe, and a liquid inlet switch is provided on the liquid inlet pipe. The first filter press mechanism has a liquid outlet pipe. The liquid inlet pipe and the liquid outlet pipe are both connected to the extraction cylinder. The liquid inlet switch, the first filter press mechanism and the second filter press mechanism all communicate with the controller.

[0076] For the sake of convenience, only the parts related to the embodiments of the present application are shown. Figure 5 The extractor control device 20 includes: a compaction control module 21, a water injection control module 22 and a slag discharge control module.

[0077] The compaction control module 21 is configured to, in response to receiving a first trigger signal, control the first filter press mechanism to move from a first starting position to the open end of the extraction cylinder and press down along the cylinder wall of the extraction cylinder to a first position; and control the second filter press mechanism to rise from a second starting position along the cylinder wall of the extraction cylinder until the current of the drive motor of the second filter press mechanism exceeds a first current threshold, thereby compacting the raw materials in the extraction cylinder. a water injection control module 22 for controlling the liquid inlet switch to open in response to the current of the driving motor of the second filter press mechanism being greater than a first current threshold, so as to inject water into the extraction cylinder to obtain an extract; The slag discharge control module 23 is used to control the first filter press mechanism to move out of the extraction cylinder in response to receiving the second trigger signal; control the second filter press mechanism to rise to a second position along the cylinder wall of the extraction cylinder to push the extracted residue to the open end of the extraction cylinder; and control the first filter press mechanism to move in a horizontal direction to push the slag pushing mechanism to discharge the residue at the open end.

[0078] In one embodiment of the present application, before the step of controlling the first filter press mechanism to move out of the extraction cylinder, the slag discharge control module 23 is specifically configured to: Controlling the second filter pressing mechanism to rise along the wall of the extraction cylinder to a third position to compact the residue after extraction; Controlling the second filter press mechanism to rise to a second position along the wall of the extraction cylinder includes: The second filter pressing mechanism is controlled to rise from the third position to the second position along the cylinder wall of the extraction cylinder.

[0079] In one embodiment of the present application, the compaction control module 21 is specifically configured to: Outputting a first control instruction to control the first filter pressing mechanism to move from a first starting position to the open end of the extraction cylinder and to press down along the cylinder wall of the extraction cylinder to a first position; In response to the current of the driving motor of the first filter press mechanism being greater than the second current threshold, the first control instruction is stopped to control the first filter press mechanism to stop at the first position.

[0080] In one embodiment of the present application, the compaction control module 21 is further configured to: In response to receiving for the first time that the current of the driving motor of the first filter press mechanism is greater than the second current threshold, the current of the driving motor of the first filter press mechanism is collected multiple times within a first time period to obtain multiple first current data; if the proportion of the second current data in the multiple first current data is greater than the first set threshold, it is determined that the current of the driving motor of the first filter press mechanism is greater than the second current threshold; wherein the second current data is the current data in the multiple first current data that is greater than the second current threshold.

[0081] In one embodiment of the present application, after controlling the first filter press mechanism to move horizontally to push the slag pushing mechanism to discharge the residue at the open end, the slag discharge control module 23 is specifically configured to: The first filter press mechanism is controlled to move to a first starting position, and the second filter press mechanism is controlled to move to a second starting position.

[0082] In one embodiment of the present application, an encoder is provided on the drive motor of the second filter press mechanism, and the slag discharge control module 23 is further configured to: Outputting a second control instruction to control the second filter press mechanism to descend along the wall of the extraction cylinder; In response to the encoder pulse number reaching the first pulse number, the second control instruction is stopped to control the second filter press mechanism to stop at the second starting position; wherein, the difference between the first pulse number and the second pulse number is equal to the first change amount, and the second pulse number is the encoder pulse number corresponding to when the second filter press mechanism is at the second position.

[0083] In one embodiment of the present application, the second end of the extraction cylinder is provided with a second limiting mechanism, the bottom of the extraction cylinder is provided with a third limiting mechanism, and the extractor control device 20 further includes a self-test module, which is specifically used to: Controlling the second filter press mechanism to rise along the wall of the extraction cylinder to a second position where the second limiting mechanism is located; Controlling the second filter press mechanism to descend along the wall of the extraction cylinder to a fourth position where the third limit mechanism is located, and saving a second change in the number of pulses of the encoder during the movement of the second filter press mechanism from the second position to the fourth position; Controlling the second filter press mechanism to rise along the wall of the extraction cylinder until the change in the number of pulses of the encoder reaches a third change; A difference between the second variation and the third variation is determined as the first variation.

[0084] In one embodiment of the present application, the compaction control module 21 is specifically configured to: In response to the time length for the first filter press mechanism to move from the first starting position to the first position being greater than the second time length, controlling the first filter press mechanism to stop and outputting a first alarm message; In response to the time length for the second filter press mechanism to move from the second starting position to the second position being greater than the third time length, the second filter press mechanism is controlled to stop and a second alarm message is output.

[0085] See also Figure 6 , Figure 6 This is a schematic block diagram of a controller provided in one embodiment of the present application. Figure 6 The controller 300 in the embodiment shown may include: one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memory 304 is used to store computer programs, which include program instructions. The processor 301 is used to execute the program instructions stored in the memory 304. The processor 301 is configured to call the program instructions to execute the functions of the modules / units in the above-mentioned device embodiments, such as Figure 5The functions of the compaction control module 21, the water injection control module 22 and the slag discharge control module 23 are shown.

[0086] It should be understood that in the embodiment of the present application, the processor 301 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0087] The input device 302 may include a touchpad, a fingerprint collection sensor (for collecting user fingerprint information and fingerprint direction information), a microphone, etc. The output device 303 may include a display (LCD, etc.), a speaker, etc.

[0088] The memory 304 may include a read-only memory and a random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include a non-volatile random access memory. For example, the memory 304 may also store preset constants such as a reference value for the first current threshold and a second current threshold.

[0089] In a specific implementation, the processor 301, input device 302, and output device 303 described in the embodiment of the present application can execute the implementation method described in an extractor control method provided in the embodiment of the present application, and can also execute the implementation method of the controller described in the embodiment of the present application, which will not be repeated here.

[0090] In another embodiment of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, all or part of the process of the method in the above embodiment is implemented. The computer program can also be used to instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above method embodiments are implemented. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium.

[0091] The computer-readable storage medium can be the internal storage unit of the controller in any of the aforementioned embodiments, such as the controller's hard drive or memory. The computer-readable storage medium can also be an external storage device of the controller, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the computer-readable storage medium can include both the controller's internal storage unit and an external storage device. The computer-readable storage medium is used to store computer programs and other programs and data required by the controller. The computer-readable storage medium can also be used to temporarily store data that has been output or is about to be output.

[0092] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0093] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the controller and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed controller and method can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces or units, or can be an electrical, mechanical or other form of connection.

[0095] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0096] In addition, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0097] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for controlling an extractor, characterized in that: Applied to an extractor, the extractor includes an extraction cylinder, a first filter press mechanism, a second filter press mechanism, a residue pushing mechanism, and a controller, the residue pushing mechanism being slidably arranged at the open end of the extraction cylinder in a horizontal direction, the first filter press mechanism being used to press down or remove the extraction cylinder along the cylinder wall of the extraction cylinder, the second filter press mechanism being used to move up and down along the cylinder wall of the extraction cylinder, the second filter press mechanism having a liquid inlet pipe, the liquid inlet pipe being provided with a liquid inlet switch, the first filter press mechanism having a liquid outlet pipe, the liquid inlet pipe and the liquid outlet pipe being both connected to the extraction cylinder, the liquid inlet switch, the first filter press mechanism, and the second filter press mechanism being all in communication with the controller; The method is executed by the controller, and includes: In response to receiving a first trigger signal, the first filter press mechanism is controlled to move from a first starting position to the open end of the extraction cylinder and to press down along the cylinder wall of the extraction cylinder to a first position; the second filter press mechanism is controlled to rise from a second starting position along the cylinder wall of the extraction cylinder until the current of the drive motor of the second filter press mechanism exceeds a first current threshold, thereby compacting the raw material in the extraction cylinder; In response to the current of the driving motor of the second filter press mechanism being greater than a first current threshold, controlling the liquid inlet switch to open so as to inject water into the extraction cylinder to obtain an extract; In response to receiving a second trigger signal, the first filter press mechanism is controlled to move out of the extraction cylinder; the second filter press mechanism is controlled to rise to a second position along the cylinder wall of the extraction cylinder to push the extracted residue to the open end of the extraction cylinder; the first filter press mechanism is controlled to move in a horizontal direction to push the residue pushing mechanism to discharge the residue from the open end.

2. The extractor control method according to claim 1, wherein: Before the step of controlling the first filter press mechanism to move out of the extraction cylinder, the extractor control method further includes: controlling the second filter pressing mechanism to rise along the wall of the extraction cylinder to a third position to compact the residue after extraction; The controlling the second filter press mechanism to rise to the second position along the wall of the extraction cylinder comprises: The second filter pressing mechanism is controlled to rise from the third position to a second position along the wall of the extraction cylinder.

3. The extractor control method according to claim 1, wherein: The first position of the extraction cylinder is provided with a first limiting mechanism, and the first filter pressing mechanism is controlled to move from the first starting position to the open end of the extraction cylinder and press down along the cylinder wall of the extraction cylinder to the first position, including: Outputting a first control instruction to control the first filter pressing mechanism to move from a first starting position to the open end of the extraction cylinder and to press down along the cylinder wall of the extraction cylinder to a first position; In response to the current of the driving motor of the first filter press mechanism being greater than a second current threshold, the first control instruction is stopped to control the first filter press mechanism to stop at the first position.

4. The extractor control method according to claim 3, wherein: The process of determining whether the current of the driving motor of the first filter press mechanism is greater than the second current threshold includes: In response to receiving for the first time that the current of the driving motor of the first filter press mechanism is greater than the second current threshold, the current of the driving motor of the first filter press mechanism is collected multiple times within a first time period to obtain multiple first current data; if the proportion of the second current data in the multiple first current data is greater than the first set threshold, it is determined that the current of the driving motor of the first filter press mechanism is greater than the second current threshold; wherein, the second current data is the current data in the multiple first current data that is greater than the second current threshold.

5. The extractor control method according to claim 1, wherein: After controlling the first filter press mechanism to move in the horizontal direction to push the residue pushing mechanism to discharge the residue at the open end, the extractor control method further includes: The first filter press mechanism is controlled to move to a first starting position, and the second filter press mechanism is controlled to move to a second starting position.

6. The extractor control method according to claim 5, characterized in that: The drive motor of the second filter press mechanism is provided with an encoder, and the control of the second filter press mechanism to move to the second starting position includes: Outputting a second control instruction to control the second filter press mechanism to descend along the wall of the extraction cylinder; In response to the encoder pulse number reaching the first pulse number, the second control instruction is stopped to control the second filter press mechanism to stop at the second starting position; wherein, the difference between the first pulse number and the second pulse number is equal to the first change amount, and the second pulse number is the encoder pulse number corresponding to when the second filter press mechanism is in the second position.

7. An extractor control method according to claim 6, characterized in that: The second portion of the extraction cartridge is provided with a second limiting mechanism, and the bottom portion of the extraction cartridge is provided with a third limiting mechanism. The method for determining the first variation includes: controlling the second filter press mechanism to rise along the wall of the extraction cylinder to a second position where the second limiting mechanism is located; controlling the second filter press mechanism to descend along the wall of the extraction cylinder to a fourth position where the third limit mechanism is located, and saving a second change in the number of pulses of an encoder during the movement of the second filter press mechanism from the second position to the fourth position; controlling the second filter pressing mechanism to rise along the wall of the extraction cylinder until the change in the number of pulses of the encoder reaches a third change; A difference between the second change amount and the third change amount is determined as the first change amount.

8. The extractor control method according to claim 1, wherein: Also includes: In response to the time length for the first filter press mechanism to move from the first starting position to the first position being greater than a second time length, controlling the first filter press mechanism to stop and outputting a first alarm message; In response to the time length for the second filter press mechanism to move from the second starting position to the second position being greater than the third time length, the second filter press mechanism is controlled to stop and a second alarm message is output.

9. An extractor control device, characterized in that: The invention is provided in a controller, wherein the controller is included in an extractor, and the extractor further comprises an extraction cylinder, a first filter press mechanism, a second filter press mechanism and a residue pushing mechanism, wherein the residue pushing mechanism is slidably arranged at the open end of the extraction cylinder in a horizontal direction, the first filter press mechanism is used to press down or remove the extraction cylinder along the cylinder wall of the extraction cylinder, the second filter press mechanism is used to move up and down along the cylinder wall of the extraction cylinder, the second filter press mechanism has a liquid inlet pipe, the liquid inlet pipe is provided with a liquid inlet switch, the first filter press mechanism has a liquid outlet pipe, the liquid inlet pipe and the liquid outlet pipe are both connected to the extraction cylinder, and the liquid inlet switch, the first filter press mechanism and the second filter press mechanism are all in communication with the controller; The extractor control device comprises: a compaction control module, configured to, in response to receiving a first trigger signal, control the first filter press mechanism to move from a first starting position to the open end of the extraction cylinder and press down along the cylinder wall of the extraction cylinder to a first position; and control the second filter press mechanism to rise from a second starting position along the cylinder wall of the extraction cylinder until a current of a drive motor of the second filter press mechanism exceeds a first current threshold, thereby compacting the raw material in the extraction cylinder; a water injection control module, configured to control the liquid inlet switch to open in response to the current of the driving motor of the second filter press mechanism being greater than a first current threshold, so as to inject water into the extraction cylinder to obtain an extract; The residue discharge control module is used to control the first filter press mechanism to move out of the extraction cylinder in response to receiving a second trigger signal; control the second filter press mechanism to rise to a second position along the cylinder wall of the extraction cylinder to push the extracted residue to the open end of the extraction cylinder; and control the first filter press mechanism to move in a horizontal direction to push the residue pushing mechanism to discharge the residue at the open end.

10. A controller comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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