Cleaning system for kitchen oil smoke pipeline

Abstract

The invention discloses a cleaning system for a kitchen oil fume pipeline, and relates to the technical field of intelligent cleaning of oil fume pipelines, a structure self-adaptive module identifies key cleaning positions based on an oil fume pipeline layout map, and controls a mechanical arm to accurately convey a cleaning head to each complex structure area by calculating the thermal expansion deformation amount and driving air pressure of a shape memory alloy; secondly, the multi-mode composite cleaning module sprays a nano-bubble medicament containing a surfactant and calculates the penetration time length for each key position, the low-frequency ultrasonic frequency is determined in combination with an ultrasonic resonance frequency matching formula, the spraying water pressure is set through a water pressure calculation formula, and swelling-stripping-crushing collaborative cleaning is achieved; the method comprises the following steps: acquiring fluorescence parameters of cleaned greasy dirt, evaluating a cleaning effect by utilizing a fluorescence intensity formula, dynamically adjusting the cleaning parameters of a substandard region, recovering shape memory alloy waste heat by a power integration module to heat a medicament, calculating extra energy consumption in combination with waste heat recovery efficiency, and optimizing energy distribution.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent cleaning of oil fume ducts, and in particular to a cleaning system for kitchen oil fume ducts. Background Art

[0002] With the development of the catering industry, the accumulation of grease and dirt in kitchen fume ducts can easily cause fires and lead to excessive emissions. Traditional cleaning methods are insufficient to handle complex structural blind spots and stubborn grease and dirt. In this context, the development of efficient and intelligent cleaning systems combining mechanical automation, intelligent control, nanomaterials and other technologies has become a necessity to improve cleaning coverage, stripping efficiency and reduce energy consumption.

[0003] Prior art, such as the invention patent application with publication number CN118032041A, discloses an online monitoring system based on an automatic steam cleaning device for an oil fume duct, including an oil fume duct temperature monitoring unit, an oil fume duct internal space monitoring unit, an exhaust pipe atmospheric emission index monitoring unit, a kitchen automatic fire extinguishing monitoring unit, a kitchen fire and absence monitoring unit, a gas leakage monitoring unit and an acoustic and optical alarm unit; the acoustic and optical alarm unit includes an alarm module and a monitoring data remote transmission module. The online monitoring system can alert the user through the alarm module when the temperature in the oil fume duct reaches a specified temperature, when the exhaust pipe exceeds the emission standard, when a fire occurs in the oil fume duct, when the kitchen is on fire and unattended for a long time, and when there is a gas leak. It can also enable the user to grasp the internal condition of the oil fume duct and the exhaust pipe emission status in real time, etc., to ensure that the internal grease and dirt of the oil fume duct can be completely removed after cleaning and to avoid exceeding the emission standard of pollutants in the oil fume duct.

[0004] There are at least the following technical problems with the above scheme: 1. The above scheme lacks the specific design of the kitchen fume duct cleaning actuator and core technology, resulting in the inability to solve the problem of cleaning blind spots in complex structure pipes. It only mentions that "the high-pressure steam automatic cleaning device for the fume duct includes a spray assembly arranged in the fume duct", but does not explain how to adapt to complex areas such as bending sections through mechanical structure. Due to the lack of structural adaptive modules and flexible robotic arm drive technology, the cleaning device is difficult to penetrate into the blind spots of the pipeline, which will cause the cleaning coverage rate of thin pipes below DN50, sharp bends and diameter change areas to be still less than 50%, and cannot break through the bottleneck of "not being able to clean" of traditional solutions.

[0005] 2. The above scheme lacks detailed design of multimodal composite cleaning technology, resulting in insufficient efficiency in stripping stubborn oil stains. The article only mentions "spray components" and "steam automatic cleaning", but does not involve technical paths of multi-energy synergy such as ultrasonic stripping, pulse impact, and nanobubble agent penetration. For example, for hardened oil stains with a thickness greater than 2 mm and an adhesion greater than 10 Newtons per square centimeter, single steam or spray cleaning is difficult to break the high adhesion. The lack of ultrasonic resonance crushing and pulse water pressure impact will cause the residual oil stains to exceed the standard, and it is impossible to achieve closed-loop cleaning of "stripping → crushing → swelling", and the cleaning quality is difficult to meet the standard.

[0006] 3. The above scheme lacks accurate identification of key cleaning positions and differentiated cleaning strategies, which will lead to a lack of targeted cleaning scheme. The above scheme does not define the criteria for determining "key cleaning positions" and does not mention how to adjust cleaning parameters according to the pipeline structure. For example, for curved sections, the lack of a bionic snake-like creeping gait robot arm motion mode and a high-frequency pulse water pressure enhanced stripping strategy will make it difficult to remove oil stains at corners due to centrifugal deposition and densification. Summary of the Invention

[0007] The purpose of the present invention is to provide a kitchen fume duct cleaning system to solve the problems existing in the background technology.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solution: The present invention provides a kitchen fume duct cleaning system, including: a structural adaptive module, which is used to analyze the key cleaning positions in the fume duct corresponding to the kitchen of a designated restaurant before cleaning the fume duct of the kitchen of the designated restaurant, and then deliver the cleaning head to the key cleaning positions in the fume duct through a robotic arm.

[0009] The multimodal composite cleaning module is used to evaluate the cleaning solutions corresponding to each key cleaning position when the cleaning head is located at each key cleaning position.

[0010] The intelligent detection and feedback module is used to perform cleaning operations according to the cleaning plan corresponding to each key cleaning location. When the cleaning of each key cleaning location is completed, it is evaluated whether the cleaning operation of each key cleaning location meets the standards;

[0011] The power integration module is used to evaluate the energy consumption of each key cleaning location during the cleaning operation.

[0012] The beneficial effects of the present invention are: 1. A kitchen fume duct cleaning system provided by an embodiment of the present invention, in the process of identifying key cleaning positions of the fume duct, obtains the duct layout diagram and calculates the curvature radius of each bending section, and marks the area smaller than a preset threshold as the key cleaning position, which is conducive to accurately locating the blind spots of complex structures. Traditional cleaning methods often rely on experience to judge the cleaning area, and it is difficult to accurately identify thin pipes, sharp bends and other parts. The present invention is based on quantified geometric parameters, which is conducive to accurately locking the key areas where oil and dirt are prone to accumulate, making the cleaning work more targeted, effectively avoiding the existence of cleaning blind spots, and providing accurate targets for subsequent cleaning operations.

[0013] 2. In the process of delivering the cleaning head to the key cleaning position, the embodiment of the present invention calculates the thermal expansion deformation of the shape memory alloy and the cylinder driving pressure, and combines the synergistic effect of the shape memory alloy and the air pressure drive, which is conducive to realizing the adaptive navigation of the robot arm in complex pipelines, ensuring that the cleaning head can smoothly reach each key cleaning position, and providing a basic guarantee for thorough cleaning.

[0014] 3. In the process of formulating a cleaning plan, the embodiment of the present invention sprays nanobubble agents at each key location and uses calculation formulas such as penetration time, ultrasonic resonance frequency, and water pressure to formulate a differentiated multimodal cleaning plan, which is conducive to the efficient removal of stubborn oil stains. The nanobubble agent reduces interfacial tension and penetrates the pores of the oil stains. After swelling, it reduces adhesion. The ultrasonic resonance matches the stiffness of the oil stains. The cavitation effect destroys the intermolecular forces. The pulsed water pressure impact breaks up the oil stains. Compared with a single cleaning method, the cleaning efficiency of stubborn oil stains is greatly improved, and the oil stain removal rate is significantly increased.

[0015] 4. In the cleaning effect evaluation process, the embodiment of the present invention uses an ultrasonic probe carried by a robotic arm to scan the thickness of the remaining dirt, calculates the fluorescence intensity after cleaning using the fluorescence intensity formula, and compares it with the standard threshold. The cleaning parameters are automatically adjusted to perform enhanced cleaning, which is conducive to accurately controlling the cleaning quality and changes the problems of strong subjectivity and large hysteresis in traditional manual inspections. With quantitative detection with an accuracy of 0.1 mm and dynamic parameter optimization based on the fuzzy PID algorithm, it avoids "over-cleaning" or "under-cleaning" and ensures that each key cleaning location can achieve the ideal cleaning effect.

[0016] 5. In the energy consumption assessment process, the embodiment of the present invention collects waste heat generated by heating the shape memory alloy through the air duct and uses it to heat the nanobubble agent. The additional energy consumption is calculated based on the waste heat recovery efficiency and supplemented by the surplus power of the pulse pump. This helps to reduce energy consumption and improve resource utilization. The total power consumption is reduced compared with traditional solutions. After the agent is heated, the penetration efficiency is improved and the cleaning time is reduced. This not only saves energy but also improves the efficiency of the cleaning operation, while complying with the development concept of green environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the system structure connection of the present invention. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] See also Figure 1 As shown, the present invention provides a kitchen fume duct cleaning system, which includes: a structural adaptive module, a multi-modal composite cleaning module, an intelligent detection feedback module, a power integration module and a database.

[0021] The structure adaptive module is connected to the multimodal composite cleaning module, the multimodal composite cleaning module is connected to the intelligent detection feedback module, the intelligent detection feedback module is respectively connected to the power integration module and the database, and the power integration module is connected to the database.

[0022] The structural adaptive module is used to analyze the key cleaning locations in the oil fume duct of the designated restaurant's kitchen before cleaning the duct, and then use the robotic arm to deliver the cleaning head to the key cleaning locations in the duct.

[0023] In a specific embodiment, the analysis of the key cleaning positions in the oil fume duct corresponding to the kitchen of the designated restaurant is carried out as follows: before cleaning the oil fume duct of the kitchen of the designated restaurant, the oil fume duct layout diagram corresponding to the kitchen of the designated restaurant is obtained, and the corresponding curved sections in the oil fume duct, as well as the bending angle and arc length of each curved section are obtained according to the oil fume duct layout diagram, and then the curvature radius corresponding to each curved section is calculated. When the curvature radius of a curved section is less than the preset standard curvature radius threshold, the curved section is marked as a key cleaning position, and then the key cleaning positions in the oil fume duct corresponding to the kitchen of the designated restaurant are obtained.

[0024] It should be noted that, assuming that the layout diagram of the oil fume duct in a restaurant kitchen shows that the duct contains a 90° right-angle bend and a 180° U-shaped bend, when defining the curved section, with the inflection point of the right-angle bend as the center, 50 cm of straight pipe is cut forward and 50 cm of straight pipe is cut backward, and they are merged with the 0.8-meter arc-shaped bend section in the middle to form a complete cleaning section with a total length of 1.8 meters. The same is true for the U-shaped bend, with 80 cm cut forward and backward. Due to the large bending angle, oil and dirt are easily accumulated, and the 1.5-meter arc length is merged to form a 3.1-meter cleaning section.

[0025] In a specific embodiment, the cleaning head is delivered to each key cleaning position in the fume duct by a robotic arm. The specific process is as follows: before the robotic arm delivers the cleaning head to each key cleaning position, the thermal expansion deformation of the shape memory alloy corresponding to the robotic arm and the driving pressure for pushing the cylinder piston to move are calculated, thereby completing the cleaning operation of each key cleaning position in the fume duct.

[0026] The initial length L0 of the shape memory alloy is read from the control platform of the robotic arm, and the thermal expansion deformation ΔLi of the shape memory alloy adjusted by the robotic arm at the i-th key cleaning position is calculated using the thermal expansion deformation formula: ΔLi=Si-L0, where Si is the arc length of the bending section corresponding to the i-th key cleaning position, i is the number of each key cleaning position, and the value of i is a positive integer.

[0027] Test the driving pressure P0 of the robot arm corresponding to the straight pipe in the fume duct. Obtain the original straight rod length X0 corresponding to each key cleaning position from the fume duct layout diagram, and then calculate the driving pressure through the following formula: The driving air pressure Pi that should be set for the robot arm corresponding to the i-th key cleaning position is obtained, where S is the cylinder cross-sectional area corresponding to the robot arm.

[0028] According to the i-th key cleaning position, the thermal expansion deformation ΔLi of the shape memory alloy and the driving air pressure Pi that should be set for the robotic arm corresponding to the i-th key cleaning position are adjusted, and then the cleaning head is delivered to the i-th key cleaning position in the oil fume duct through the robotic arm.

[0029] It should be noted that the linear expansion coefficient k of the shape memory alloy is obtained from the corresponding material manual of the shape memory alloy. When the robotic arm delivers the cleaning head to each key cleaning position, the shape memory alloy is heated, and the cleaning head is allowed to pass through the curved section of each key cleaning position. The calculation formula is: The temperature change ΔTi of the shape memory alloy corresponding to the i-th key cleaning position is obtained, and the temperature change ΔTi is added to the initial temperature T0 to obtain the target temperature to which the shape memory alloy should be heated.

[0030] It should also be noted that the cylinder cross-sectional area corresponding to the robotic arm is directly read from the control platform of the robotic arm. The original straight rod length can be understood as: in the oil fume duct layout diagram, the length of the original straight duct portion that is not included in the cleaning range of the curved section. For example, a section of the duct consists of a straight section of 2 meters to a curved section with an arc length of 1 meter, with 0.5-meter straight sections to 3-meter straight sections cut off at the front and back. The cleaning range of the curved section includes 0.5-meter straight sections at the front and back. The original straight rod length is 4 meters, the remaining length of the front straight section of 1.5 meters plus the remaining length of the rear straight section of 2.5 meters, which is the total original length of the straight duct that has not been cut off for cleaning.

[0031] In the process of delivering the cleaning head to the key cleaning position, the embodiment of the present invention calculates the thermal expansion deformation of the shape memory alloy and the cylinder driving pressure, and combines the synergistic effect of the shape memory alloy and the air pressure drive, which is conducive to realizing the adaptive navigation of the robotic arm in complex pipelines, ensuring that the cleaning head can smoothly reach each key cleaning position, and providing a basic guarantee for thorough cleaning.

[0032] The multimodal composite cleaning module is used to evaluate the cleaning solutions corresponding to each key cleaning position when the cleaning head is located at each key cleaning position.

[0033] In a specific embodiment, the cleaning scheme corresponding to each key cleaning position is evaluated, and the specific process is as follows: the cleaning scheme corresponding to each key cleaning position includes the waiting time for penetration after spraying the nanobubble agent containing a surfactant, the low-frequency ultrasonic frequency to be set, and the spraying water pressure to be set. When the robotic arm delivers the cleaning head to the i-th key cleaning position, the cleaning head sprays the nanobubble agent containing a surfactant onto the surface of the i-th key cleaning position, and calculates the waiting time for penetration after spraying the nanobubble agent at the i-th key cleaning position. When the required waiting time for penetration has passed, the ultrasonic generator and ultrasonic transducer installed on the robotic arm are used to break the adhesion of oil and dirt. The resonant frequency corresponding to the i-th key cleaning position is calculated by the ultrasonic resonance frequency matching formula, and then the low-frequency ultrasonic frequency set by the ultrasonic generator is determined. The water pressure required to be sprayed by the cleaning head at the i-th key cleaning position is calculated, and then the cleaning operation of the i-th key cleaning position is completed.

[0034] In a specific embodiment, the calculation of the penetration time required after the nanobubble agent is sprayed at the i-th key cleaning position, the low-frequency ultrasonic frequency, and the required spraying water pressure is as follows: the ultrasonic probe carried by the robotic arm scans the inner wall of the pipe at the i-th key cleaning position, randomly sets various collection points on the inner wall of the pipe, and then collects the oil stain thickness corresponding to each collection point. The maximum value of the oil stain thickness corresponding to each collection point is selected as the oil stain thickness hi corresponding to the i-th key cleaning position, and then the penetration time evaluation formula is used: The waiting time Ti for penetration after the nanobubble agent is sprayed at the i-th key cleaning position is obtained, where v and a represent the basic penetration rate and concentration influence coefficient determined by experiments, respectively, and c is the concentration of the sprayed nanobubble agent.

[0035] Through the ultrasonic resonance frequency matching formula: Obtain the resonance frequency fi corresponding to the i-th key cleaning position, where n and v′ represent the resonance order and the sound velocity in the fluid, respectively. Then, set the low-frequency ultrasonic frequency corresponding to the ultrasonic generator to the same frequency as the resonance frequency fi.

[0036] Calculate the water pressure using the formula: The required water pressure Pi′ corresponding to the i-th key cleaning position is obtained, where P′ and f′ represent the set reference water pressure and reference frequency, and λ is the set frequency influence coefficient.

[0037] It should be noted that in the laboratory, standard oil samples, such as solidified oil films, are used, and clean water or a reference solvent without additives is dripped into them. The time it takes for the liquid to penetrate the oil layer is recorded through microscopic observation or sensors, and the penetration distance per unit time is calculated. For example, at 25°C, 5 ml of clean water is dripped into a 2 mm thick oil film, and the penetration time is measured to be 10 seconds. The basic penetration rate is 0.2 mm / s. Nanobubble agents of different concentrations are prepared, such as 5%, 10%, and 15%. The above penetration experiment is repeated to establish a fitting curve of agent concentration-penetration rate. The slope or exponential term of the curve is the concentration influence coefficient. For example, when the concentration increases from 5% to 10%, the penetration rate increases from 0.3 mm / s to 0.5 mm / s. The influence coefficient is obtained by linear fitting. The concentration of the sprayed nanobubble agent can be directly read from the robotic arm control platform. For example, experiments have shown that a nanobubble agent with a concentration of 12% removes 92% of stubborn oil stains within 5 minutes. When the concentration is higher than this, the efficiency improvement slows down, so the spray concentration is determined to be 12%.

[0038] It should also be noted that the resonance order refers to the vibration mode sequence number of the vibration system in the resonant state, which reflects the frequency multiple relationship of the vibration. For example, the first-order resonance is the fundamental frequency, the second-order is 2 times the fundamental frequency, and so on. For example, a certain fume duct cleaning equipment uses ultrasonic vibration. The fundamental frequency is 20k Hz, which is represented as the first-order resonance frequency. The second-order resonance frequency is 40k Hz, and the third-order is 60k Hz.

[0039] The reference water pressure serves as a standard water pressure value for reference during experiments or cleaning operations. It is used to calibrate equipment operating parameters or compare cleaning results under different conditions. Preliminary experiments test cleaning efficiency at different water pressures and select a water pressure value that provides stable efficiency and reasonable energy consumption. For example, tests have found that the cavitation effect of nanobubble agents is optimal at a water pressure of 0.8 MPa, which is set as the reference water pressure. In actual operations, this pressure can be adjusted within ±0.2 MPa. The reference frequency, the standard operating frequency of vibration or acoustic wave equipment, serves as the reference point for frequency adjustment. The optimal frequency is determined based on the characteristics of the cleaning object, such as oil viscosity and pipe size. By testing the oil removal rate at different frequencies, for example, when cleaning a 200 mm diameter pipe, it was found that a frequency of 30 kHz achieves optimal coupling between bubble resonance and the pipe inner wall, achieving an 85% removal rate. This frequency is therefore selected as the reference frequency.

[0040] The frequency influence coefficient reflects the quantitative impact of frequency change on cleaning efficiency, that is, the change in cleaning efficiency when the frequency changes by a unit value. The frequency is adjusted near the reference frequency, such as ±5 kHz, and the corresponding cleaning efficiency is measured to establish a "frequency-efficiency" relationship curve. Through linear fitting, if the curve is approximately linear, the slope is the frequency influence coefficient. For example, experiments show that when the frequency increases from 25 kHz to 30 kHz, the oil removal rate increases from 70% to 85%, then the influence coefficient is Percent per kilohertz.

[0041] In the process of formulating a cleaning plan, the embodiment of the present invention sprays a nanobubble agent at each key location and uses calculation formulas such as penetration time, ultrasonic resonance frequency, and water pressure to formulate a differentiated multimodal cleaning plan. This is conducive to the efficient removal of stubborn grease. The nanobubble agent reduces interfacial tension and penetrates the pores of the grease. After swelling, it reduces adhesion. The ultrasonic resonance matches the stiffness of the grease. The cavitation effect destroys the intermolecular force. The pulsed water pressure impact breaks up the grease. Compared with a single cleaning method, the cleaning efficiency of stubborn grease is greatly improved, and the grease removal rate is significantly increased.

[0042] The intelligent detection and feedback module is used to perform cleaning operations according to the cleaning plan corresponding to each key cleaning location. When the cleaning of each key cleaning location is completed, it is evaluated whether the cleaning operation of each key cleaning location meets the standards;

[0043] In a specific embodiment, the specific process of evaluating whether the cleaning operation of each key cleaning position meets the standard is as follows: when the i-th key cleaning position completes the cleaning operation according to the cleaning plan corresponding to the i-th key cleaning position, the fluorescence parameters of the oil stains corresponding to the i-th key cleaning position after cleaning are collected, and then the fluorescence intensity of the i-th key cleaning position after cleaning is calculated, and the preset standard fluorescence intensity threshold after cleaning is queried from the database, and then the fluorescence intensity of the i-th key cleaning position after cleaning is compared with the preset standard fluorescence intensity threshold after cleaning. If the fluorescence intensity of the i-th key cleaning position after cleaning is greater than the preset standard fluorescence intensity threshold after cleaning, it indicates that the cleaning operation of the i-th key cleaning position does not meet the standard; otherwise, it indicates that the cleaning operation of the i-th key cleaning position meets the standard.

[0044] It should be noted that the standard fluorescence intensity threshold after cleaning is used as the basis for evaluating whether the cleaning operations at each key cleaning location meet the standards. The process of setting the standard fluorescence intensity threshold is the same as the cleanliness threshold setting method based on fluorescence spectral analysis in the existing technology, such as the fluorescence detection process in ISO16232 or ASTMD6787 standards, so it will not be elaborated on here.

[0045] In a specific embodiment, the oil stain fluorescence parameters corresponding to the i-th key cleaning position after cleaning are collected, and the specific process is as follows: the oil stain fluorescence parameters include the remaining dirt thickness, the fitting slope and the fitting intercept. The remaining dirt thickness corresponding to the i-th key cleaning position after cleaning is obtained by scanning with an ultrasonic probe carried by a robotic arm, and the fitting slope and the fitting intercept are obtained by fitting experimental data. The fitting slope and the fitting intercept are parameters that serve as the quantitative relationship between the fluorescence intensity and the remaining dirt thickness.

[0046] It should be noted that the fitting slope and fitting intercept obtained by fitting the experimental data are the same as the experimental setting process of the concentration influence coefficient and the frequency influence coefficient, which will not be elaborated here.

[0047] In a specific embodiment, the calculation obtains the fluorescence intensity of the i-th key cleaning position after cleaning, and the specific process is as follows: the fluorescence intensity calculation formula: Ii=Hi*γ+b is used to obtain the fluorescence intensity Ii of the i-th key cleaning position after cleaning, where Hi represents the residual dirt thickness of the i-th key cleaning position after cleaning, and γ and b represent the fitting slope and fitting intercept, respectively.

[0048] It should be noted that in the laboratory, three clean metal sheets were first prepared as pipe simulation samples. Standard grease with thicknesses of 0 mm, 1 mm, and 2 mm was applied to each sheet. The grease composition was consistent with kitchen fumes. The actual thickness was confirmed with a micrometer. The samples were then illuminated with a 405 nm ultraviolet light source and the fluorescence intensity was measured using an endoscope detection system. The data obtained were: the fluorescence intensity of the 0 mm sample was 100 a.u., the 1 mm sample was 600 a.u., and the 2 mm sample was 1100 a.u. Substituting these three sets of data into the linear equation: I i =H i *γ+b, by calculating the slope The intercept b = 100 a.u., that is, the fluorescence intensity value at 0 mm, and the final formula is determined to be 500*H i +100, au is the abbreviation of arbitrary unit, which represents the relative numerical unit in fluorescence intensity measurement and is used to characterize the strength ratio of the detection signal, that is, the absolute unit without physical dimension.

[0049] During the cleaning effect evaluation process, the embodiment of the present invention uses an ultrasonic probe carried by a robotic arm to scan the thickness of the remaining dirt, calculates the fluorescence intensity after cleaning using the fluorescence intensity formula, and compares it with the standard threshold. The cleaning parameters are automatically adjusted to perform enhanced cleaning, which is conducive to accurately controlling the cleaning quality and changes the problems of strong subjectivity and large hysteresis in traditional manual inspections. With quantitative detection with an accuracy of 0.1 mm and dynamic parameter optimization based on the fuzzy PID algorithm, it avoids "over-cleaning" or "under-cleaning" and ensures that each key cleaning position can achieve the ideal cleaning effect.

[0050] The power integration module is used to evaluate the energy consumption of each key cleaning location during the cleaning operation.

[0051] In a specific embodiment, the evaluation of the energy consumption corresponding to each key cleaning position during the cleaning operation is as follows: when the heated shape memory alloy passes through the curved section corresponding to each key cleaning position, the waste heat corresponding to the heated shape memory alloy is collected through the air duct, and the waste heat is used to heat the nano-cleaning agent. The preset waste heat recovery efficiency is obtained from the database, and then the additional energy consumption required to be supplemented for each key cleaning position during the cleaning operation is calculated, thereby obtaining the energy consumption corresponding to each key cleaning position during the cleaning operation.

[0052] It should be noted that the waste heat recovery efficiency setting process is the same as the threshold determination method based on heat balance calculation, energy efficiency standards or experimental testing in the prior art, so it will not be described in detail here.

[0053] In a specific embodiment, the calculation is performed to obtain the additional energy consumption required for each key cleaning position during the cleaning operation. The specific process is as follows: By the calculation formula:

[0054] Qi = (ΔTi*c′*Mi)(1-η), and the additional energy consumption Qi required for the cleaning operation at the i-th key cleaning position is obtained, where ΔTi represents the temperature change of the shape memory alloy at the i-th key cleaning position, c′ represents the specific heat capacity of water, Mi represents the mass of the nanobubble agent sprayed by the cleaning head at the i-th key cleaning position, and η represents the waste heat recovery efficiency.

[0055] It should be noted that the mass of the nanobubble agent sprayed at the i-th key cleaning position can be directly read from the robotic arm control platform.

[0056] In the energy consumption assessment process, the embodiment of the present invention collects waste heat generated by heating the shape memory alloy through the air duct and uses it to heat the nanobubble agent. The additional energy consumption is calculated based on the waste heat recovery efficiency, and the remaining power of the pulse pump is used to supplement it. This is conducive to reducing energy consumption and improving resource utilization. The total power consumption is reduced compared with traditional solutions. After the agent is heated, the penetration efficiency is improved and the cleaning time is reduced. This not only saves energy but also improves the efficiency of the cleaning operation, while complying with the development concept of green environmental protection.

[0057] The database is used to store a preset standard fluorescence intensity threshold after cleaning and a preset waste heat recovery efficiency.

[0058] An embodiment of the present invention provides a kitchen fume duct cleaning system. During the process of identifying key cleaning locations in the fume duct, the system obtains a duct layout diagram and calculates the curvature radius of each curved section, marking areas smaller than a preset threshold as key cleaning locations. This facilitates the precise positioning of blind spots in complex structures. Traditional cleaning methods often rely on experience to determine the cleaning area, making it difficult to accurately identify thin ducts, sharp bends, and other locations. The present invention, based on quantified geometric parameters, facilitates the precise targeting of key areas where oil and dirt are prone to accumulation, making the cleaning work more targeted, effectively avoiding the existence of cleaning blind spots, and providing accurate targets for subsequent cleaning operations.

[0059] The above content is merely an example and explanation of the concept of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined in this specification, they should all fall within the scope of protection of the present invention.

Claims

1. A kitchen fume duct cleaning system, characterized in that: include: The structural adaptive module is used to analyze the key cleaning locations in the oil fume duct of the designated restaurant's kitchen before cleaning the duct, and then use the robotic arm to deliver the cleaning head to the key cleaning locations in the duct; Multimodal composite cleaning module, used to evaluate the cleaning solutions corresponding to each key cleaning position when the cleaning head is located at each key cleaning position; The intelligent detection and feedback module is used to perform cleaning operations according to the cleaning plan corresponding to each key cleaning location. When the cleaning of each key cleaning location is completed, it is evaluated whether the cleaning operation of each key cleaning location meets the standards; The power integration module is used to evaluate the energy consumption of each key cleaning location during the cleaning operation.

2. A kitchen fume duct cleaning system according to claim 1, characterized in that: The analysis specifies the key cleaning locations in the fume duct of the kitchen of a designated restaurant. The specific process is as follows: Before cleaning the oil fume duct of the kitchen of a designated restaurant, obtain the oil fume duct layout diagram corresponding to the kitchen of the designated restaurant, obtain the corresponding curved sections in the oil fume duct according to the oil fume duct layout diagram, as well as the bending angle and arc length of each curved section, and then calculate the curvature radius corresponding to each curved section. When the curvature radius of a curved section is less than the preset standard curvature radius threshold, mark the curved section as a key cleaning position, and then obtain the key cleaning positions in the oil fume duct corresponding to the kitchen of the designated restaurant.

3. A kitchen fume duct cleaning system according to claim 2, characterized in that: The cleaning head is delivered to each key cleaning position in the oil fume duct by the robotic arm. The specific process is as follows: When the robotic arm delivers the cleaning head to each key cleaning position, the robot arm calculates the thermal expansion deformation of the corresponding shape memory alloy and the driving pressure to push the cylinder piston to move, thereby completing the cleaning operation of each key cleaning position in the oil fume duct; The initial length L0 of the shape memory alloy is read from the control platform of the robotic arm. The thermal expansion deformation ΔLi of the shape memory alloy adjusted by the robotic arm at the i-th key cleaning position is calculated using the thermal expansion deformation formula: ΔLi=Si-L0, where Si is the arc length of the bending section corresponding to the i-th key cleaning position, i is the number of each key cleaning position, and the value of i is a positive integer; Test the driving pressure P0 of the robot arm corresponding to the straight pipe in the fume duct. Obtain the original straight rod length X0 corresponding to each key cleaning position from the fume duct layout diagram, and then calculate the driving pressure through the following formula: Get the driving air pressure Pi that should be set for the robot arm corresponding to the i-th key cleaning position, where S is the cylinder cross-sectional area corresponding to the robot arm; According to the i-th key cleaning position, the thermal expansion deformation ΔLi of the shape memory alloy and the driving air pressure Pi that should be set for the robotic arm corresponding to the i-th key cleaning position are adjusted, and then the cleaning head is delivered to the i-th key cleaning position in the oil fume duct through the robotic arm.

4. A kitchen fume duct cleaning system according to claim 3, characterized in that: The specific process of evaluating the cleaning solutions corresponding to each key cleaning location is as follows: The cleaning plan corresponding to each key cleaning position includes the waiting time for penetration after spraying the nanobubble agent containing a surfactant, the low-frequency ultrasonic frequency to be set, and the spraying water pressure to be set. When the robotic arm delivers the cleaning head to the i-th key cleaning position, the cleaning head sprays the nanobubble agent containing a surfactant onto the surface of the i-th key cleaning position, and the waiting time for penetration after spraying the nanobubble agent at the i-th key cleaning position is calculated. When the required waiting time for penetration has elapsed, the ultrasonic generator and ultrasonic transducer installed on the robotic arm are used to break the adhesion of oil and dirt. The resonant frequency corresponding to the i-th key cleaning position is calculated using the ultrasonic resonance frequency matching formula, and the low-frequency ultrasonic frequency to be set for the ultrasonic generator is then determined. The cleaning operation of the i-th key cleaning position is completed by calculating the required spraying water pressure set by the cleaning head at the i-th key cleaning position.

5. A kitchen fume duct cleaning system according to claim 4, characterized in that: The specific process of calculating the waiting time for penetration, the low-frequency ultrasonic frequency, and the required spraying water pressure after spraying the nanobubble agent at the i-th key cleaning position is as follows: The ultrasonic probe carried by the robotic arm scans the inner wall of the pipe at the i-th key cleaning position, randomly sets various collection points on the inner wall of the pipe, and then collects the corresponding oil stain thickness of each collection point. The maximum value of the oil stain thickness corresponding to each collection point is selected as the oil stain thickness hi corresponding to the i-th key cleaning position, and then the penetration time evaluation formula is used: Obtain the waiting time Ti for penetration after spraying the nanobubble agent at the i-th key cleaning position, where v and a represent the experimentally determined basic penetration rate and concentration influence coefficient, respectively, and c is the concentration of the sprayed nanobubble agent; Through the ultrasonic resonance frequency matching formula: Obtain the resonance frequency fi corresponding to the i-th key cleaning position, where n and v′ represent the resonance order and the sound velocity in the fluid, respectively. Then, set the low-frequency ultrasonic frequency corresponding to the ultrasonic generator to the same frequency as the resonance frequency fi. Calculate the water pressure using the formula: The required water pressure Pi′ corresponding to the i-th key cleaning position is obtained, where P′ and f′ represent the set reference water pressure and reference frequency, and λ is the set frequency influence coefficient.

6. A kitchen fume duct cleaning system according to claim 5, characterized in that: The specific process of evaluating whether the cleaning operations at each key cleaning location meet the standards is as follows: After the i-th key cleaning position completes the cleaning operation according to the cleaning plan corresponding to the i-th key cleaning position, the fluorescence parameters of the oil stains corresponding to the i-th key cleaning position after cleaning are collected, and then the fluorescence intensity of the i-th key cleaning position after cleaning is calculated. The preset standard fluorescence intensity threshold after cleaning is queried from the database, and then the fluorescence intensity of the i-th key cleaning position after cleaning is compared with the preset standard fluorescence intensity threshold after cleaning. If the fluorescence intensity of the i-th key cleaning position after cleaning is greater than the preset standard fluorescence intensity threshold after cleaning, it indicates that the cleaning operation of the i-th key cleaning position does not meet the standard. Otherwise, it indicates that the cleaning operation of the i-th key cleaning position meets the standard.

7. A kitchen fume duct cleaning system according to claim 6, characterized in that: The specific process of collecting the fluorescence parameters of the oil stains corresponding to the i-th key cleaning position after cleaning is as follows: The oil stain fluorescence parameters include the remaining dirt thickness, fitting slope and fitting intercept. The remaining dirt thickness corresponding to the i-th key cleaning position after cleaning is obtained by scanning with the ultrasonic probe carried by the robotic arm. The fitting slope and fitting intercept are obtained by fitting the experimental data. The fitting slope and fitting intercept are parameters that serve as the quantitative relationship between fluorescence intensity and remaining dirt thickness.

8. A kitchen fume duct cleaning system according to claim 7, characterized in that: The calculation process for obtaining the fluorescence intensity of the i-th key cleaning position after cleaning is as follows: The fluorescence intensity calculation formula: Ii=Hi*γ+b is used to obtain the fluorescence intensity Ii of the i-th key cleaning position after cleaning, where Hi represents the thickness of the remaining dirt after cleaning at the i-th key cleaning position, and γ and b represent the fitting slope and fitting intercept, respectively.

9. A kitchen fume duct cleaning system according to claim 8, characterized in that: The specific process of evaluating the energy consumption of each key cleaning location during the cleaning operation is as follows: When the heated shape memory alloy passes through the curved sections corresponding to each key cleaning position, the waste heat corresponding to the heated shape memory alloy is collected through the air duct and used to heat the nano-cleaning agent. The preset waste heat recovery efficiency is obtained from the database, and then the additional energy consumption required for each key cleaning position during the cleaning operation is calculated, thereby obtaining the corresponding energy consumption of each key cleaning position during the cleaning operation.

10. A kitchen fume duct cleaning system according to claim 9, characterized in that: The calculation obtains the additional energy consumption required for each key cleaning position during the cleaning operation. The specific process is as follows: The additional energy consumption Qi required for the cleaning operation at the i-th key cleaning position is calculated by the formula: Qi = (ΔTi*c′*Mi)(1-η), where ΔTi represents the temperature change of the shape memory alloy at the i-th key cleaning position, c′ represents the specific heat capacity of water, Mi represents the mass of the nanobubble agent sprayed by the cleaning head at the i-th key cleaning position, and η represents the waste heat recovery efficiency.

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