Vision-sensor-free wine mash spreading method and system for robot steamer loading system

Abstract

A vision-free, sensorless method and system for spreading mash in a robotic retort system relates to intelligent control technology. The system involves the following steps: S1: Installing a contact switch on the side of the spreading device; S2: When the retort pot is calibrated to an empty state, the robot controls the spreading device to move into the pot and establishes a Cartesian coordinate system with the center of the pot bottom as the origin; S3: Initial bottom layer spreading; S4: Planning the path for the spreading device to enter the pot; S5: Controlling the spreading device to spread the mash evenly until all the mash is spread; S6: Controlling the robot to refill the empty spreading device with mash, and repeating steps S4-S5. This system achieves normal retort loading without the aid of a distance sensor, addressing the inability to accurately estimate mash thickness in steam environments, when sensors fail, or when sensors are unavailable. While ensuring process requirements, it significantly improves production reliability and economic benefits, demonstrating significant industrial application value.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a vision-sensor-free wine mash spreading method and system for a robot steamer loading system. Background Art

[0002] To replace manual labor in the retort, robots must first detect the thickness of the mash in the retort during the retort process. This thickness measurement determines the height of the spreading device from the mash surface during the spreading process. Excessive deviation in the mash thickness detection can affect the overall flatness and uniformity of the surface, and can even cause the spreading device to stir the mash, severely impacting base liquor production. Currently, robotic retort systems primarily use visual ranging and laser ranging to detect mash thickness. However, in winter, due to low temperatures, the workshop is filled with steam, creating a thick fog that can be so severe that it's practically pitch-black. These visual and laser ranging technologies completely fail, rendering the robot unable to accurately determine the mash thickness and the spreading height. This results in extremely poor surface flatness and unsatisfactory spreading, leading to poor retort performance and reduced base liquor production. In severe cases, retort operation can be impossible, disrupting normal production. Moreover, if the sensor system fails, it will not be able to detect the thickness of the material surface, resulting in the inability to continue steaming, affecting normal production.

[0003] In addition, for the steaming of white wine, the materials used for the steaming include mash that can produce wine and grain for fermentation. The grain only needs to be steamed and does not need to produce wine. Steam detection is not required during the steaming process, and the flatness requirements of the material surface are not high. In order to save costs, there is no need to use visual ranging and laser ranging to detect the thickness of the material surface. For this reason, the present invention proposes a vision-free mash spreading method and system for a robot steaming system, which can realize the mash thickness and height detection without the help of visual ranging and laser ranging. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a vision-sensor-free wine mash spreading method and system for a robot steamer system.

[0005] The technical solutions of the present invention are as follows:

[0006] A vision-sensor-free method for spreading fermented mash in a robot steamer system comprises the following steps:

[0007] S1: A contact switch is installed on the side of the distributing device, and the trigger end of the contact switch is lower than the bottom surface of the distributing device. When it contacts the surface of the mash, it transmits the contact signal to the control system;

[0008] S2: Retort pot calibration: When the retort pot is empty, the robot controls the material distribution device to move into the retort pot and establishes a Cartesian coordinate system with the center of the retort pot bottom as the origin;

[0009] The robot controls the material distribution device to move close to the bottom 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 ;

[0010] S3: Initial bottom layer spreading: Control the spreading device filled with mash to move to the initial spreading height in the steamer pot and spread the mash evenly. After all the mash is spread, refill the mash;

[0011] S4: Planning the path for the material distribution device to enter the pot, including the following steps:

[0012] S41: Control the material distribution 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.

[0013] S42: Control the material distribution device to raise a correction height X, at which the thickness of the mash surface is recorded as H, and the material spreading action height of the material distribution device is recorded as Z;

[0014] S5: Control the distributing device to spread the material evenly until all the mash is spread;

[0015] S6: Control the robot to drive the empty warehouse distribution device to re-fill the mash, and repeat steps S4-S5 until the mash surface thickness H=Z max , end the fabric.

[0016] In order to improve the stability of the material distribution device's descent and the accuracy of its contact with the material surface, 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 make multiple vertical steps from the center point, and the height of each descent is recorded as ΔZ. After stopping the step, the number of descents is recorded as N.

[0017] The calculation method of the lifting correction height X is as follows: the lifting correction height X in step S42 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).

[0018] In order to facilitate the recording of the number of corrections n, 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".

[0019] In order to correct the position of the contact switch each time and prevent the contact switch from stirring the mash as the mash increases, thereby ensuring the flatness of the material surface, the following steps are further included after the position correction of the material distribution device is completed in step S4:

[0020] S43: Adjusting the vertical offset of the contact switch so that the contact switch is always in a non-contact state with the material surface during the material laying process, specifically including:

[0021] After step S42 is completed, the material distributing device is raised in steps to a height L.

[0022] The vertical upward offset L of the contact switch is, and the height L of the step-by-step raising of the material distributing device in step S43 is 3cm-6cm.

[0023] In order to ensure that the contact switch will not stir the already spread mash during the bulking process when initially spreading the material, in step S3, when controlling the movement of the material distribution device, it is first moved until the contact switch contacts the bottom surface of the steamer pot, and then the material distribution device is stepped and raised by a distance L, which is the initial spreading height.

[0024] The calculation method of the thickness of the mash material surface and the height of the paving action is: the thickness of the mash material surface H = Z max -N*ΔZ+X, material laying action height Z=H+Z0+L.

[0025] A vision-sensor-free mash spreading system for a robot steamer loading system, comprising:

[0026] 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 distribution system and the steamer, and controls the material distribution device to spread the material according to the settings;

[0027] Distribution device: installed at the end of the robot, used to evenly distribute the mash into the steamer pot;

[0028] Contact switch: installed on the side of the distributing device, with the trigger end lower than the bottom of the distributing device, used to collect contact signals with the surface of the mash, convert them into control instructions and transmit them to the control module;

[0029] Control module: According to the position of the steamer pot 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 pot as the origin is established, and the coordinate point of the empty pot bottom surface and the coordinate point of the highest distribution position are marked; based on the coordinate point of the empty pot bottom surface, 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, calculate the thickness H of the wine mash material surface and the spreading action height Z; based on the spreading height, the distribution device is controlled to spread the material evenly until all the wine mash is spread, and re-connect the material after the distribution device is empty, and repeat the path planning and distribution process until the wine mash material surface thickness H = Z max , end the fabric.

[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 set vertically downward, and a hollow lightweight ball is installed at the end of the sensing connecting rod.

[0031] The present invention has the following beneficial effects: by installing a contact switch device on the distributing device, when the hollow, lightweight ball at the end of the travel switch connecting rod touches the surface of the mash, the travel switch transmits a contact signal to the robot control system. Based on the robot's current height and the planned spreading action information, the spreading action information is adjusted to meet the normal height for retorting. The use of a mechanical contact switch instead of an optical sensor solves the problem of detection failure in steamy and foggy environments, achieving normal retorting without the use of a distance sensor. It also addresses the problem of inability to accurately estimate mash thickness in steamy environments, or when a sensor is faulty or absent. This significantly improves production reliability and economic efficiency while meeting process requirements, and has important industrial application value. It is particularly suitable for high-temperature and high-humidity liquor brewing environments. Furthermore, by adopting a three-stage control logic of "contact detection - step-by-step lift correction - maintaining spacing," the contact switch ensures that the already spread mash is agitated during the distributing device's spreading process, while also preventing agitation of the current mash as the material surface rises during the spreading process, thereby ensuring the smoothness of the material surface. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0033] In the attached figure:

[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 distribution device; 5. Mounting base. DETAILED DESCRIPTION

[0038] The exemplary embodiments of the present disclosure will be described in more detail below with reference to 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 is easily generated in the upper steamer workshop, which causes the existing visual ranging and laser ranging to completely fail, and then causes the robot 1 to be unable to accurately determine the material surface of the mash, resulting in poor spreading effect, etc., this embodiment abandons the traditional visual detection and installs a contact detection switch on one side of the distributing device 4, which can feed back the contact signal to the control module, thereby ensuring normal material surface height detection and spreading process, laying the foundation for a normal winemaking process.

[0040] The sensorless wine 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 robotic arm, and a distribution device 4 is installed at the end of the robotic arm, which is used to transfer the mash to the steamer pot 2. In this solution, a trigger switch is installed on the side of the distribution device 4. The working principle 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 the 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. When it contacts the surface of the mash, the contact signal is transmitted to the control system.

[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 distribution device 4 to move close to the inner bottom surface of the steamer pot 2, marks a Cartesian coordinate point, and records the vertical component of the coordinate as Z0. The robot 1 controls the material distribution device to move to the highest material distribution position above the steamer pot 2, marks a Cartesian coordinate point, and marks it as the center point. The vertical component of the coordinate is recorded as Z max .

[0046] It should be noted that the marked Z0 position is when the contact switch 3 contacts the bottom of the steamer pot 2 during the movement of the material distribution device 4. After the contact signal is triggered, the robot 1 is controlled to stop moving. At this time, the mark is made, and the Z0 position is max When the mark is made, the center point is on the center line of the steamer pot 2, which ensures that the control robot 1 moves to the center position of the steamer pot 2 and evenly spreads the material around it.

[0047] S3: Initial bottom layer distribution, control the distribution device 4 filled with fermented mash to move to the initial spreading height in the steamer to distribute the material evenly, and re-receive fermented mash after all the materials are spread.

[0048] This step is the first spreading of the mash in the steamer 2. The spreading of the bottom is completed first. First, move the contact switch 3 to contact the bottom of the steamer 2, that is, move to the position of Z0, and then step and raise the spreading device 4 by a distance of L, which is the initial spreading height. The raised L is consistent with that in step S43. Since a certain thickness is spread in one spreading, raising the spreading device 4 by L is to ensure that the contact switch 3 will never contact the material surface and will not stir it during the one-time spreading process. The L here needs to be no less than the thickness that can be spread after the spreading device 4 is filled with mash.

[0049] S4: Planning the path of the material distribution device 4 into the pot, including the following steps:

[0050] S41: Control the material distribution 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, it controls 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 avoid accidental contact of the contact switch, the material distribution device 4 is controlled to step vertically from the center point multiple times, and the height of each descent is recorded as ΔZ. After the trigger end of the contact switch 3 contacts or inserts into the material surface, the control module controls the robot 1 to stop stepping and records the number of descents as N.

[0052] S42: Control the material distribution device 4 to raise a correction height X. At this time, the thickness of the mash surface is recorded as H, and the material spreading action height of the material distribution device is recorded as Z.

[0053] Since after N times of step-down, the trigger end of the contact switch 3 is inserted under the material surface, if the material is spread at this time, the material distribution device will easily drive the contact switch 3 to stir the laid material surface when it rotates. Therefore, this scheme corrects the material spreading position of the material distribution device 4, that is, the correction height X in step S42. Consistent with the step-down, the correction is made after n times of step-up, where n is the number of times the material distribution device 4 is stepped up corresponding to the moment when the signal output of the limit 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 height ΔZ of the step-down.

[0054] In this embodiment, it is optional that due to the situation that the contact switch 3 is accidentally touched or malfunctions during use, and in this solution, in step S41, the material distribution device 4 is controlled to perform multiple ΔZ step-downs. In conjunction with actual experimental tests, the depth of the contact switch 3 inserted into the surface of the wine mash each time does not change significantly. Therefore, after the test, the maximum height threshold of the modified elevation of the material distribution device 4 is preset to X max , the minimum height threshold is X min Therefore, after each step S42, the material distributing device 4 is raised and corrected, the correction height X and X max and X min For comparison, if X min ≤X≤X max , then execute step S5, if X≤X min Or X ≥ X max , that is, there is a possibility of accidental touch of the contact switch 3, and the correction height deviates. At this time, in order to ensure the flatness of the fabric, the contact switch 3 needs to be troubleshooted. Therefore, the control module alarms to remind the staff to troubleshoot the contact switch 3.

[0055] It should be noted that after the position of the material distributing device 4 is corrected, 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 is just separated from the material surface and is close to the material surface. During this spreading process, as the thickness of the material surface increases, the trigger end of the contact switch 3 is easily submerged, causing the mash to be stirred. 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 spreading process. Specifically, the following steps are performed:

[0057] After step S42 is completed, the distributing device 4 is stepped up to a height of L. In this embodiment, L is 3 cm to 6 cm. The specific value is related to the thickness of the material spread on the steamer pot 2 after the distributing device 4 is full. Ensure that L is not less than the thickness of the material spread by the distributing device 4 at one time.

[0058] S5: Control the material distribution device 4 to spread the material evenly until all the mash is spread.

[0059] The control robot 1 drives the material distributing device 4 to spread the material at the corresponding material distributing action height, and the rotation path of the material distributing device 4 in the steamer pot 2 and the material discharging speed are performed according to the preset.

[0060] S6: Control the robot 1 to drive the empty distributing device 4 to refill the mash, and repeat steps S4-S5 until the thickness of the mash surface is H=Z max , end the fabric.

[0061] It should be noted that after the material distribution device 4 has been stepped down N times and raised n times, the thickness of the fermented mash surface H=Z can be obtained based on the above data. max -N*ΔZ+X, the material spreading action height Z=H+Z0+L. And before each spreading, the control module records the material surface thickness and the material spreading action height and stores them. After completing step S6, that is, the mash in one steamer 2 has been spread, the material is spread in the next steamer 2. If the two marked Cartesian coordinate points of the next steamer 2 are consistent with those of the previous steamer 2 when the next steamer performs step S2, after completing step S3, the robot 1 is controlled to drive the material distributing device 4 to move to the corresponding material spreading action height in sequence. If they are consistent, steps S3-S6 are repeated.

[0062] On the basis of the above steps, since the height of the mash laid in each steamer pot 2 and the size of the steamer pot 2 are different, after the second to last laying is completed, the height of the remaining material to be laid in the steamer pot 2 may not meet the full material of the distributing device 4. Therefore, it is necessary to determine the amount of material to be received by the distributing device 4 according to the actual remaining thickness of the last laying. Therefore, the preset volume of the distributing device 4 is V 满 The thickness that can be laid in the steamer pot 2 at one time is T 满 , each time the material distributing device 4 performs a distributing operation, the remaining thickness of the material to be distributed in the retort 2 is N*ΔZ-X. Therefore, step S6 specifically includes:

[0063] If N*ΔZ-X≥T 满 , the robot 1 is controlled to drive the empty distributing device 4 to be refilled with mash, and steps S4-S5 are repeated until the thickness of the mash surface is H=Z max , end the fabric; if N*ΔZ-X<T 满, then control the robot 1 to drive the empty warehouse distributing device 4 to receive the remaining amount of mash required for the thickness, repeat steps S4-S5, and end the distributing when the current 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 it to the spreading action height to spread 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 instead of an optical sensor, which solves the problem of detection failure in a steam and fog environment, and realizes the normal steaming effect without the help of a distance sensor. It solves the problem of inability to accurately estimate the thickness of the wine mash in a steam environment or when the sensor fails or there is no sensor. It greatly improves production reliability and economic benefits while ensuring process requirements, and has important industrial application value.

[0066] The sensorless mash spreading system of the robot 1 steamer system, 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 settings;

[0068] Distribution device 4: installed at the end of the robot 1, used to evenly distribute the mash 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 stroke switch 31, and the limit stroke switch 31 is installed on the side of the feeding device 4 through the mounting base 5, and its trigger end includes a sensing link 32 and is vertically downwardly arranged. A hollow lightweight ball 33 is installed at the end of the sensing link 32. The hollow lightweight ball 33 can prevent the trigger end from being deformed due to inertia during the movement of the feeding device 4, which in turn causes the contact switch 3 to be accidentally touched. 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, the distribution device 4 is controlled to move, a Cartesian coordinate system with the center of the steamer pot 2 as the origin is established, and the coordinate point of the bottom surface of the empty pot and the coordinate point of the highest distribution position are marked; based on the coordinate point of the bottom surface of the empty pot, the distribution device 4 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 4 is controlled to move to the center point and step down, and stop stepping after receiving the contact signal; the distribution device 4 is controlled 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 distribution height, the distribution device 4 is controlled to distribute the material evenly until all the wine mash is distributed, and re-connect the material after the distribution device 4 is empty, and repeat the path planning and distribution process until the wine mash material surface thickness H = Z max , end the fabric.

Claims

1. A vision-sensor-free method for spreading fermented mash in a robot retort system, characterized by: The following steps are involved: S1: A contact switch is installed on the side of the distributing device, and the trigger end of the contact switch is lower than the bottom surface of the distributing device. When it contacts the surface of the mash, it transmits the contact signal to the control system; S2: Retort pot calibration: When the retort pot is empty, the robot controls the material distribution device to move into the retort pot and establishes a Cartesian coordinate system with the center of the retort pot bottom as the origin; The robot controls the material distribution device to move close to the bottom 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 mash to move to the initial spreading height in the steamer pot and spread the mash evenly. After all the mash is spread, refill the mash; S4: Planning the path for the material distribution device to enter the pot, including the following steps: S41: Control the material distribution 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 mash surface is recorded as H, and the material spreading action height of the material distribution device is recorded as Z; S5: Control the distributing device to spread the material evenly until all the mash is spread; S6: Control the robot to drive the empty warehouse distribution device to re-fill the mash, and repeat steps S4-S5 until the mash surface thickness H=Z max , end the fabric.

2. The method for spreading fermented mash 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 multiple times, and the height of each descent is recorded as ΔZ. After stopping the step, the number of descents is recorded as N.

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

4. The method for spreading fermented mash 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 mash without visual sensors in a robot steamer loading 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 further included: S43: Adjusting the vertical offset of the contact switch 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 in steps to a height L.

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

7. The method for spreading fermented mash without visual sensors in a robot steamer loading system according to claim 5, characterized in that: In step S3, when controlling the movement of the material distributing device, 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 mash without vision sensor in a robot steamer loading system according to claim 5, characterized in that: The thickness of the mash material surface H=Z max -N*ΔZ+X, material laying action height Z=H+Z0+L.

9. The vision-sensor-free fermented mash spreading system of the robot steamer system is characterized by: 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 distribution 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 distribute the mash into the steamer pot; Contact switch: installed on the side of the distributing device, with the trigger end lower than the bottom of the distributing 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 pot 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 pot as the origin is established, and the coordinate point of the empty pot bottom surface and the coordinate point of the highest distribution position are marked; based on the coordinate point of the empty pot bottom surface, 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, calculate the thickness H of the wine mash material surface and the spreading action height Z; based on the spreading height, the distribution device is controlled to spread the material evenly until all the wine mash is spread, and re-connect the material after the distribution device is empty, and repeat the path planning and distribution process until the wine mash material surface thickness H = Z max , end the fabric.

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

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