A saccharification pot cleaning method, system and intelligent terminal

Abstract

The present invention relates to a saccharification pot cleaning method, system and intelligent terminal, and relates to the technical field of intelligent cleaning, which includes obtaining a working signal of a saccharification pot; based on the consistency of the working signal and the standby signal, controlling a cleaning device to enter the saccharification pot to perform rough cleaning on the pot with a rough cleaning force value; obtaining image information in the pot; selecting and marking a stubborn stain area from a stain database according to the image information in the pot and the stain characteristics; controlling a scraping device to go to the marked position to scrape the stubborn stains in the stubborn stain area with a scraping force value, and obtaining the scraped image information after scraping; based on the fact that the scraped image information contains a stain residue feature, controlling a decontamination device to remove the stain residue feature with a decontamination method; after the stain residue feature is removed, controlling the cleaning device to perform overall flushing on the inside of the saccharification pot. The present application has the effect of improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent cleaning, and in particular to a saccharification pot cleaning method, system and intelligent terminal. Background Art

[0002] The saccharification pot cleaning method refers to a method for cleaning a large amount of spent grains, protein coagulants, incompletely reacted starch particles, enzymes and other substances remaining inside the saccharification pot after the saccharification reaction.

[0003] In the production process of beer, liquor and other alcoholic beverages and other fermented foods, saccharification is a key step, and the saccharification pot is the main equipment for saccharification reaction. During the saccharification process, the starch in raw materials such as malt will be converted into sugar under the action of enzymes. As the saccharification process proceeds, a large amount of malt grains, protein coagulants, incompletely reacted starch particles, enzymes and other substances will remain in the pot. If these residues are not cleaned up in time, the quality of the next saccharification will be affected.

[0004] The traditional method of cleaning the saccharification pot is mainly manual cleaning. Operators use simple tools such as brushes and scrapers to clean. This method is time-consuming and labor-intensive to remove stubborn dirt attached to the pot wall, stirring paddles, and the corners of the pot bottom, which reduces work efficiency and needs to be improved. Summary of the invention

[0005] In order to improve work efficiency, the present invention provides a saccharification pot cleaning method, system and intelligent terminal.

[0006] In a first aspect, the present invention provides a method for cleaning a saccharification pot, which adopts the following technical solution:

[0007] A saccharification pot cleaning method, comprising:

[0008] Obtain the preset working signal of the saccharification pot;

[0009] Based on the fact that the working signal is consistent with the preset standby signal, the preset cleaning device is controlled to enter the saccharification pot to perform rough cleaning on the pot with a preset rough cleaning strength value;

[0010] Get the image information inside the pot;

[0011] Select and mark the stubborn stain area from the preset stain database according to the image information in the pot and the preset stain features;

[0012] Controlling a preset scraping device to go to the marked location to scrape away the stubborn stains in the stubborn stain area with a preset scraping force value, and obtaining the scraped image information after the scraping;

[0013] Based on the fact that the image information after shoveling contains a preset stain residue feature, controlling a preset stain removal device to remove the stain residue feature using a preset stain removal method;

[0014] After the residual features of the stains are removed, the cleaning device is controlled to perform overall flushing of the interior of the saccharification pot.

[0015] By adopting the above technical solution, when the working signal of the saccharification pot is consistent with the standby signal, the cleaning device is controlled to clean the inside of the saccharification pot. Then, by understanding the image information in the pot, the stubborn stain area is marked, so as to control the scraping device to scrape the stubborn stain. And when the image information after scraping contains the residual features of the stain, the decontamination device is controlled to remove the residual features of the stain by the decontamination method, so as to improve the decontamination efficiency and further improve the work efficiency.

[0016] Optional decontamination methods include:

[0017] Based on the fact that the image information after shoveling contains the feature of the residual stain, the residual stain area is determined according to the image information after shoveling and the feature of the residual stain;

[0018] Obtaining the residual area of ​​the stain residual area, and matching the dosage value of the agent from a preset agent database according to the residual area;

[0019] According to the stain residual area and the agent dosage value, the initial position of agent use is matched from the preset decontamination database;

[0020] Determining the initial position of drug use according to the initial position of drug use;

[0021] Controlling the preset delivery device to deliver the decontamination device to the initial position of the agent use, and controlling the decontamination device to spray the preset decontamination agent on the stain residual characteristics according to the agent dosage value;

[0022] The cleaning device preset on the decontamination device is controlled to clean the residual features of the stains, and the preset suction device is controlled to absorb the residual features of the stains dropped by the cleaning with a preset suction force value.

[0023] By adopting the above technical solution, the dosage value of the agent is known by understanding the stain residual area and the area of ​​the residual area, and then the initial position of the agent use is known, so that the delivery device can be controlled to deliver the decontamination device to the initial position of the agent use, and then the decontamination agent can be sprayed on the stain residual characteristics, and the cleaning device and the suction device on the decontamination device can be used to simultaneously clean and absorb, thereby improving the decontamination efficiency.

[0024] Optionally, a preset drug dosage correction method is also included, and the drug dosage correction method includes:

[0025] Based on the situation that the stain residue area falls into the preset inner wall area of ​​the pot, a removal path and an initial horizontal removal path are matched from a preset route database according to the stain residue area;

[0026] Matching the initial agent usage from the decontamination database according to the removal path and the agent usage value;

[0027] Controlling the decontamination device to spray the residual characteristics of the stain with an initial dosage of the agent along an initial horizontal removal path;

[0028] After spraying, obtaining spraying image information;

[0029] Matching the current water drop shape and the current water drop position from a preset water drop database according to the spray image information, the stain residual area, the preset reference object and the preset water drop feature;

[0030] Match the remaining extension length of the water drop from the decontamination database according to the current water drop shape and the current water drop position;

[0031] According to the remaining extension length of the water droplet and the residual area of ​​the stain, the agent usage correction parameter is matched from the stain removal database;

[0032] determining a remaining removal path based on the removal path and the initial level removal path;

[0033] The decontamination device is controlled to spray the residual features of the stain along the remaining removal path with the agent usage correction parameters.

[0034] By adopting the above technical solution, when the residual stain is located on the inner wall of the pot, the removal path and the initial horizontal removal path are known by understanding the residual stain area, and then the initial agent usage amount can be known. After the decontamination agent is sprayed on the residual stain features along the initial horizontal removal path with the initial agent usage amount, the current water drop shape and the current water drop position are known by understanding the spraying image information, and then the remaining extension length of the water drop is known. In this way, the agent usage correction parameter is known to control the decontamination equipment to reduce the use of decontamination agents and reduce the material loss rate.

[0035] Optionally, the dosage correction method further includes:

[0036] According to the current water drop shape, the current remaining amount of medicine is matched from the water drop database;

[0037] Determine the remaining path requirement based on the current water drop position and the stain residual area;

[0038] Determine the downstream position of the agent according to the spraying image information, the preset downstream characteristics of the agent, and the reference object, and obtain the decontamination device position of the decontamination device;

[0039] Based on the situation that the current remaining amount of the reagent is less than the remaining path requirement, and the position of the decontamination equipment is consistent with the downstream position of the reagent, the reagent replenishment amount is matched from the preset reagent database according to the current remaining amount of the reagent and the remaining path requirement;

[0040] Control the decontamination equipment to replenish the agent at the current water drop position with the agent replenishment amount;

[0041] Based on the fact that the current remaining amount of agent is not less than the remaining path requirement and the position of the decontamination equipment is consistent with the downstream position of the agent, the blowing device preset on the decontamination equipment is controlled to blow with a preset blowing direction and a preset blowing force value to blow the decontamination agent to below the stain residual characteristics.

[0042] By adopting the above technical solution, by understanding the relationship between the current remaining amount of the agent and the remaining path demand, it is known whether the decontamination agent needs to be replenished. When replenishment is needed and the position of the decontamination device is consistent with the downstream position of the agent, by understanding the amount of agent replenishment, the decontamination device is controlled to replenish the agent to the downstream position of the agent with the amount of agent replenishment. The decontamination agent can cover the area where the stains remain. When replenishment is not needed, it means that the agent is sufficient, and the blowing device can be directly controlled to blow the decontamination agent, which also allows the decontamination agent to cover the area where the stains remain, thereby improving the decontamination efficiency and reducing the agent consumption.

[0043] Optionally, a preset delivery method is also included, and the delivery method includes:

[0044] Get the delivery device location of the delivery device;

[0045] According to the location of the delivery device and the initial location of the drug use, the delivery pipeline length is matched from the preset delivery database;

[0046] Based on the situation that the length of the deployed pipeline exceeds the preset reference pipeline length, the difference between the reference pipeline length and the deployed pipeline length is calculated as the pipeline length difference value;

[0047] Determine the change value of the pipeline length according to the removal path;

[0048] According to the pipeline length difference value and the pipeline length change value, the equipment correction position is matched from the deployment database;

[0049] The delivery device is controlled to move to the device correction position, and the decontamination device is delivered to the initial position for the use of the agent at the device correction position.

[0050] By adopting the above technical solution, the length of the delivery pipeline is known by understanding the position of the delivery device and the initial position of the agent use. When the delivery pipeline is too long, the device correction position is known by understanding the pipeline length difference value and the pipeline length change value. Then, the delivery device can be controlled to move to the device correction position, so that the decontamination equipment can reach the initial position of the agent use and complete the decontamination task, thereby improving the decontamination efficiency.

[0051] Optionally, the delivery method also includes:

[0052] Determine the amount of stain residue according to the image information after shoveling and the characteristics of the stain residue;

[0053] Based on the situation that the amount of the residual stain exceeds the preset reference residual amount, the residual stain distribution is matched from a preset distribution database according to the image information after shoveling and the residual stain feature;

[0054] According to the distribution of residual stains, the initial position of the agent used, and the reference pipeline length, the initial optimal position of the equipment and the change path of the placement equipment position are matched from the placement database;

[0055] Controlling the placement device to move to the initial optimal position of the device, placing the decontamination device at the initial optimal position of the device to the initial position of the agent use, and then controlling the decontamination device to decontaminate the residual features of the stains using a decontamination method, and obtaining decontamination image information;

[0056] Obtaining decontamination image information;

[0057] Based on the fact that the decontamination image information does not contain the residual stain feature, a decontamination completion signal is output, and the delivery device is controlled to recycle the decontamination device corresponding to the decontamination completion signal;

[0058] The placing device is controlled to move along the placing device position change path to transport and place the decontamination device to the remaining stain residual area until the post-shoveling image information does not contain the stain residual feature.

[0059] By adopting the above technical solution, by understanding the distribution of the residual stains, the initial optimal position of the equipment and the path of the position change of the delivery equipment can be known, and then the delivery equipment can be controlled to move to the initial optimal position of the equipment to deliver the decontamination equipment, and after the stain removal of a residual stain area is completed, the delivery equipment is controlled to move along the path of the position change of the delivery equipment, so that the delivery equipment can deliver the decontamination equipment to all the residual stain areas for decontamination, thereby improving the decontamination efficiency.

[0060] Optionally, a preset cooperative decontamination method is also included, and the cooperative decontamination method includes:

[0061] Based on the situation that the area of ​​the residual area exceeds the area of ​​the preset reference area, the number of decontamination equipment is matched from the preset equipment database according to the area of ​​the residual area;

[0062] According to the number of decontamination equipment and the residual area of ​​stains, the corresponding drop point positions of the equipment are matched from the preset drop point database;

[0063] Matching a cooperative decontamination path from the decontamination database according to the corresponding landing point position of the equipment and the residual area of ​​the stain;

[0064] Determine the average chemical demand based on the cooperative decontamination pathway and chemical dosage value;

[0065] Control the placement equipment to place the decontamination equipment corresponding to the number of decontamination equipment to the corresponding landing positions of the equipment;

[0066] At the corresponding landing point of the equipment, the feeding equipment preset on the delivery equipment is controlled to transport the decontamination agent to each decontamination device according to the average demand for the agent, and the decontamination equipment is controlled to decontaminate the residual stains according to the cooperative decontamination path.

[0067] By adopting the above technical solution, the required number of decontamination equipment can be known by understanding the excess between the residual area and the reference area. When multiple decontamination equipment is needed, the corresponding locations of the equipment can be known by understanding the specific number of decontamination equipment and the residual stain area, and then the cooperative decontamination path can be known, so as to cooperate in decontamination and improve work efficiency.

[0068] Optionally, an algorithm formula for calculating the remaining path demand is also included, and the algorithm formula is:

[0069] , where V is the remaining path demand, Q is the amount of agent liquid flowing through the stain residual area per unit time, r is the hydraulic radius, θ is the inclination angle of the stain residual area, μ is the dynamic viscosity coefficient of the decontamination agent, L is the path length of the water droplet from the current water droplet position to the bottom of the stain residual area, and g is the weight acceleration.

[0070] By adopting the above technical solution and using the above algorithm formula, the calculated remaining path demand is made more accurate, thereby reducing the consumption of decontamination agents.

[0071] In a second aspect, the present application provides a saccharification pot cleaning system, which adopts the following technical solution:

[0072] A saccharification pot cleaning system, comprising:

[0073] An acquisition module is used to acquire working signals, image information in the pot, image information after shoveling, residual area, spraying image information, decontamination equipment position, placement equipment position and decontamination image information;

[0074] A memory for storing a program of any one of the above-mentioned saccharification pot cleaning methods;

[0075] The processor is used to load, execute and implement the program stored in the memory.

[0076] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution:

[0077] An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned saccharification pot cleaning methods.

[0078] In summary, the present application includes at least one of the following beneficial technical effects:

[0079] 1. When the working signal of the saccharification pot is consistent with the standby signal, the cleaning device is controlled to clean the inside of the saccharification pot. Then, by understanding the image information inside the pot, the stubborn stain area is marked, so as to control the cleaning device to clean the stubborn stain. And when the image information after cleaning contains the residual features of the stain, the cleaning device is controlled to remove the residual features of the stain by the cleaning method, so as to improve the cleaning efficiency and thus improve the work efficiency;

[0080] 2. By understanding the relationship between the current remaining amount of reagent and the remaining path demand, we can know whether the decontamination reagent needs to be replenished. When replenishment is needed and the position of the decontamination equipment is consistent with the downstream position of the reagent, by understanding the amount of reagent replenishment, we can control the decontamination equipment to replenish the reagent to the downstream position with the amount of reagent replenishment. This allows the decontamination reagent to cover the area where the stains remain. When replenishment is not needed, it means that the reagent is sufficient, and we can directly control the blowing equipment to blow the decontamination reagent, which also allows the decontamination reagent to cover the area where the stains remain, thereby improving the decontamination efficiency and reducing the consumption of reagents;

[0081] 3. By understanding the excess between the residual area and the base area, we can know the number of decontamination equipment required. When multiple decontamination equipment is needed, we can know the corresponding locations of the equipment by understanding the specific number of decontamination equipment and the residual area of ​​the stains, and then we can know the cooperative decontamination path, so as to cooperate in decontamination and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 is a method flow chart of a saccharification pot cleaning method in an embodiment of the present invention;

[0083] Figure 2is a method flow chart of a decontamination method according to an embodiment of the present invention;

[0084] Figure 3 The method flow of the drug dosage correction method in the embodiment of the present invention is Figure 1 ;

[0085] Figure 4 The method flow of the drug dosage correction method in the embodiment of the present invention is Figure 2 ;

[0086] Figure 5 is a method flow chart of a delivery method in an embodiment of the present invention;

[0087] Figure 6 is a method flow chart of another delivery method in an embodiment of the present invention;

[0088] Figure 7 1 is a method flow chart of the cooperative decontamination method in an embodiment of the present invention. DETAILED DESCRIPTION

[0089] The following is combined with Figures 1 to 7 The present invention is further described in detail with examples.

[0090] The embodiment of the present application discloses a method for cleaning a saccharification pot, which controls a cleaning device, a scraping device, and a decontamination device to decontaminate the saccharification pot step by step, thereby removing the stains in the saccharification pot. When there are too many stains in the saccharification pot, the decontamination device is added and the placement method is adjusted to control the placement of the decontamination device. And when the stain area is too large, multiple decontamination devices are controlled to cooperate in decontamination.

[0091] Reference Figure 1 A saccharification pot cleaning method comprises the following steps:

[0092] Step 100: Obtain a preset working signal of a saccharification pot.

[0093] The saccharification pot refers to a device used for the saccharification process in the saccharification stage of wine brewing. The working signal refers to the signal sent when the saccharification pot is currently performing saccharification operations. The working signal includes a standby signal and an execution signal. The standby signal refers to the signal when the saccharification pot is not performing saccharification operations, and the execution signal refers to the signal when the saccharification pot is performing saccharification operations. The working signal is obtained through a signal transceiver preset on the saccharification pot.

[0094] Step 101: Based on the fact that the working signal is consistent with the preset standby signal, a preset cleaning device is controlled to enter the saccharification pot to perform rough cleaning on the pot with a preset rough cleaning strength value.

[0095] The cleaning device refers to a device used to clean the inside of the saccharification pot after saccharification. The rough washing force value refers to the force used for preliminary washing of the inside of the saccharification pot. The rough washing force value is set in advance by a person skilled in the art and will not be described in detail here.

[0096] When the working signal is consistent with the standby signal, it means that the saccharification pot is not performing saccharification operation. It is necessary to control the cleaning device to enter the saccharification pot to perform rough cleaning of the pot with the rough cleaning intensity value.

[0097] Step 102: Obtaining image information inside the pot.

[0098] The pot image information refers to the image inside the saccharification pot after rough washing, and is obtained by taking pictures with a camera preset on the cleaning device.

[0099] Step 103: select and mark a stubborn stain area from a preset stain database according to the image information in the pot and preset stain features.

[0100] The stain feature refers to the feature of the stain that will exist in the saccharification pot after the saccharification operation. The stain feature is set in advance by a person skilled in the art and will not be described in detail here. The stubborn stain area refers to the area in the saccharification pot where the stain feature still exists after rough washing. The stain feature is framed and marked in the image information in the pot through the stain database, and then the stubborn stain area can be framed. The stain database contains the correspondence between the image information in the pot and the stain feature and the stubborn stain area. The stain database is a manually set database and will not be described in detail here.

[0101] Step 104: Control a preset scraping device to go to the marked location to scrape the stubborn stains in the stubborn stain area with a preset scraping force value, and obtain the scraped image information after the scraping.

[0102] The scraping device refers to a device used to scrape stubborn stains. Stubborn stains refer to stains that remain in the saccharification pot after rough washing. The scraping force value refers to the force used by the scraping device to scrape the stubborn stains. The scraping force value is set in advance by a person skilled in the art and will not be described in detail here. The image information after scraping refers to the image of the stubborn stain area after the stubborn stains in the stubborn stain area are scraped by the scraping device. The image information after scraping is obtained by taking a photo with a camera.

[0103] The scraping device is controlled to go to the marked position to scrape the stubborn stains in the stubborn stain area with a scraping force, and the scraped image information is obtained after the scraping for subsequent steps.

[0104] Step 105: Based on the fact that the post-shoveling image information contains preset stain residue features, control a preset stain removal device to remove the stain residue features using a preset stain removal method.

[0105] The stain residue characteristic refers to the stain characteristic that still exists on the stubborn stain area after the stubborn stain is removed. The stain residue characteristic is set in advance by a person skilled in the art and will not be described in detail here. The stain removal device refers to a device used to remove the stain residue characteristic. The stain removal method refers to a method used to remove the stain residue characteristic. The specific stain removal method is described in detail in the subsequent steps 200 to 204 and will not be described in detail here.

[0106] When the post-shoveling image information contains the features of the residual stains, it means that after the stubborn stains are removed, the stubborn stains still exist on the area, and the stain removal device needs to be controlled to remove the residual stain features using a stain removal method.

[0107] Step 106: After the residual stains are removed, the cleaning device is controlled to perform overall flushing of the interior of the saccharification pot.

[0108] After the residual features of the stains are removed, the cleaning device needs to be controlled to rinse the interior of the saccharification pot once again as a whole for the next use.

[0109] Reference Figure 2 , the decontamination method comprises the following steps:

[0110] Step 200: Based on the fact that the image information after shoveling contains the feature of the residual stain, determine the residual stain area according to the image information after shoveling and the feature of the residual stain.

[0111] The stain residual area refers to the area occupied by the stain residual features on the inner wall of the saccharification pot. The stain residual features in the post-shoveling image information can be regionally selected through the preset regional database, so that the stain residual area can be obtained. The regional database contains the correspondence between the post-shoveling image information and the stain residual features and the stain residual area. The regional database is a manually set database and will not be described in detail here.

[0112] When the image information after shoveling contains the feature of residual stains, it means that after the stubborn stains are removed, there are still stains on the stubborn stain area. It is necessary to select the residual stain features in the image information after shoveling through the regional database to obtain the residual stain area for subsequent steps.

[0113] Step 201: Obtain the residual area of ​​the stain residual area, and match the agent dosage value from a preset agent database according to the residual area.

[0114] The residual area refers to the area of ​​the stain residual area. The residual area is obtained by scanning the stain residual area with a preset infrared scanner. The agent dosage value refers to the dosage value of the stain removal agent used to remove the stain residual characteristics, and the agent dosage value is all the dosage values ​​required for the residual area area of ​​the current stain residual area. The stain removal agent refers to the agent used to remove the stain residual characteristics. The agent dosage value corresponding to the residual area area can be matched through the agent database, which contains the corresponding relationship between the residual area area and the agent dosage value. The agent database is a manually set database and will not be described here.

[0115] Step 202: Match the initial position of agent use from a preset decontamination database according to the stain residual area and the agent usage value.

[0116] The initial position of the agent application refers to the position where the decontamination device first uses the decontamination agent for the stain residue characteristics. The stain residue area and the initial position of the agent application corresponding to the agent dosage value can be matched through the decontamination database, which includes the correspondence between the stain residue area and the agent dosage value and the initial position of the agent application. The decontamination database is a manually set database and will not be described in detail here.

[0117] Step 203: Control the preset delivery device to deliver the decontamination device to the initial position of the agent use, and control the decontamination device to spray the preset decontamination agent on the stain residue characteristics according to the agent dosage value.

[0118] The delivery device is controlled to deliver the decontamination device to the initial position of the agent use, and the decontamination device is controlled to spray the decontamination agent on the residual characteristics of the stain according to the agent dosage value, so as to facilitate the subsequent steps.

[0119] Step 204: Control the cleaning device preset on the dirt removal device to clean the residual stain features, and control the preset suction device to absorb the residual stain features dropped by the cleaning with a preset suction force value.

[0120] Cleaning equipment refers to equipment used to clean and remove residual stains. Suction equipment refers to equipment used to absorb residual stains removed by cleaning. Suction force value refers to the force value when the suction equipment absorbs the residual stains removed by cleaning. The suction force value is set in advance by a person skilled in the art and will not be described in detail here.

[0121] After the decontamination agent is sprayed on the stain residual features, the cleaning device on the decontamination device is controlled to clean the stain residual features, and the suction device is controlled to absorb the stain residual features that have been cleaned and dropped according to the suction force value.

[0122] Reference Figure 3 The dosage correction method includes the following steps:

[0123] Step 300: Based on the situation that the stain residue area falls into the preset inner wall area of ​​the pot, a removal path and an initial horizontal removal path are matched from a preset route database according to the stain residue area.

[0124] The inner wall area of ​​the pot refers to the inner wall of the saccharification pot. The inner wall area of ​​the pot is set in advance by a person skilled in the art and will not be described in detail here. The removal path refers to the route along which the decontamination device completely removes the residual characteristics of the stain. The initial horizontal removal path refers to the path along which the decontamination device travels in a horizontal straight line along the removal path, and this path ends when the device is about to turn.

[0125] When the residual stain area falls into the side wall area of ​​the pot, it means that the residual stain is located on the side wall of the saccharification pot. The route database can be used to match the removal path and the initial horizontal removal path corresponding to the residual stain area. The route database includes the correspondence between the residual stain area, the removal path and the initial horizontal removal path. The route database is an artificially set database and will not be elaborated here.

[0126] Step 301: Match the initial agent usage from the decontamination database according to the removal path and the agent usage value.

[0127] The initial amount of agent used refers to the amount of agent used by the decontamination equipment for the first time on the residual stains. After the decontamination agent is used at the initial position, the decontamination agent will naturally flow down due to its own gravity. Therefore, when the decontamination agent is used in the place where the decontamination agent flows, the use of the decontamination agent can be reduced accordingly.

[0128] The removal path and the initial agent usage corresponding to the agent dosage value can be matched through the decontamination database, which includes the corresponding relationship between the removal path and the agent dosage value and the initial agent usage.

[0129] Step 302: Control the decontamination device to spray the stain residual features along the initial horizontal removal path with the initial dosage of the agent.

[0130] The decontamination equipment is controlled to spray the residual features of the stain with an initial dosage of the agent along the initial horizontal removal path for subsequent steps.

[0131] Step 303: After spraying, obtain spraying image information.

[0132] Spraying image information: An image of the residual stain after the residual stain is sprayed with a chemical in the residual stain area. The spraying image information is obtained by taking a photo with a camera.

[0133] Step 304: Match the current water drop shape and the current water drop position from a preset water drop database according to the spray image information, the stain residual area, the preset reference object and the preset water drop feature.

[0134] The reference object refers to an object that assists in comparing and knowing the current position of water droplets. The water droplet characteristics refer to the characteristics of water droplets formed by the natural flow of the detergent after the detergent is sprayed on the residual characteristics of the stain. The size and position of the reference object and the water droplet characteristics are all set in advance by those skilled in the art and are not described in detail here. The spraying image information contains the reference object. The current water droplet shape refers to the size of the water droplets formed by the natural flow of the detergent. The current water droplet position refers to the position of the water droplet in the residual stain area.

[0135] The water droplet database can be used to match the current water droplet shape and current water droplet position corresponding to the spray image information, stain residual area, reference object and water droplet characteristics. It contains the correspondence between the spray image information, stain residual area, reference object, water droplet characteristics, current water droplet shape and current water droplet position. The water droplet database is an artificially set database and will not be elaborated here.

[0136] Step 305: Match the remaining extension length of the water drop from the decontamination database according to the current water drop shape and the current water drop position.

[0137] The remaining extension length of a water droplet refers to the distance that the current water droplet can continue to flow down. The remaining extension length of a water droplet corresponding to the current water droplet shape and the current water droplet position can be matched through the decontamination database, which includes the corresponding relationship between the current water droplet shape and the current water droplet position and the remaining extension length of the water droplet.

[0138] Step 306: Match the agent usage correction parameters from the decontamination database according to the remaining extension length of the water droplet and the residual area of ​​the stain.

[0139] The agent usage correction parameter refers to the amount of subsequent modification of the amount of decontamination agent used. When the decontamination device moves to the current water drop position, the decontamination device can be controlled not to use the decontamination agent at the current position, thereby saving agent consumption. The agent usage correction parameter corresponding to the remaining extension length of the water drop and the stain residual area can be matched through the decontamination database, which includes the corresponding relationship between the remaining extension length of the water drop and the stain residual area and the agent usage correction parameter.

[0140] Step 307: Determine a remaining removal path according to the removal path and the initial horizontal removal path.

[0141] The remaining removal path refers to the path that remains on the removal path after the decontamination device travels along the initial horizontal removal path. The remaining path is obtained by removing the overlapping portion of the removal path and the initial horizontal removal path.

[0142] Step 308: Control the decontamination device to spray the stain residual features along the remaining removal path using the agent correction parameters.

[0143] The decontamination device is controlled to spray the stain residual features along the remaining removal path with the agent usage correction parameters, so that the decontamination agent can completely cover the residual stains in the stain residual area while reducing the usage of the decontamination agent.

[0144] Reference Figure 4 The method for correcting the dosage of the drug further comprises the following steps:

[0145] Step 400: Match the current remaining amount of medicine from the water drop database according to the current water drop shape.

[0146] The current remaining amount of the agent refers to the amount of the decontamination agent remaining after the natural downflow. The current remaining amount of the agent corresponding to the current water drop shape can be matched through the water drop database, which includes the corresponding relationship between the current water drop shape and the current remaining amount of the agent.

[0147] Step 401: Determine the remaining path requirement based on the current water drop position and the stain residual area.

[0148] The remaining path requirement refers to the amount of detergent required to reach the bottom of the stain residue area when the detergent flows down naturally. The remaining path requirement can be calculated, where V is the remaining path requirement, Q is the amount of agent liquid flowing through the stain residual area per unit time, r is the hydraulic radius, θ is the inclination angle of the stain residual area, μ is the dynamic viscosity coefficient of the decontamination agent, L is the path length of the water droplet from the current water droplet position to the bottom of the stain residual area, and g is the weight acceleration. Q, r, θ and μ are all set in advance by those skilled in the art and will not be elaborated here. L is obtained by calculating the distance between the current water droplet position and the position directly below the stain residual area. The specific calculation method is common knowledge among those skilled in the art and will not be elaborated here. The number 8 mentioned in the formula is derived from Poiseuille's law. The derivation through Poiseuille's law is common knowledge among those skilled in the art and will not be elaborated here.

[0149] Step 402: Determine the downstream position of the agent according to the spraying image information, the preset downstream characteristics of the agent, and the reference object, and obtain the decontamination device position of the decontamination device.

[0150] The agent downstream characteristics refer to the characteristics of the downstream path when the decontamination agent naturally flows down. The agent downstream characteristics are set in advance by those skilled in the art and will not be elaborated here. The agent downstream position refers to the position of the downstream path when the decontamination agent naturally flows down. The decontamination equipment position refers to the position of the decontamination equipment. By identifying and marking the agent downstream characteristics in the spray image information, and then comparing the size and position with the reference object in the spray image information, the agent downstream position can be obtained, and the spray image information contains the reference object. The decontamination equipment position is obtained by a GPS positioning chip set on the decontamination equipment.

[0151] Step 403: Based on the fact that the current remaining amount of the agent is less than the remaining path requirement, and the position of the decontamination equipment is consistent with the downstream position of the agent, the agent replenishment amount is matched from the preset agent database according to the current remaining amount of the agent and the remaining path requirement.

[0152] The amount of agent replenished refers to the amount of agent replenished to the water droplets at the current water drop position in order to allow the decontamination agent to completely flow down to the bottom of the stain residual area. When the current remaining amount of agent is less than the remaining path requirement, it means that the water droplets corresponding to the current remaining amount of agent are not enough to reach the bottom of the stain residual area after flowing down. When the position of the decontamination equipment is consistent with the downstream position of the agent, the agent database is used to match the current remaining amount of agent and the remaining path requirement corresponding to the agent replenishment amount for subsequent steps. The agent database contains the corresponding relationship between the current remaining amount of agent, the remaining path requirement and the agent replenishment amount. The agent database is a manually set database and will not be described here.

[0153] Step 404: Control the decontamination device to replenish the agent at the current water drop position with the agent replenishment amount.

[0154] The decontamination device is controlled to replenish the water droplets at the current water drop position with the replenishing amount of the agent, so that the water droplets at the current water drop position can flow down to the bottom of the stain residual area.

[0155] Step 405: Based on the fact that the current remaining amount of agent is not less than the remaining path requirement and the position of the decontamination device is consistent with the downstream position of the agent, control the blowing device preset on the decontamination device to blow with a preset blowing direction and a preset blowing force value to blow the decontamination agent to below the stain residual feature.

[0156] The blowing device refers to a device used to blow water droplets downward. The blowing direction refers to the direction in which the blowing device blows the water droplets, and the blowing force value refers to the force with which the blowing device blows the water droplets. The blowing direction and the blowing force value are both set in advance by those skilled in the art and are not described in detail here.

[0157] When the current remaining amount of agent is not less than the remaining path requirement, it means that the water droplets corresponding to the current remaining amount of agent can reach the bottom of the stain residual area after naturally flowing down. When the position of the decontamination device is consistent with the downstream position of the agent, the blowing device on the decontamination device is directly controlled to blow in the blowing direction and blowing force value, so as to blow the decontamination agent to the bottom of the stain residual feature in the stain residual area.

[0158] Reference Figure 5 , the delivery method includes the following steps:

[0159] Step 500: Obtain the delivery device location of the delivery device.

[0160] The placement device location refers to the location of the placement device. The placement device location is obtained through a GPS positioning chip set in the placement device.

[0161] Step 501: Match the delivery pipeline length from a preset delivery database according to the delivery device position and the initial position of the medicine use.

[0162] The delivery pipeline length refers to the length of the connecting pipeline between the delivery device and the decontamination device. In this embodiment, there is a connecting pipeline between the delivery device and the decontamination device, and the connecting pipeline is used for the delivery device to transport the decontamination agent to the decontamination device. The delivery database can be used to match the delivery pipeline length corresponding to the delivery device position and the initial position of the agent use, which includes the corresponding relationship between the delivery device position and the initial position of the agent use and the delivery pipeline length. The delivery database is a manually set database and will not be described in detail here.

[0163] Step 502: Based on the situation that the length of the deployed pipeline exceeds the preset reference pipeline length, the difference between the reference pipeline length and the deployed pipeline length is calculated as the pipeline length difference value.

[0164] The reference pipeline length refers to the longest length of the connecting pipeline. The reference pipeline length is set in advance by a person skilled in the art and will not be elaborated here. The pipeline length difference value refers to the length value that the connecting pipeline lacks. When the delivery pipeline length exceeds the reference pipeline length, it means that the current delivery equipment position cannot deliver the decontamination equipment to the initial position of the agent use. It is necessary to calculate the difference between the reference pipeline length and the delivery pipeline length to obtain the pipeline length difference value for subsequent steps.

[0165] Step 503: Determine the change value of the pipeline length according to the removal path.

[0166] The pipe length change value refers to the change in the pipe length as the decontamination device removes the residual stains along the removal path. The pipe length change value corresponding to the removal path can be matched through a preset length database, which includes the corresponding relationship between the removal path and the pipe length change value. The length database is a manually set database and will not be described in detail here.

[0167] Step 504: Match the equipment correction position from the deployment database according to the pipeline length difference value and the pipeline length change value.

[0168] The equipment correction position refers to the position of the delivery device that is changed so that the pipeline length can support the delivery device to deliver the decontamination device to the initial position of the agent and can support the decontamination device to move along the removal path. The delivery database can match the equipment correction position corresponding to the pipeline length difference value and the pipeline length change value, which includes the corresponding relationship between the pipeline length difference value, the pipeline length change value and the equipment correction position.

[0169] Step 505: Control the delivery device to move to the device correction position, and deliver the decontamination device to the initial position for drug use at the device correction position.

[0170] The delivery device is controlled to move to the equipment correction position, and at the equipment correction position, the delivery device is controlled to deliver the decontamination device to the initial position for the use of the agent for subsequent steps.

[0171] Reference Figure 6 The delivery method further includes the following steps:

[0172] Step 600: Determine the amount of residual stains according to the image information after shoveling and the characteristics of the residual stains.

[0173] The number of residual stains refers to the number of residual stain areas in the saccharification pot. The residual stains are obtained by selecting and marking the residual stain areas with residual stain features in the image information after shoveling.

[0174] Step 601: Based on the situation that the amount of residual stains exceeds a preset reference residual amount, the distribution of residual stains is matched from a preset distribution database according to the image information after shoveling and the characteristics of the residual stains.

[0175] The reference residual quantity refers to the quantity used to assist in determining whether the number of the stain residual areas in the saccharification pot is excessive. The reference residual quantity is set in advance by those skilled in the art and will not be described in detail here. In this embodiment, the reference residual quantity is 1. The stain residual distribution refers to the distribution of the stain residual areas in the saccharification pot.

[0176] When the number of stain residues exceeds the baseline residual number, it means that the number of stain residue areas in the saccharification pot is too large, and the distribution database is needed to match the stain residue distribution corresponding to the image information after shoveling and the stain residue characteristics. It includes the correspondence between the image information after shoveling and the stain residue characteristics and the stain residue distribution. The distribution database is an artificially set database and will not be elaborated here.

[0177] Step 602: According to the distribution of the residual stains, the initial position of the agent used, and the reference pipeline length, the initial optimal position of the equipment and the position change path of the delivery equipment are matched from the delivery database.

[0178] The initial optimal position of the equipment refers to the position that the deployment equipment needs to reach in order to be able to deploy as many decontamination devices as possible to the initial position of the agent use corresponding to each stain residue area. The deployment equipment position change path refers to the moving path that the deployment equipment needs to change its position in order to remove all residual stains in the saccharification pot. The deployment database can be used to match the distribution of stain residues, the initial position of agent use, and the reference pipeline length corresponding to the initial optimal position of the equipment and the deployment equipment position change path, which includes the correspondence between the distribution of stain residues, the initial position of agent use, the reference pipeline length, the initial optimal position of the equipment, and the deployment equipment position change path.

[0179] Step 603: Control the placement device to move to the initial optimal position of the device, place the decontamination device at the initial optimal position of the device to the initial position of the agent use, and then control the decontamination device to decontaminate the residual features of the stains using the decontamination method, and obtain decontamination image information.

[0180] The decontamination image information refers to the image of the stain residual area corresponding to the initial position of the agent after the decontamination device is placed at the initial position of the agent. The placement device is controlled to move to the initial optimal position of the device, and at the initial optimal position of the device, the placement device is controlled to place the decontamination device at the initial position of the agent, and the decontamination device is controlled to decontaminate the residual features of the stain using the decontamination method. After decontamination, the decontamination image information is obtained for subsequent steps. The decontamination image information is obtained by taking pictures with a camera.

[0181] Step 604: Based on the fact that the decontamination image information does not contain the residual stain feature, a decontamination completion signal is output, and the delivery device is controlled to recycle the decontamination device corresponding to the decontamination completion signal.

[0182] The decontamination completion signal is a signal indicating that the residual stains in the area have been removed. When the decontamination image information does not contain the residual stain feature, it means that the residual stains in the residual stain area have been removed. The decontamination completion signal can be output, and the delivery device can be controlled to recycle the decontamination device corresponding to the output of the decontamination completion signal for subsequent steps.

[0183] Step 605: Control the placement device to move along the placement device position change path to transport and place the stain removal device to the remaining stain residual area until the post-shoveling image information does not contain stain residual features.

[0184] The delivery device is controlled to move along the delivery device position change path to transport and deliver the decontamination device to the initial position of the agent use corresponding to the remaining stain residual area, until the image information after shoveling does not contain the stain residual feature, indicating that all the residual stains in the saccharification pot have been removed.

[0185] Reference Figure 7 , the collaborative decontamination method comprises the following steps:

[0186] Step 700: Based on the situation that the area of ​​the residual region exceeds the area of ​​the preset reference region, the number of decontamination equipment is matched from a preset equipment database according to the area of ​​the residual region.

[0187] The area of ​​the reference area refers to the maximum area that a single contamination removal device can complete the contamination removal task alone within the specified time set by the technical personnel in the field. The area of ​​the reference area is set in advance by the technical personnel in the field and will not be elaborated here. The number of contamination removal devices refers to the number of contamination removal devices used to remove residual stains in the stain residual area. When the area of ​​the residual area exceeds the area of ​​the reference area, it means that a single contamination removal device cannot complete the contamination removal task alone within the specified time set by the technical personnel in the field, and multiple contamination removal devices are required to cooperate in contamination removal. The number of contamination removal devices corresponding to the area of ​​the residual area can be matched through the equipment database, which contains the corresponding relationship between the area of ​​the residual area and the number of contamination removal devices. The equipment database is a manually set database and will not be elaborated here.

[0188] Step 701: Match the corresponding drop point positions of the equipment from a preset drop point database according to the number of stain removal equipment and the stain residual area.

[0189] The corresponding drop point position of the equipment refers to the position of each of the decontamination equipment corresponding to the number of decontamination equipment in the residual stain area. The corresponding drop point position of the equipment corresponding to the number of decontamination equipment and the residual stain area can be matched through the drop point database, which contains the correspondence between the number of decontamination equipment and the residual stain area and the corresponding drop point position of the equipment. The drop point database is a manually set database and will not be described in detail here.

[0190] Step 702: Match the cooperative stain removal path from the stain removal database according to the corresponding landing point position of the equipment and the stain residual area.

[0191] The cooperative decontamination path refers to the path that each decontamination device takes when multiple decontamination devices cooperate to decontaminate the residual stain area. The decontamination database can be used to match the corresponding landing point of the equipment and the corresponding cooperative decontamination path of the residual stain area, which includes the corresponding relationship between the corresponding landing point of the equipment, the residual stain area and the cooperative decontamination path.

[0192] Step 703: Determine the average drug demand based on the cooperative decontamination path and the drug usage value.

[0193] The average agent demand refers to the amount of decontamination agents required when multiple decontamination equipment are performing decontamination along their respective decontamination intersections. The decontamination database can be used to match the average equipment agent demand corresponding to the cooperative decontamination path and the agent usage value, which includes the corresponding relationship between the cooperative decontamination path, the agent usage value and the average agent demand.

[0194] Step 704: Control the placement device to place the decontamination devices corresponding to the number of decontamination devices to the corresponding landing positions of the devices.

[0195] Control the delivery equipment to deliver the decontamination equipment corresponding to the number of decontamination equipment to the corresponding landing positions of the equipment corresponding to the decontamination equipment for the subsequent steps.

[0196] Step 705: At the corresponding drop point of the equipment, the feeding device preset on the delivery device is controlled to transport the decontamination agent to each decontamination device according to the average demand for the agent, and the decontamination device is controlled to decontaminate the residual stains according to the cooperative decontamination path.

[0197] The feeding device refers to a device used to replenish the decontamination agent of the decontamination device. The feeding device includes a transport pipeline for transporting the decontamination agent to the decontamination device. When each decontamination device reaches the corresponding device corresponding landing point, the feeding device on the delivery device is controlled to deliver the decontamination agent corresponding to the average agent demand to each decontamination device along the delivery pipeline, and the decontamination device is controlled to decontaminate the residual stain characteristics in a cooperative decontamination path.

[0198] Based on the same inventive concept, an embodiment of the present invention provides a saccharification pot cleaning system, comprising:

[0199] An acquisition module is used to acquire working signals, image information in the pot, image information after shoveling, residual area, spraying image information, decontamination equipment position, placement equipment position and decontamination image information;

[0200] A memory for storing a program of a saccharification pot cleaning method;

[0201] The processor is used to load, execute and implement the program stored in the memory.

[0202] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed by a saccharification pot cleaning method.

[0203] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0204] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for cleaning a saccharification pot, characterized in that: include: Obtain the preset working signal of the saccharification pot; Based on the fact that the working signal is consistent with the preset standby signal, the preset cleaning device is controlled to enter the saccharification pot to perform rough cleaning on the pot with a preset rough cleaning strength value; Get the image information inside the pot; Select and mark the stubborn stain area from the preset stain database according to the image information in the pot and the preset stain features; Controlling a preset scraping device to go to the marked location to scrape away the stubborn stains in the stubborn stain area with a preset scraping force value, and obtaining the scraped image information after the scraping; Based on the fact that the image information after shoveling contains a preset stain residue feature, controlling a preset stain removal device to remove the stain residue feature using a preset stain removal method; After the residual features of the stains are removed, the cleaning device is controlled to perform overall flushing of the interior of the saccharification pot; Decontamination methods include: Based on the fact that the image information after shoveling contains the feature of the residual stain, the residual stain area is determined according to the image information after shoveling and the feature of the residual stain; Obtaining the residual area of ​​the stain residual area, and matching the dosage value of the agent from a preset agent database according to the residual area; According to the stain residual area and the agent dosage value, the initial position of agent use is matched from the preset decontamination database; Controlling the preset delivery device to deliver the decontamination device to the initial position of the agent use, and controlling the decontamination device to spray the preset decontamination agent on the stain residual characteristics according to the agent dosage value; Controlling the cleaning device preset on the decontamination device to clean the residual features of the stains, and controlling the preset suction device to absorb the residual features of the stains dropped by the cleaning with a preset suction force value; Also included is a preset drug dosage correction method, the drug dosage correction method comprising: Based on the situation that the stain residue area falls into the preset inner wall area of ​​the pot, a removal path and an initial horizontal removal path are matched from a preset route database according to the stain residue area; Matching the initial dosage of the reagent from the decontamination database according to the removal path and the dosage value of the reagent; Controlling the decontamination device to spray the stain residual characteristics along the initial horizontal removal path with the initial agent usage amount; After spraying, obtaining spraying image information; Matching the current water drop shape and the current water drop position from a preset water drop database according to the spray image information, the stain residual area, the preset reference object and the preset water drop feature; Match the remaining extension length of the water drop from the decontamination database according to the current water drop shape and the current water drop position; According to the remaining extension length of the water droplet and the residual area of ​​the stain, the agent usage correction parameter is matched from the stain removal database; determining a remaining removal path based on the removal path and the initial level removal path; The decontamination device is controlled to spray the residual features of the stain along the remaining removal path with the agent usage correction parameters.

2. A saccharification pot cleaning method according to claim 1, characterized in that: The dosage correction method also includes: According to the current water drop shape, the current remaining amount of medicine is matched from the water drop database; Determine the remaining path requirement based on the current water drop position and the stain residual area; Determine the downstream position of the agent according to the spraying image information, the preset downstream characteristics of the agent, and the reference object, and obtain the decontamination device position of the decontamination device; Based on the situation that the current remaining amount of the reagent is less than the remaining path requirement, and the position of the decontamination equipment is consistent with the downstream position of the reagent, the reagent replenishment amount is matched from the preset reagent database according to the current remaining amount of the reagent and the remaining path requirement; Control the decontamination equipment to replenish the agent at the current water drop position with the agent replenishment amount; Based on the fact that the current remaining amount of agent is not less than the remaining path requirement and the position of the decontamination equipment is consistent with the downstream position of the agent, the blowing device preset on the decontamination equipment is controlled to blow with a preset blowing direction and a preset blowing force value to blow the decontamination agent to below the stain residual characteristics.

3. A saccharification pot cleaning method according to claim 1, characterized in that: Also included is a preset delivery method, the delivery method comprising: Get the delivery device location of the delivery device; According to the location of the delivery device and the initial location of the drug use, the delivery pipeline length is matched from the preset delivery database; Based on the situation that the length of the deployed pipeline exceeds the preset reference pipeline length, the difference between the reference pipeline length and the deployed pipeline length is calculated as the pipeline length difference value; Determine the change value of the pipeline length according to the removal path; According to the pipeline length difference value and the pipeline length change value, the equipment correction position is matched from the deployment database; The delivery device is controlled to move to the device correction position, and the decontamination device is delivered to the initial position for the use of the agent at the device correction position.

4. A saccharification pot cleaning method according to claim 3, characterized in that: Delivery methods also include: Determine the amount of stain residue according to the image information after shoveling and the characteristics of the stain residue; Based on the situation that the amount of the residual stain exceeds the preset reference residual amount, the residual stain distribution is matched from a preset distribution database according to the image information after shoveling and the residual stain feature; According to the distribution of residual stains, the initial position of the agent used, and the reference pipeline length, the initial optimal position of the equipment and the change path of the placement equipment position are matched from the placement database; Controlling the placement device to move to the initial optimal position of the device, placing the decontamination device at the initial optimal position of the device to the initial position of the agent use, and then controlling the decontamination device to decontaminate the residual features of the stains using a decontamination method, and obtaining decontamination image information; Based on the fact that the decontamination image information does not contain the residual stain feature, a decontamination completion signal is output, and the delivery device is controlled to recycle the decontamination device corresponding to the decontamination completion signal; The placing device is controlled to move along the placing device position change path to transport and place the decontamination device to the remaining stain residual area until the post-shoveling image information does not contain the stain residual feature.

5. A saccharification pot cleaning method according to claim 3, characterized in that: Also included is a preset cooperative decontamination method, the cooperative decontamination method comprising: Based on the situation that the area of ​​the residual area exceeds the area of ​​the preset reference area, the number of decontamination equipment is matched from the preset equipment database according to the area of ​​the residual area; According to the number of decontamination equipment and the residual area of ​​stains, the corresponding drop point positions of the equipment are matched from the preset drop point database; Matching a cooperative decontamination path from the decontamination database according to the corresponding landing point position of the equipment and the residual area of ​​the stain; Determine the average chemical demand based on the cooperative decontamination pathway and chemical dosage value; Control the placement equipment to place the decontamination equipment corresponding to the number of decontamination equipment to the corresponding landing positions of the equipment; At the corresponding landing point of the equipment, the feeding equipment preset on the delivery equipment is controlled to transport the decontamination agent to each decontamination device according to the average demand for the agent, and the decontamination equipment is controlled to decontaminate the residual stains according to the cooperative decontamination path.

6. A saccharification pot cleaning method according to claim 2, characterized in that: It also includes an algorithm formula for calculating the remaining path demand, and the algorithm formula is: , where V is the remaining path demand, Q is the amount of agent liquid flowing through the stain residual area per unit time, r is the hydraulic radius, θ is the inclination angle of the stain residual area, μ is the dynamic viscosity coefficient of the decontamination agent, L is the path length of the water droplet from the current water droplet position to the bottom of the stain residual area, and g is the weight acceleration.

7. A saccharification pot cleaning system, characterized in that: include: An acquisition module is used to acquire working signals, image information in the pot, image information after shoveling, residual area, spraying image information, decontamination equipment position, placement equipment position and decontamination image information; A memory for storing a program of a saccharification pot cleaning method according to any one of claims 1 to 6; The processor is used to load, execute and implement the program stored in the memory.

8. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a saccharification pot cleaning method as claimed in any one of claims 1 to 6.

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