Visual-sensor-free fermented grain spreading method and system of robot retort feeding system

Abstract

The invention discloses a visual-sensor-free fermented grain spreading method and system of a robot retort feeding system, and relates to the technical field of intelligent control. S1, a contact switch is installed on the side face of a material distributing device; s2, when the retort pot is calibrated to be in an empty pot state, the robot controls the material distribution device to move into the retort pot, and a Cartesian coordinate system with the center of the bottom face of the retort pot as the original point is established; s3, initial bottom layer cloth; s4, planning a pot entering path of the material distribution device; s5, controlling the material distribution device to uniformly scatter the fermented grains until the fermented grains are all scatted; and S6, controlling the robot to drive the material distribution device of the empty bin to receive the fermented grains again, and repeating the steps S4-S5. According to the method, the effect of normal steaming can be achieved without the help of a distance sensor, the problem that the fermented grain thickness cannot be accurately estimated in a steam environment or under the condition that a sensor breaks down or no sensor exists is solved, the production reliability and economic benefits are greatly improved on the premise that the technological requirements are guaranteed, and the method has important industrial application value.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control, and in particular to a method and system for laying fermented grains without a vision sensor in a robot distilling system. Background Art

[0002] When a robot replaces manual labor for distilling, it is first necessary to solve the detection of the thickness of the fermented grains surface in the distilling pot, and it is necessary to determine the height of the cloth feeding device from the surface during the laying process according to the detected thickness of the fermented grains surface. If the detection deviation of the thickness of the fermented grains surface is too large, it will affect the overall flatness of the surface and the uniformity of steam generation, and even the situation where the cloth feeding device stirs in the fermented grains will occur, which will seriously affect the output of raw liquor. At present, the thickness detection system of the fermented grains surface in the robot distilling system mainly uses vision ranging and laser ranging. However, in winter, due to the low temperature, a large amount of steam will form "dense fog" in the workshop. In severe cases, it will be "impossible to see one's hand in front of one's eyes", and vision ranging and laser ranging will completely fail, resulting in the robot being unable to accurately determine the thickness of the fermented grains surface and the laying height, the flatness of the surface is extremely poor, the laying effect is unsatisfactory, the distilling effect of the robot is extremely poor, affecting the output of raw liquor, and in severe cases, it will lead to the inability to continue distilling, affecting normal production. Moreover, if the sensor system fails due to its own fault, it will also be unable to detect the thickness of the surface, resulting in the inability to continue distilling and affecting normal production.

[0003] In addition, for white liquor distilling, the materials used for distilling include fermented grains that can produce liquor and grains for fermentation. The grains only need to be steamed thoroughly and do not need to produce liquor. During the process of steaming grains, there is no need to detect steam, and the requirement for the flatness of the surface is not high. In order to save costs, it is not necessary to use vision ranging and laser ranging to detect the thickness of the surface. Therefore, the present invention proposes a method and system for laying fermented grains without a vision sensor in a robot distilling system, which can achieve the detection of the thickness and height of fermented grains without relying on vision ranging and laser ranging. Summary of the Invention

[0004] To solve the above problems, the present invention provides a method and system for laying fermented grains without a vision sensor in a robot distilling system.

[0005] The technical solution of the present invention is as follows:

[0006] A method for laying fermented grains without a vision sensor in a robot distilling system includes the following steps:

[0007] S1: Install a contact switch on the side of the cloth feeding device, and the triggering end of the contact switch is lower than the bottom surface of the cloth feeding device, and when it contacts the fermented grains surface, it transmits a contact signal to the control system;

[0008] S2: Calibrate the distilling pot. When the distilling pot is in an empty state, the robot controls the cloth feeding device to move into the distilling pot, and establishes a Cartesian coordinate system with the center of the bottom surface of the distilling pot as the origin;

[0009] The robot controls the fabric device to move close to the inner bottom surface of the steamer pot, and marks a Cartesian coordinate point, the vertical component of whose coordinate is denoted as Z 0 , controls the fabric device to move to the highest fabric position above the steamer pot, marks a Cartesian coordinate point, and marks it as the center point, the vertical component of this coordinate is denoted as Z max ;

[0010] S3: Initial bottom-layer fabric laying. Control the fabric device filled with fermented grains to move to the initial feeding height in the steamer pot for uniform fabric laying. After all the materials are spread, refill the fermented grains

[0011] S4: Plan the path of the fabric device entering the pot, including the following steps:

[0012] S41: Control the fabric device to move to the center point and step down. After the control system receives the contact signal sent by the contact switch, control the robot to stop stepping

[0013] S42: Control the fabric device to raise by a correction height X. At this time, the thickness of the fermented grains surface is denoted as H, and the laying height of the fabric device is denoted as Z

[0014] S5: Control the fabric device to spread the materials evenly until all the fermented grains are spread

[0015] S6: Control the robot to drive the empty fabric device to refill the fermented grains, and repeat steps S4 - S5 until the thickness of the fermented grains surface H = Z max , and end the fabric laying

[0016] To improve the stability of the fabric device's descent and the accuracy of contacting the material surface, the center point in step S2 is on the center line of the steamer pot. In step S41, control the fabric device to perform multiple vertical steps from the center point, and the height of each descent is denoted as ΔZ. After stopping the stepping, record the number of descents as N

[0017] The calculation method of the raised correction height X is that in step S42, the raised correction height X is obtained by raising the fabric device n times. X = n * α * ΔZ, where α * ΔZ is the height raised by each step, and α ∈ (0, 1)

[0018] To facilitate recording the correction times n, when correcting the position of the contact switch, n is the number of times of stepping and raising the fabric device corresponding to the moment when the signal output of the travel switch device changes from "1" to "0"

[0019] To be able to correct the position of the contact switch each time, prevent the contact switch from stirring the fermented grains as the fermented grains increase, and ensure the flatness of the material surface. After completing the correction of the position of the fabric device in step S4, the following steps are also included:

[0020] S43: Adjust the offset of the contact switch in the vertical direction so that the contact switch is always in a non-contact state with the material surface during the material spreading process. Specifically, it includes:

[0021] After step S42 is completed, stepwise raise the cloth-feeding device by a height of L.

[0022] The vertical upward offset L of the contact switch is such that the height L of stepwise raising the cloth-feeding device in step S43 is 3 cm - 6 cm.

[0023] In order to ensure that during the initial material scattering, the contact switch will not stir the already scattered fermented grains during the material scattering process, when controlling the movement of the cloth-feeding device in step S3, first move it until the contact switch touches the bottom surface of the steamer pot, and then stepwise raise the cloth-feeding device by a distance of L, which is the initial material scattering height.

[0024] The calculation method for the thickness of the fermented grains material surface and the height of the spreading action is that the thickness H of the fermented grains material surface = Z max -N*ΔZ + X, and the height Z of the spreading action = H + Z 0 +L.

[0025] A visionless sensor fermented grains spreading system for a robot steaming system, including:

[0026] Robot: Receive instructions from the control module, control the robot to drive the cloth-feeding device to move up and down and reciprocate between the feeding system and the steamer pot, and control the cloth-feeding device to spread materials according to the set spreading pattern;

[0027] Cloth-feeding device: Installed at the end of the robot, used to evenly scatter the fermented grains into the steamer pot;

[0028] Contact switch: Installed on the side of the cloth-feeding device, and the triggering end is lower than the bottom surface of the cloth-feeding device, used to collect the contact signal with the fermented grains material surface and convert it into a control instruction to be transmitted to the control module;

[0029] Control module: According to the position of the steamer pot and the height of the material to be scattered, control the movement of the cloth-feeding device, establish a Cartesian coordinate system with the center of the steamer pot as the origin, and mark the coordinate points of the bottom surface of the empty pot and the highest cloth-feeding position; Based on the coordinate point of the bottom surface of the empty pot, control the cloth-feeding device to move to the initial material scattering height for uniform material spreading, and re-feed after the material spreading is completed; Control the cloth-feeding device to move to the center point and stepwise descend, and stop stepping when receiving the contact signal; Control the cloth-feeding device to raise the correction height X, calculate the thickness H of the fermented grains material surface and the height Z of the spreading action; Based on the material scattering height, control the cloth-feeding device to spread materials evenly until all the fermented grains are scattered, and re-feed after the cloth-feeding device is empty, and repeat the path planning and cloth-feeding process until the thickness H of the fermented grains material surface = Z max , and end the cloth-feeding.

[0030] The specific design of the contact switch is that the contact switch includes a limit travel switch, which is installed on the side of the base material distribution device, and its trigger end includes a sensing connecting rod and is vertically arranged downward, and a hollow lightweight ball is installed at the end of the sensing connecting rod.

[0031] The beneficial effects of the present invention are as follows: by installing a contact switch device on the material distribution device, when the hollow light ball at the end of the travel switch connecting rod touches the plane of the fermented grains, the travel switch will transmit a contact signal to the robot control system, and according to the current position height information of the robot and the planned material distribution action information, the material distribution action information height is adjusted to meet the normal height of the steamer, and the mechanical contact switch is used to replace the optical sensor, which solves the problem of detection failure in the steam fog environment, and achieves the effect of normal steamer without the help of the distance sensor, solves the problem that the thickness of the fermented grains cannot be accurately estimated in the steam environment or when the sensor fails or there is no sensor, and greatly improves the production reliability and economic benefits under the premise of ensuring the process requirements, and has important industrial application value. It is particularly suitable for the high temperature and high humidity liquor brewing environment; secondly, by adopting the three-stage control logic of "contact detection-step lifting correction-maintaining spacing", on the one hand, it is ensured that the contact switch stirs the fermented grains that have been spread when the material distribution device spreads the material, and on the other hand, it can avoid stirring the material during the laying process as the material surface rises, and both can ensure the flatness of the material surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] By reading the detailed description of the preferred embodiment below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0033] In the attached picture:

[0034] Figure 1 This is a schematic diagram of the overall structure of this scheme;

[0035] Figure 2 This is a schematic diagram of contact switch installation;

[0036] The components represented by the reference numerals in the figure are:

[0037] 1. Robot; 2. Steamer; 3. Contact switch; 31. Limit travel switch; 32. Induction connecting rod; 33. Hollow lightweight ball; 4. Fabric device; 5. Mounting base. DETAILED DESCRIPTION

[0038] The exemplary embodiments of the present disclosure will be described in more detail below in conjunction with the accompanying drawings. It should be noted that these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. The present disclosure can be implemented in various forms and should not be limited by the embodiments described herein.

[0039] In order to solve the problem in the prior art that steam in the upper steamer workshop may cause the existing visual ranging and laser ranging to completely fail, which in turn causes the robot 1 to be unable to accurately determine the material surface of the mash, resulting in poor material spreading effect, etc., the present embodiment abandons the traditional visual detection and installs a contact detection switch on one side of the material spreading device 4, which can feed back the contact signal to the control module, thereby ensuring the normal material surface height detection and material spreading process, laying the foundation for the normal winemaking process.

[0040] The sensorless fermented mash spreading method of the robot 1 steamer system is combined with Figure 1 , used for the steamer loading system of robot 1, and the steamer loading system of robot 1 mainly includes robot 1, as the executive part of the system, which includes a mechanical arm, at the end of which is installed a material distribution device 4, which is used to transfer the mash to the steamer pot 2, and the present solution is provided with a trigger switch on the side of the material distribution device 4, the working principle of which is to feed back the signal to the control module when in contact, and then control the action of robot 1, thereby realizing the detection of the material surface height and ensuring the effect of spreading the material.

[0041] The method for spreading fermented grains specifically comprises the following steps:

[0042] S1: A contact switch 3 is installed on the side of the material distribution device 4, and the trigger end of the contact switch 3 is lower than the bottom surface of the material distribution device 4, and transmits a contact signal to the control system when it contacts the surface of the mash.

[0043] The contact switch 3 is installed on the side of the material distribution device 4, and its trigger end is lower than the bottom surface of the material distribution device 4, so that when it moves downward with the material distribution device 4, the trigger end first contacts the material surface to feedback the contact signal.

[0044] S2: Calibration of the steamer pot 2. When the steamer pot 2 is empty, the robot 1 controls the material distribution device 4 to move into the steamer pot 2 and establishes a Cartesian coordinate system with the center of the bottom surface of the steamer pot 2 as the origin.

[0045] The robot 1 controls the material distributing device 4 to move close to the inner bottom surface of the steamer pot 2 and mark a Cartesian coordinate point, the vertical component of which is recorded as Z 0 , control the material distribution device to move to the highest material distribution position above the steamer pot 2, mark a Cartesian coordinate point and mark it as the center point, and the vertical component of the coordinate is recorded as Z max .

[0046] It is important to remember that the Z0 The position is that during the movement of the cloth feeding device 4, when the contact switch 3 touches the bottom surface of the steamer pot 2 and the contact signal is triggered, the control robot 1 stops moving. At this time, marking is carried out, and when carrying out the marking of Z max During the marking, the center point is on the center line of the steamer pot 2, ensuring that the control robot 1 moves to the center position of the steamer pot 2 and evenly spreads the material around.

[0047] S3: Initial bottom layer cloth feeding. Control the cloth feeding device 4 filled with fermented grains to move to the initial spreading height in the steamer pot for even cloth feeding. After all the spreading is completed, refill the fermented grains.

[0048] This step is the first cloth feeding of the fermented grains in the steamer pot 2. First, complete the spreading on the bottom surface. First, move until the contact switch 3 touches the bottom surface of the steamer pot 2, that is, move to the position of Z 0 Then, the cloth feeding device 4 is stepped up by a distance L, which is the initial spreading height. The lifted L is the same as that in step S43. Since a certain thickness is spread during one-time feeding, lifting the cloth feeding device 4 by L ensures that the contact switch 3 will not touch the material surface and will not stir it during the one-time feeding process. Here, L needs to be not less than the thickness that the cloth feeding device 4 can spread after being filled with fermented grains.

[0049] S4: Plan the path for the cloth feeding device 4 to enter the pot, including the following steps:

[0050] S41: Control the cloth feeding device 4 to move to the center point and step down. After the control system receives the contact signal sent by the contact switch 3, control the robot 1 to stop stepping.

[0051] In this embodiment, in order to improve the detection accuracy and avoid the impact of mechanical inertia on the contact switch 3 and prevent the contact switch from being accidentally touched, control the cloth feeding device 4 to step vertically multiple times from the center point, and the height of each descent is recorded as ΔZ. After the trigger end of the contact switch 3 touches or inserts into the material surface, the control module controls the robot 1 to stop stepping, and the number of descents is recorded as N.

[0052] S42: Control the cloth feeding device 4 to lift by a correction height X. At this time, the thickness of the fermented grains material surface is recorded as H, and the spreading action height of the cloth feeding device is recorded as Z.

[0053] After N times of step - down, the trigger end of the contact switch 3 is inserted under the material surface. If material spreading is performed at this time, when the cloth - laying device rotates, it is easy to drive the contact switch 3 to stir the spread material surface. Therefore, in this solution, the material - spreading position of the cloth - laying device 4 is corrected, that is, the correction height X in step S42. Consistent with the step - down, during correction, there are n times of step - up. Here, n is the number of times the cloth - laying device 4 is step - up when the signal output of the travel switch 3 device changes from "1" to "0", that is, the moment when the contact end leaves the material surface. And the height of each step - up is α*ΔZ. Therefore, X = n*α*ΔZ, where α ∈ (0,1), ensuring that the height of each step - up is less than the step - down height ΔZ.

[0054] In this embodiment, optionally, since the contact switch 3 may be accidentally triggered or the switch may malfunction during use, and in this solution, in step S41, the cloth - laying device 4 is controlled to perform multiple ΔZ step - downs. With actual test, the depth at which the contact switch 3 is inserted into the fermented grains material surface each time does not change significantly. Therefore, after testing, the maximum height threshold for the correction and elevation of the cloth - laying device 4 is preset as X max , and the minimum height threshold is X min . Therefore, after each time the cloth - laying device 4 is elevated and corrected in step S42, the correction height X is compared with X max and X min . If X min ≤X≤X max , then step S5 is executed. If X≤X min or X≥X max , that is, there may be accidental triggering of the contact switch 3 and the correction height deviates. At this time, in order to ensure the flatness of the material, the contact switch 3 needs to be troubleshot. Therefore, the control module gives an alarm to remind the staff to troubleshoot the contact switch 3.

[0055] It should be noted that after completing the correction of the position of the cloth - laying device 4, the following steps are also included:

[0056] S43: Adjust the offset of the contact switch 3 in the vertical direction. After the correction is completed, the contact switch 3 just separates from the material surface and is relatively close to the material surface. During this material - spreading process, as the thickness of the material surface increases, it is easy to submerge the trigger end of the contact switch 3, resulting in stirring of the fermented grains. Therefore, it is necessary to continue to adjust the position of the contact switch 3 so that the contact switch 3 is always in a non - contact state with the material surface during the material - laying process. Specifically, it includes:

[0057] After step S42 is completed, the cloth feeding device 4 is lifted step by step by a height of L. In this embodiment, L is 3 cm - 6 cm, and the specific value is related to the thickness of the material scattered onto the steamer pot 2 at one time after the cloth feeding device 4 is filled, ensuring that L is not less than the thickness of the material scattered by the cloth feeding device 4 at one time.

[0058] S5: Control the cloth feeding device 4 to scatter the material evenly until all the fermented grains are scattered.

[0059] Control the robot 1 to drive the cloth feeding device 4 to scatter the material at the corresponding material scattering action height, and the path of the rotation of the cloth feeding device 4 in the steamer pot 2 and the discharging speed are carried out according to the preset.

[0060] S6: Control the robot 1 to drive the empty cloth feeding device 4 to receive the fermented grains again, and repeat steps S4 - S5 until the thickness H of the fermented grains surface = Z max , and end the cloth feeding.

[0061] It should be noted that after the cloth feeding device 4 undergoes N times of step - by - step descent and n times of step - by - step lift, based on the above data, the thickness H of the fermented grains surface = Z max -N*ΔZ + X, the laying action height Z = H + Z 0 +L. And for each time before scattering the material, the control module records the thickness of the material surface and the laying action height and stores them. After completing step S6, that is, after all the fermented grains in one steamer pot 2 are laid, for the laying of the next steamer pot 2, if the two Cartesian coordinate points marked when performing step S2 are the same as those of the previous steamer pot 2, after completing step S3, then control the robot 1 to drive the cloth feeding device 4 to move to the corresponding material scattering action height in sequence. If they are the same, then repeat steps S3 - S6.

[0062] Based on the above steps, since the height of the fermented grains laid in each steamer pot 2 and the size of the steamer pot 2 are different, therefore, after the penultimate laying is completed, the remaining height of the material to be laid in the steamer pot 2 may not be sufficient for the cloth feeding device 4 to be filled with the material. Therefore, it is necessary to determine the amount of material received by the cloth feeding device 4 according to the actual remaining thickness of the last laying. Therefore, the preset volume for the cloth feeding device 4 to be filled is V 满 , the thickness that can be laid in the steamer pot 2 at one time is T 满 , the remaining thickness to be laid in the steamer pot 2 after each laying by the cloth feeding device 4 is N*ΔZ - X. Therefore, step S6 specifically includes:

[0063] If N*ΔZ - X ≥ T 满 , then control the robot 1 to drive the empty cloth feeding device 4 to be filled with the fermented grains again, and repeat steps S4 - S5 until the thickness H of the fermented grains surface = Z max , and end the cloth feeding; if N*ΔZ - X < T 满, the robot 1 is controlled to drive the empty warehouse distributing device 4 to receive the amount of mash required for the remaining thickness, and steps S4-S5 are repeated until the distributing is completed.

[0064] Among them, the amount of mash required for the remaining thickness V 需 =V 满 (N*ΔZ-X) / T 满 .

[0065] The sensorless wine mash spreading method of the robot 1 steaming system can perform contact detection on the material surface each time the material is spread through the contact switch 3 installed on the side of the spreading device 4. First, the trigger end of the contact switch 3 is moved and inserted under the material surface, and the contact signal is fed back to the control module, and then the robot 1 is controlled to drive the spreading device 4 to step and lift to the spreading action height for spreading the material. After one spreading is completed, the robot 1 is controlled to drive the spreading device 4 to receive the material and continue the subsequent spreading. Through this method, a mechanical contact switch is used to replace the optical sensor, which solves the problem of detection failure in a steam and fog environment, and achieves the normal steaming effect without the help of a distance sensor. It solves the problem that the thickness of the wine mash cannot be accurately estimated in a steam environment or when the sensor fails or there is no sensor. It greatly improves the production reliability and economic benefits while ensuring the process requirements, and has important industrial application value.

[0066] The sensorless fermented mash spreading system of the robot 1 steamer system is combined with Figure 1 ,include:

[0067] Robot 1: receives instructions from the control module, controls the robot 1 to drive the material distribution device 4 to move up and down and reciprocate between the material discharging system and the steamer 2, and controls the material distribution device 4 to spread the material according to the setting;

[0068] The material distribution device 4 is installed at the end of the robot 1 and is used to evenly distribute the fermented grains into the steamer pot 2;

[0069] Contact switch 3: Installed on the side of the material distribution device 4, combined with Figure 2 , and the trigger end is lower than the bottom surface of the feeding device 4, which is used to collect contact signals with the surface of the mash, convert them into control instructions and transmit them to the control module; wherein, the contact switch 3 includes a limit travel switch 31, and the limit travel switch 31 is installed on the side of the feeding device 4 through the mounting base 5, and its trigger end includes a sensing connecting rod 32 and is vertically arranged downward, and a hollow lightweight ball 33 is installed at the end of the sensing connecting rod 32. The hollow lightweight ball 33 can prevent the trigger end from deforming due to inertia during the movement of the feeding device 4, thereby causing the contact switch 3 to touch accidentally. At the same time, it increases the contact area with the material surface, prevents the spring from being inserted into the material, and increases the sensitivity of the contact switch 3.

[0070] Control module: according to the position of the steamer pot 2 and the height of the material to be spread, control the distribution device 4 to move, establish a Cartesian coordinate system with the center of the steamer pot 2 as the origin, and mark the coordinate point of the bottom surface of the empty pot and the coordinate point of the highest distribution position; based on the coordinate point of the bottom surface of the empty pot, control the distribution device 4 to move to the initial spreading height for uniform distribution, and re-connect the material after the spreading is completed; control the distribution device 4 to move to the center point and step down, and stop stepping after receiving the contact signal; control the distribution device 4 to raise the correction height X, calculate the thickness H of the wine mash material surface and the spreading action height Z; based on the spreading height, control the distribution device 4 to spread the material evenly until the wine mash is completely spread, and re-connect the material after the distribution device 4 is empty, and repeat the path planning and distribution process until the thickness H of the wine mash material surface = Z max , end the cloth.

Claims

1. A method for spreading fermented grains without visual sensors in a robot steamer system, characterized in that: The following steps are involved: S1: A contact switch is installed on the side of the material distribution device, and the trigger end of the contact switch is lower than the bottom surface of the material distribution device. When it contacts the surface of the mash, it transmits the contact signal to the control system; S2: Calibration of the steamer pot. When the steamer pot is empty, the robot controls the material distribution device to move into the steamer pot and establishes a Cartesian coordinate system with the center of the bottom surface of the steamer pot as the origin. The robot controls the material distribution device to move close to the bottom surface of the steamer pot, marks a Cartesian coordinate point, and records the vertical component of the coordinate as Z0. The robot controls the material distribution device to move to the highest material distribution position above the steamer pot, marks a Cartesian coordinate point, and marks it as the center point. The vertical component of the coordinate is recorded as Z max ; S3: Initial bottom layer spreading, control the spreading device filled with fermented mash to move to the initial spreading height in the steamer pot to spread the mash evenly, and re-pick up the fermented mash after all the mash is spread; S4: Planning the path of the material distribution device into the pot, including the following steps: S41: Control the material placing device to move to the center point and step down. After the control system receives the contact signal sent by the contact switch, it controls the robot to stop stepping. S42: Control the material distribution device to raise a correction height X, at which the thickness of the fermented grains surface is recorded as H, and the material spreading action height of the material distribution device is recorded as Z; S5: Control the material distribution device to spread the material evenly until all the mash is spread; S6: Control the robot to drive the empty material distribution device to re-fill the mash, and repeat steps S4-S5 until the thickness of the mash surface is H = Z max , end the cloth.

2. The method for spreading fermented grains without visual sensors in a robot steamer system according to claim 1, characterized in that: The center point in step S2 is on the center line of the steamer pot. In step S41, the material distribution device is controlled to vertically step from the center point for multiple times, and the height of each descent is recorded as ΔZ. After stopping the stepping, the number of descents is recorded as N.

3. The method for spreading fermented grains without visual sensors in a robot steamer system according to claim 2, characterized in that: In step S42, the lifting correction height X is obtained by lifting the material distribution device n times, X=n*α*ΔZ, where α*ΔZ is the height of each step lifting, α∈(0,1).

4. The method for spreading fermented grains without visual sensors in a robot steamer system according to claim 3, characterized in that: When correcting the contact switch position, n is the number of times the material distribution device is stepped up corresponding to the moment when the signal output of the travel switch device changes from "1" to "0".

5. The method for spreading fermented grains without visual sensors in a robot steamer system according to claim 1, characterized in that: After the position of the material dispensing device is corrected in step S4, the following steps are also included: S43: adjusting the offset of the contact switch in the vertical direction so that the contact switch is always in a non-contact state with the material surface during the material laying process, specifically including: After step S42 is completed, the material distributing device is raised step by step to a height L.

6. The method for spreading fermented grains without visual sensors in a robot steamer system according to claim 5, characterized in that: In step S43, the height L of the step-by-step raising device is 3 cm-6 cm.

7. The method for spreading fermented grains without visual sensors in a robot steamer system according to claim 5, characterized in that: When controlling the movement of the material distributing device in step S3, the material distributing device is first moved until the contact switch contacts the bottom surface of the steamer pot, and then the material distributing device is stepped and raised by a distance L, which is the initial material spreading height.

8. The method for spreading fermented grains without visual sensors in a robot steamer system according to claim 5, characterized in that: The thickness of the fermented grain surface is H = Z max -N*ΔZ+X, material laying action height Z=H+Z0+L.

9. The vision-free sensor-free fermented grain spreading system of the robot steamer system is characterized in that: include: Robot: Receives instructions from the control module, controls the robot to drive the material distribution device to move up and down and reciprocate between the material discharging system and the steamer, and controls the material distribution device to spread the material according to the settings; Distribution device: installed at the end of the robot, used to evenly spread the mash into the steamer pot; Contact switch: installed on the side of the material distribution device, with the trigger end lower than the bottom of the material distribution device, used to collect contact signals with the surface of the mash, convert them into control instructions and transmit them to the control module; Control module: According to the position of the steamer and the height of the material to be spread, the distribution device is controlled to move, a Cartesian coordinate system with the center of the steamer as the origin is established, and the coordinate points of the bottom surface of the empty pot and the coordinate points of the highest distribution position are marked; based on the coordinate points of the bottom surface of the empty pot, the distribution device is controlled to move to the initial distribution height for uniform distribution, and re-connect the material after the distribution is completed; the distribution device is controlled to move to the center point and step down, and stop stepping after receiving the contact signal; the distribution device is controlled to raise the correction height X, and the thickness H of the wine mash material surface and the height Z of the spreading action are calculated; based on the spreading height, the distribution device is controlled to spread the material evenly until the wine mash is completely spread, and re-connect the material after the distribution device is empty, and the path planning and distribution process are repeated until the thickness H of the wine mash material surface is equal to Z max , end the cloth.

10. The vision-sensor-free fermented grains spreading system of the robot steamer system according to claim 9, characterized in that: The contact switch comprises a limit travel switch, which is installed on the side of the base material distribution device, and a trigger end thereof comprises a sensing connecting rod and is arranged vertically downward, and a hollow lightweight ball is installed at the end of the sensing connecting rod.

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