Reaction kettle cleaning system

Abstract

The invention relates to the technical field of container cleaning, in particular to a reaction kettle cleaning system, which is characterized in that an internal space model of a reaction kettle is constructed through a construction unit, a motion trail of a nozzle is obtained through a feature extraction unit, and a plurality of impact dominant trail points are determined through a dominant analysis module; a diffusion characterization coefficient is determined through a cleaning process characterization module according to the included angle between the water flow direction and the surface of the local model, so that a plurality of cleaning optimization trajectory segments are screened; and controlling the nozzle to repeatedly clean along the cleaning optimization track section through the cleaning control module, and adjusting the operation parameters of the nozzle according to the diffusion characterization coefficient. And furthermore, a targeted cleaning strategy is implemented according to the identified key process which is easy to generate dust diffusion, so that the cleaning effect and the dust suppression effect are taken into account.

Description

Technical Field

[0001] This invention relates to the field of container cleaning technology, and more particularly to a reaction vessel cleaning system. Background Technology

[0002] As core production equipment in industries such as chemical, pharmaceutical, and food processing, reaction vessels undertake key processes such as material mixing, polymerization, and crystallization. Their internal cleanliness directly determines the quality of subsequent products. In pharmaceutical synthesis and fine chemical industries, reaction vessels often retain large amounts of dust-like or lightly adhering residues, leading to cross-contamination. Currently, the mainstream fully automated cleaning technology relies on high-pressure water jet cleaning. A PLC control system drives rotating nozzles, using a high-pressure pump to pressurize water to tens of megapascals, creating a high-speed jet that impacts the vessel wall to remove residues. However, when dealing with dust-like residues, high-pressure water jet technology reveals significant drawbacks: the impact of high-pressure water on the vessel wall causes the dust-like residues to mix with water vapor, forming dust-laden aerosols. These aerosols easily diffuse within the confined space of the reaction vessel, potentially re-adhering to the inner wall and causing secondary contamination, and can also be released during subsequent opening operations, endangering the occupational health of operators and polluting the production environment.

[0003] To address the issue of dust dispersion, fine water mist can be used to encapsulate dust particles and cause them to settle. However, existing solutions often employ a fixed switching logic between high-pressure and atomization modes, making it difficult to simultaneously achieve both cleaning and dust suppression.

[0004] For example, Chinese invention patent CN120787182A discloses an ultra-high pressure pulse descaling system for a high-pressure reactor, including a reactor body and a cleaning device. The reactor body has a sealable cleaning port. The cleaning device includes a water pump, pipes, a sprayer, and a plug. The water pump is connected to the sprayer through a pipe, which passes through the cleaning port to allow the sprayer to extend into the reactor body. The sprayer has multiple water outlets and is rotatably connected to the pipes. The water pump delivers descaling agent into the sprayer through the pipes. The sprayer can rotate under the action of the descaling agent. The plug is installed on the pipes to seal the cleaning port. The ultra-high pressure pulse descaling system for a high-pressure reactor provided by this invention utilizes a water pump to drive the descaling agent to flow at high speed, thereby driving the sprayer to rotate. At the same time, the descaling agent is sprayed out from the sprayer, spraying in all directions inside the high-pressure reactor, evenly covering the scale on all parts of the inner wall, eliminating blind spots that are not sprayed by the descaling agent.

[0005] The following problems still exist in the existing technology: Existing technologies do not consider the impact of high-pressure water on the reactor wall when cleaning the reactor. This impact can cause dusty residues to mix with water vapor to form dust-laden aerosols, which may re-adhere to the equipment and cause secondary pollution. Existing technologies cannot accurately characterize and predict the cleaning process, nor can they identify key processes that are prone to dust diffusion in advance and implement targeted cleaning strategies. As a result, it is difficult to achieve both cleaning and dust suppression effects. Summary of the Invention

[0006] To address this, the present invention provides a reactor cleaning system to overcome the problem that existing technologies cannot accurately characterize and predict the cleaning process, cannot identify key processes that are prone to dust diffusion in advance and implement targeted cleaning strategies, resulting in a difficulty in achieving both cleaning and dust suppression effects.

[0007] To achieve the above objectives, the present invention provides a reactor cleaning system, comprising: The cleaning module includes a nozzle and a plurality of water spray holes disposed on the nozzle, wherein each water spray hole operates in a first spray mode or a second spray mode. The data acquisition module includes a construction unit for building an internal space model of the reactor and a feature extraction unit for acquiring the motion trajectory of the nozzle. The explicit analysis module, which is connected to the data acquisition module, is used to determine several impact explicit trajectory points based on the spatial positional relationship between the motion trajectory and the internal space model; and to delineate the target trajectory segment based on each impact explicit trajectory point. The cleaning process characterization module, which is connected to the explicit analysis module, is used to obtain the water flow direction of the simulated nozzle spray within the target trajectory segment, and determine the diffusion characterization coefficient based on the angle between the water flow direction and the local model surface, so as to screen several optimized cleaning trajectory segments. A cleaning control module, which is connected to the cleaning process characterization module and the cleaning module respectively, is used to control the nozzle to perform repeated cleaning along the cleaning optimization trajectory segment, and to adjust the operating parameters of the nozzle according to the diffusion characterization coefficient. The operating parameters include the speed of motion and the ratio of the number of water jets operating in the first jet mode to the number operating in the second jet mode.

[0008] Furthermore, the explicit analysis module is used to mark the explicit impact trajectory points, wherein, The explicit analysis module is used to calculate the minimum distance from each trajectory point on the motion trajectory to the surface of the internal space model, and compare the minimum distance with a preset distance threshold. If the minimum distance corresponding to a trajectory point is less than the distance threshold, the explicit analysis module marks the trajectory point as an impact explicit trajectory point.

[0009] Furthermore, the explicit analysis module is used to delineate the target trajectory segment, wherein, The explicit analysis module takes each impact explicit trajectory point as the center and cuts out trajectory segments of preset length to both sides along the extension direction of the motion trajectory. The trajectory segment composed of the cut trajectory segments is defined as the target trajectory segment.

[0010] Furthermore, the cleaning process characterization module is used to obtain local model surfaces, wherein, The cleaning process characterization module is used to obtain the intersection points of the simulated water flow sprayed from each nozzle on the nozzle head along the target trajectory segment and the model surface. The local model surface is determined by the intersection points of the simulated water flow sprayed from the nozzle head along the target trajectory segment at several trajectory points and the model surface. The several intersection points fall within the local model surface.

[0011] Furthermore, the cleaning process characterization module is used to calculate the diffusion characterization coefficient, wherein, The cleaning process characterization module is used to calculate the angle between the water flow direction vector and the normal vector of the local model surface, and the reciprocal of the angle value is determined as the diffusion characterization coefficient.

[0012] Furthermore, the water flow direction vector is determined based on the vector obtained by adding the water flow direction sub-vectors of each spray hole on the nozzle; The water flow direction sub-vector of each water jet hole takes the location of the water jet hole as the starting point of the vector and the intersection point of the simulated water flow from the water jet hole and the model surface as the ending point of the vector.

[0013] Furthermore, the cleaning process characterization module is used to filter optimized cleaning trajectory segments, wherein, The cleaning process characterization module compares the diffusion characterization coefficient of the target trajectory segment with the preset diffusion characterization reference value. If the diffusion characterization coefficient is greater than the diffusion characterization reference value, the cleaning process characterization module will select the corresponding target trajectory segment as the cleaning optimization trajectory segment.

[0014] Furthermore, the cleaning control module adjusts the movement speed of the nozzle along the optimized cleaning trajectory segment according to the diffusion characterization coefficient, and the movement speed is positively correlated with the diffusion characterization coefficient.

[0015] Furthermore, the cleaning control module is used to adjust the ratio of the number of water spray holes operating in the first spray mode to the number operating in the second spray mode, wherein, The ratio of the number of water jets operating in the first jet mode to the number operating in the second jet mode is negatively correlated with the diffusion characterization coefficient.

[0016] Furthermore, the first spray mode is a water spray mode, and the second spray mode is an atomization spray mode.

[0017] Compared with existing technologies, the advantages of this invention lie in the following: It constructs an internal space model of the reactor using a building unit and obtains the nozzle's motion trajectory using a feature extraction unit. A visible analysis module identifies several impact visible trajectory points, and target trajectory segments are delineated based on these points. A cleaning process characterization module determines a diffusion characterization coefficient based on the angle between the water flow direction and the local model surface to select several optimized cleaning trajectory segments. A cleaning control module controls the nozzle to repeatedly clean along these optimized trajectory segments and adjusts the nozzle's operating parameters according to the diffusion characterization coefficient. Furthermore, by implementing targeted cleaning strategies based on identified key processes that easily generate dust diffusion, a balance between cleaning and dust suppression effects is achieved.

[0018] Furthermore, this invention characterizes the impact intensity and splash diffusion effect of water jets hitting the vessel wall and stirring equipment by determining the distance differences between different trajectory points on the nozzle's movement trajectory and the model surface of the vessel wall and stirring equipment. By calculating the minimum distance from each trajectory point to the surface of the internal space model, the invention accurately locates key cleaning points where the nozzle is too close to the vessel wall or stirring equipment, resulting in high impact intensity and high dust diffusion risk, thereby enabling the identification of key dust diffusion processes.

[0019] Furthermore, this invention establishes a mapping relationship between the movement trajectory of the nozzle and the actual cleaning area on the inner wall of the reactor and the stirring equipment. Within the defined target trajectory segment, the nozzle is in a dynamic state, and the water jets from each nozzle will form water flow impact points on the inner wall of the reactor or the stirring equipment. The distribution range of the water flow impact points corresponds to the actual cleaning coverage area of ​​the nozzle within the movement trajectory. Due to the complex features such as curved surface changes and structural protrusions on the inner wall of the reactor or the surface of the stirring equipment, it is necessary to obtain the intersection position of the simulated water jets from each nozzle along the target trajectory segment and the model surface. Using these intersection points as the core boundary, the local model surface is determined, thereby accurately separating the reactor wall area or the surface area of ​​the stirring equipment directly related to the cleaning effect of the current target trajectory segment, thus improving the accuracy of the system's judgment.

[0020] Furthermore, this invention quantifies diffusion risk by measuring the angle between the water flow direction and the normal vector of the local model surface. The smaller the angle between the water flow direction vector and the normal vector, the more pronounced the splashing phenomenon caused by the water flow impacting the vessel wall or stirring equipment at a near-vertical angle. This allows the detached dust particles to mix with water vapor to form an aerosol, which then rapidly diffuses within the enclosed space inside the vessel. Conversely, the larger the angle, the more inclined the water flow is when impacting the vessel wall or stirring equipment, resulting in a weaker splashing phenomenon and a weaker dust diffusion phenomenon. This invention quantifies diffusion risk by measuring this angle, thus providing a quantitative characterization of the diffusion phenomenon of dust particles mixing with water vapor to form an aerosol, a phenomenon that is difficult to visualize.

[0021] Furthermore, the larger the diffusion characterization coefficient in this invention, the more likely it is that dusty residues will mix with water vapor to form dust-laden aerosols, causing secondary pollution inside the equipment. By increasing the nozzle movement speed, the water flow impact intensity per unit area can be reduced, reducing the large-scale diffusion caused by concentrated impact. At the same time, repeated cleaning compensates for the insufficient cleaning level that may result from increased speed. The increased movement speed of the nozzle along the optimized cleaning trajectory segment and the repeated cleaning of the optimized cleaning trajectory segment form a synergistic closed loop. Through targeted cleaning strategies, both cleaning effect and dust suppression effect are achieved.

[0022] Furthermore, the core function of the first spray mode in this invention is to remove stubborn residues that are prone to splashing and spreading, while the second spray mode suppresses the spread by encapsulating dust particles with fine water mist. The ratio of the number of spray nozzles in the two modes is negatively correlated with the diffusion characterization coefficient. The principle is to dynamically adapt the weight of rinsing and dust suppression during the cleaning process based on the diffusion risk. When the diffusion characterization coefficient is high, the ratio of the number of rinsing spray mode and atomizing spray mode is reduced, i.e., fewer high-pressure spray nozzles and more atomizing spray nozzles are used. This reduces the high-pressure water flow and prevents further splashing and spreading, while using atomized water mist to suppress existing dust particles and prevent them from spreading within the vessel and causing secondary pollution. When the diffusion characterization coefficient is low, a larger number of high-pressure spray nozzles ensures sufficient cleaning power for efficient removal of residues. Through the dynamic adaptation of the nozzle ratio in different operating modes, synergistic optimization of cleaning efficiency and dust suppression effect is achieved. Attached Figure Description

[0023] Figure 1 This is a system block diagram of the reactor cleaning system according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the logic for marking impact overt trajectory points in an embodiment of the present invention. Figure 3 This is a schematic diagram of a rectangular region on the surface of a local model according to an embodiment of the present invention; Figure 4 This is a flowchart illustrating the logic of filtering, cleaning, and optimizing trajectory segments in an embodiment of the present invention. In the diagram: 1 - first sub-region, 2 - second sub-region. Detailed Implementation

[0024] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0025] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0026] It should be noted that in the description of this invention, the terms "upper," "lower," "inner," "outer," etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0027] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] Please see Figure 1 The diagram shown is a system block diagram of a reactor cleaning system according to an embodiment of the present invention. The reactor cleaning system of the present invention includes: The cleaning module includes a nozzle and a plurality of water spray holes disposed on the nozzle, wherein each water spray hole operates in a first spray mode or a second spray mode. This invention does not limit the specific structure of the nozzle. In the prior art, the rotary nozzle is the mainstream structure used in the market, and will not be described in detail here.

[0029] This invention does not limit the way the spray holes are set, and they can be arranged in a matrix on the nozzle. The switching between the first spray mode and the second spray mode of the spray holes is achieved by controlling the solenoid valve with an electrical signal. The switching between the spray head's flushing operation mode and atomization operation mode is a common operation mode switching of the nozzle, which is the prior art.

[0030] The data acquisition module includes a construction unit for building an internal space model of the reactor and a feature extraction unit for acquiring the motion trajectory of the nozzle. The present invention does not limit the specific structure of the building unit, which includes a laser scanner to scan and model the reactor wall and stirring equipment. This is prior art and will not be described in detail here.

[0031] The present invention does not limit the specific structure of the feature extraction unit. It can be a data storage device to store the pre-set motion trajectory of the nozzle. The motion trajectory in the implementation of the present invention is generated based on the position change of any water spray hole on the nozzle in the geodetic coordinate system. Capturing the coordinates of any position point at different times and generating the trajectory is the prior art, and will not be described in detail here.

[0032] The explicit analysis module, which is connected to the data acquisition module, is used to determine several impact explicit trajectory points based on the spatial positional relationship between the motion trajectory and the internal space model; and to delineate the target trajectory segment based on each impact explicit trajectory point. The cleaning process characterization module, which is connected to the explicit analysis module, is used to obtain the water flow direction of the simulated nozzle spray within the target trajectory segment, and determine the diffusion characterization coefficient based on the angle between the water flow direction and the local model surface, so as to screen several optimized cleaning trajectory segments. For example, in the implementation of this invention, the direction of water flow in the simulated spray from the nozzle can be determined by pre-testing. The pre-testing is conducted under the same water pressure conditions as the current working conditions, and the water flow image of each spray hole on the nozzle is obtained. Based on the fluid dynamics simulation algorithm for simulated spraying, the water pressure parameters, spray hole diameter, and fluid viscosity are input to obtain the direction of water flow in the simulated spray from the nozzle. The fluid dynamics simulation algorithm for simulated spraying is a commonly used simulation technique in fluid dynamics, which will not be elaborated here.

[0033] A cleaning control module, which is connected to the cleaning process characterization module and the cleaning module respectively, is used to control the nozzle to perform repeated cleaning along the cleaning optimization trajectory segment, and to adjust the operating parameters of the nozzle according to the diffusion characterization coefficient. The operating parameters include the speed of motion and the ratio of the number of water jets operating in the first jet mode to the number operating in the second jet mode.

[0034] In this invention, the cleaning control module controls the nozzle to perform repeated cleaning along the optimized cleaning trajectory segment twice. That is, after the nozzle cleans the optimized cleaning trajectory segment once with the adjusted operating parameters, it returns to the cleaning starting point of the optimized cleaning trajectory segment and completes another cleaning along the optimized cleaning trajectory segment.

[0035] This invention does not limit the specific structure of the explicit analysis module, the cleaning process characterization module, and the cleaning control module. They can be constructed using logic components, such as field-programmable logic components, microprocessors, and processors used in computers, which will not be elaborated here.

[0036] Please see Figure 2 As shown, this is a logic flowchart for marking impact overt trajectory points according to an embodiment of the present invention. The overt analysis module is used to mark impact overt trajectory points, wherein... The explicit analysis module is used to calculate the minimum distance from each trajectory point on the motion trajectory to the surface of the internal space model, and compare the minimum distance with a preset distance threshold. If the minimum distance corresponding to a trajectory point is greater than or equal to the distance threshold, the explicit analysis module will not mark the trajectory point. If the minimum distance corresponding to a trajectory point is less than the distance threshold, the explicit analysis module marks the trajectory point as an impact explicit trajectory point.

[0037] In this invention, the preset distance threshold is determined based on the average distance d0 from each trajectory point on the motion trajectory to the surface of the internal space model. c =δ×d0, where δ is the distance threshold factor, and the value range of δ is [0.2, 0.4]. Preferably, the value of δ is 0.3.

[0038] In this invention, the minimum distance from each trajectory point on the motion trajectory to the surface of the internal space model is calculated using Euclidean distance. Starting from the three-dimensional coordinates of the trajectory point, the discrete coordinate points on the surface of the internal space model are traversed, and the distance between the trajectory point and each point on the model surface is calculated. The distance with the smallest value is selected as the minimum distance corresponding to the trajectory point. The calculation of the distance between two points with known coordinates is an existing technology and will not be described here.

[0039] In this invention, the larger the sampling interval of the trajectory points on the motion trajectory, the less accurately the selected trajectory points can represent the actual positional relationship between the motion trajectory and the surface of the internal space model. The smaller the value of the trajectory points on the motion trajectory, the more trajectory points are selected, resulting in a large amount of computation and a decrease in system operating efficiency. Technicians can set the sampling interval of the trajectory points on the motion trajectory according to the monitoring accuracy requirements of the actual application. The sampling interval of the trajectory points is in the range of 3-8cm. Preferably, the sampling interval of the trajectory points on the motion trajectory can be set to 5cm.

[0040] Understandably, in reactor cleaning scenarios, the difference in distance between different trajectory points on the nozzle's movement path and the reactor wall and the model surface of the stirring equipment directly determines the impact intensity and splash diffusion effect of the water jet hitting the reactor wall and stirring equipment. When the trajectory point is close to the reactor wall or stirring equipment, the force of the water jet from the nozzle impacting the dusty residue is stronger, easily causing the residue to be impacted into fine particles that diffuse with the water vapor, resulting in secondary diffusion of the detached residue particles in the reactor space. Conversely, at trajectory points that are farther away, the energy loss during water flow transmission makes the diffusion phenomenon caused by the impact on dust relatively less obvious. By calculating the minimum distance from each trajectory point to the surface of the internal space model, the principle is to accurately locate the key cleaning points where the distance between the nozzle and the reactor wall or stirring equipment is too close, resulting in high impact intensity and high risk of dust diffusion.

[0041] Specifically, the explicit analysis module is used to delineate the target trajectory segment, wherein, The explicit analysis module takes each impact explicit trajectory point as the center and cuts out trajectory segments of preset length to both sides along the extension direction of the motion trajectory. The trajectory segment composed of the cut trajectory segments is defined as the target trajectory segment.

[0042] In this invention, the preset length of the trajectory segments cut off on both sides along the extension direction of the motion trajectory can be set by those skilled in the art. Preferably, the preset length of the trajectory segments is 3cm, then the length of the target trajectory segment composed of the trajectory segments is 6cm.

[0043] Understandably, based on the conductivity of the water flow impact effect and the regional correlation of dust diffusion during the reactor cleaning process, discrete high-risk points are expanded into high-risk areas with continuous cleaning characteristics. This provides a target range for precise control of dust diffusion and improvement of cleaning effect. In the actual cleaning process, the nozzle is in a dynamic and continuous state when it moves along the trajectory. Its cleaning effect is not limited to a single trajectory point, but extends to both sides of the trajectory with that point as the center to form a continuous impact area. Taking each impact point as the center, a preset length of trajectory segment is cut off to both sides along the movement trajectory and formed into a target trajectory segment. By utilizing the continuity of trajectory extension, the impact area is completely covered, and the high-risk area that needs to be controlled is accurately locked.

[0044] Specifically, the cleaning process characterization module is used to obtain local model surfaces, wherein, The cleaning process characterization module is used to obtain the intersection points of the simulated water flow sprayed from each nozzle on the nozzle head along the target trajectory segment and the model surface. The local model surface is determined by the intersection points of the simulated water flow sprayed from the nozzle head along the target trajectory segment at several trajectory points and the model surface. The several intersection points fall within the local model surface.

[0045] In this invention, the local model surface is the smallest rectangular region that can contain all intersection points.

[0046] Understandably, this invention establishes a mapping relationship between the movement trajectory of the nozzle and the actual cleaning area on the inner wall of the reactor and the stirring equipment. Within the defined target trajectory segment, the nozzle is in a dynamic state, and the water flow from each nozzle will form water flow impact points on the inner wall of the reactor or the stirring equipment. The distribution range of the water flow impact points corresponds to the actual cleaning coverage area of ​​the nozzle within the movement trajectory. Due to the complex features such as curved surface changes and structural protrusions on the inner wall of the reactor or the surface of the stirring equipment, it is necessary to obtain the intersection position of the simulated water flow from each nozzle along the target trajectory segment and the model surface. Using these intersection points as the core boundary, the local model surface is determined, thereby accurately separating the reactor wall area or the surface area of ​​the stirring equipment that is directly related to the cleaning effect of the current target trajectory segment, thus improving the accuracy of the system's judgment.

[0047] Specifically, the cleaning process characterization module is used to calculate the diffusion characterization coefficient, wherein, The cleaning process characterization module is used to calculate the angle between the water flow direction vector and the normal vector of the local model surface, and the reciprocal of the angle value is determined as the diffusion characterization coefficient.

[0048] In this invention, the local model surface is a local surface of the inner wall of the reactor or the surface of the stirring equipment. Its surface shape may be curved. The normal vector of the local model surface can be calculated based on a rectangular region defined on the local model surface. For an example, please refer to [link to example]. Figure 3 As shown, this is a schematic diagram of a rectangular region on the surface of a local model according to an embodiment of the present invention. A rectangular region abcd is defined within the surface of the local model. Any diagonal bd of the rectangular region abcd is defined. The diagonal bd divides the rectangular region abcd into a first sub-region 1 and a second sub-region 2 in the shape of triangles. The vertices of the first sub-region 1 are abd and the vertices of the second sub-region 2 are bcd. According to the principle that three points determine a plane, the plane normal vector of the first sub-region 1 is defined as S1 and the plane normal vector of the second sub-region 2 is defined as S2. The vector obtained by adding vector S1 and vector S2 is determined as the normal vector of the local model surface.

[0049] Understandably, this invention quantifies diffusion risk by measuring the angle between the water flow direction and the normal vector of the local model surface. The smaller the angle between the water flow direction vector and the normal vector, the more pronounced the splashing phenomenon caused by the water flow impacting the vessel wall or stirring equipment at a near-vertical angle. This allows the detached dust particles to mix with water vapor to form an aerosol, which then diffuses rapidly within the enclosed space inside the vessel. Conversely, the larger the angle, the more inclined the water flow is when impacting the vessel wall or stirring equipment, resulting in a weaker splashing phenomenon and a weaker dust diffusion phenomenon. This invention quantifies diffusion risk by measuring this angle, thus providing a quantitative characterization of the diffusion phenomenon of dust particles mixing with water vapor to form an aerosol, a phenomenon that is difficult to visualize.

[0050] Specifically, the water flow direction vector is determined by adding the water flow direction sub-vectors of each nozzle on the nozzle head; The water flow direction sub-vector of each water jet hole takes the location of the water jet hole as the starting point of the vector and the intersection point of the simulated water flow from the water jet hole and the model surface as the ending point of the vector.

[0051] This invention does not limit the calculation method of obtaining the water flow direction vector by adding the sub-vectors of the water flow direction. Adding multiple vectors into a composite vector is an existing mathematical calculation method, which will not be elaborated here.

[0052] It is understandable that when multiple water jets are sprayed simultaneously from the nozzle, the actual effect of the water flow on the vessel wall is the superposition effect of the water flow from each jet. By constructing sub-vectors of the direction of each jet with the position of the water jet as the starting point and the intersection of the water flow and the model surface as the ending point, the actual propagation path and impact direction of a single water jet can be accurately captured. By adding the vectors together to synthesize the overall water flow direction vector, the synthesized water flow direction vector is highly consistent with the actual impact direction of the vessel wall or stirring equipment.

[0053] Please see Figure 4 As shown, it is a logical flowchart of the process for selecting, cleaning, and optimizing trajectory segments according to an embodiment of the present invention. The cleaning process characterization module is used to select and optimize trajectory segments. The cleaning process characterization module compares the diffusion characterization coefficient of the target trajectory segment with the preset diffusion characterization reference value. If the diffusion characterization coefficient is less than or equal to the diffusion characterization reference value, the cleaning process characterization module does not screen the target trajectory segment; If the diffusion characterization coefficient is greater than the diffusion characterization reference value, the cleaning process characterization module will select the corresponding target trajectory segment as the cleaning optimization trajectory segment.

[0054] In this invention, the preset diffusion characterization reference value can be calculated in advance based on the test. Under the same water pressure value as the current test, the average angle between the water flow direction vector and the normal vector of the local model surface in several tests is used. The reciprocal of the calculated average angle after removing the dimension is determined as the diffusion characterization reference value. For example, under the condition of water pressure of 15MPa, 5 target trajectory segments are selected. Referring to Table 1, Table 1 is the angle test record table. The length of each target trajectory segment is 6cm, and they are respectively recorded as A1, A2, A3, A4 and A5. Table 1: Angle Test Record Table Based on the data recorded in Table 1, the average angle of the five target trajectory segments after all tests was calculated to be 15.56°. The reciprocal of the calculated average angle after removing the dimension, 1 / 15.56 = 0.064, was determined as the diffusion characterization reference value.

[0055] It is understandable that the diffusion characterization coefficient is determined by the reciprocal of the angle between the water flow direction vector and the local model surface normal vector. The larger the coefficient, the smaller the angle, the closer the water flow is to the vertical impact of the target surface, and the more significant the dust diffusion phenomenon caused by the water flow impact. Adjusting parameters only for this type of region can avoid the energy waste caused by ineffective optimization of other trajectory segments.

[0056] Specifically, the cleaning control module adjusts the movement speed of the nozzle along the optimized cleaning trajectory segment according to the diffusion characterization coefficient, and the movement speed is positively correlated with the diffusion characterization coefficient.

[0057] For example, when the diffusion characterization coefficient of the optimized cleaning trajectory segment is greater than 0.064 and less than or equal to 0.1, the cleaning control module controls the nozzle to increase its movement speed along the optimized cleaning trajectory segment by 10%. When the diffusion characterization coefficient of the optimized cleaning trajectory segment is greater than 0.1 and less than or equal to 0.15, the cleaning control module controls the nozzle to increase its movement speed along the optimized cleaning trajectory segment by 20%. When the diffusion characterization coefficient of the optimized cleaning trajectory segment is greater than 0.15, the cleaning control module controls the nozzle to increase its movement speed along the optimized cleaning trajectory segment by 30%.

[0058] During implementation, the maximum speed is increased by 30% to avoid insufficient cleaning and coverage due to excessive speed.

[0059] Understandably, a higher diffusion coefficient indicates that dusty residues are more likely to mix with water vapor to form dust-laden aerosols, causing secondary pollution within the equipment. Increasing the nozzle movement speed can reduce the water flow impact intensity per unit area, reducing the large-scale diffusion caused by concentrated impacts. At the same time, repeated cleaning can compensate for the insufficient cleaning level that may result from increased speed. Increasing the nozzle movement speed along the optimized cleaning trajectory segment and repeatedly cleaning the optimized cleaning trajectory segment form a synergistic closed loop. Through targeted cleaning strategies, both cleaning and dust suppression effects are achieved.

[0060] Specifically, the cleaning control module is used to adjust the ratio of the number of water spray holes operating in the first spray mode to the number operating in the second spray mode, wherein, The ratio of the number of water jets operating in the first jet mode to the number operating in the second jet mode is negatively correlated with the diffusion characterization coefficient.

[0061] The matrix-arranged water spray holes can switch in whole rows or columns during the switching process between the first spray mode and the second spray mode, or the water spray holes can switch independently. For example, taking the whole row as an example, if there are a total of 15 rows of water spray holes in the matrix arrangement, all water spray holes will generally operate in the first spray mode. When the diffusion characterization coefficient of the cleaning optimization trajectory segment is greater than 0.064 and less than or equal to 0.1, the cleaning control module adjusts the operation of the matrix-arranged water spray holes to 12 rows of water spray holes operating in the first spray mode and the remaining 3 rows of water spray holes operating in the second spray mode. Then the ratio of the number of water spray holes operating in the first spray mode to the number of water spray holes operating in the second spray mode is 12 / 3=4. When the diffusion characterization coefficient of the cleaning optimization trajectory segment is greater than 0.1 and less than or equal to 0.15, the cleaning control module adjusts the operation of the matrix-arranged water spray holes to 10 rows of water spray holes operating in the first spray mode and the remaining 5 rows of water spray holes operating in the second spray mode. Then the ratio of the number of water spray holes operating in the first spray mode to the number of water spray holes operating in the second spray mode is 10 / 5=2. When the diffusion characterization coefficient of the cleaning optimization trajectory segment is greater than 0.15, the cleaning control module adjusts the operation of the matrix-arranged water spray holes to 8 rows of water spray holes operating in the first spray mode and the remaining 7 rows of water spray holes operating in the second spray mode. The ratio of the number of water spray holes operating in the first spray mode to the number of water spray holes operating in the second spray mode is 8 / 7 = 1.14.

[0062] Specifically, the first spray mode is a water spray mode, and the second spray mode is an atomization spray mode.

[0063] In this invention, the water pressure range of the first spray mode of the flushing spray mode is [8, 20], with the unit being MPa, and the atomized particle size range of the second spray mode of the atomizing spray mode is [50, 500], with the unit being μm. Preferably, the water pressure of the first spray mode of the flushing spray mode is 15 MPa, and the atomized particle size of the second spray mode of the atomizing spray mode is 150 μm.

[0064] Understandably, a higher diffusion coefficient indicates that dust-like residues are more easily dispersed by high-pressure water jets, necessitating enhanced dust suppression. The core function of the first spray mode is to remove stubborn residues but it easily triggers splash diffusion. The second spray mode, on the other hand, suppresses diffusion by encapsulating dust particles with fine water mist. The ratio of the number of spray nozzles in the two modes is negatively correlated with the diffusion coefficient. The principle is to dynamically adapt the weight of rinsing and dust suppression during the cleaning process based on the diffusion risk. When the diffusion coefficient is high, the ratio of rinsing spray mode to atomizing spray mode is reduced, i.e., fewer high-pressure spray nozzles and more atomizing spray nozzles are used. This reduces the high-pressure water flow and prevents further splash diffusion, while using atomized water mist to suppress existing dust particles and prevent secondary pollution from spreading within the vessel. When the diffusion coefficient is low, a larger number of high-pressure spray nozzles ensures sufficient cleaning power for efficient residue removal. Through dynamic adaptation of the nozzle ratio in different operating modes, synergistic optimization of cleaning efficiency and dust suppression effect is achieved.

[0065] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A reactor cleaning system, characterized in that, include: The cleaning module includes a nozzle and a plurality of water spray holes disposed on the nozzle, wherein each water spray hole operates in a first spray mode or a second spray mode. The data acquisition module includes a construction unit for building an internal space model of the reactor and a feature extraction unit for acquiring the motion trajectory of the nozzle. The explicit analysis module, which is connected to the data acquisition module, is used to determine several impact explicit trajectory points based on the spatial positional relationship between the motion trajectory and the internal space model; and to delineate the target trajectory segment based on each impact explicit trajectory point. The cleaning process characterization module, which is connected to the explicit analysis module, is used to obtain the water flow direction of the simulated nozzle spray within the target trajectory segment, and determine the diffusion characterization coefficient based on the angle between the water flow direction and the local model surface, so as to screen several optimized cleaning trajectory segments. A cleaning control module, which is connected to the cleaning process characterization module and the cleaning module respectively, is used to control the nozzle to perform repeated cleaning along the cleaning optimization trajectory segment, and to adjust the operating parameters of the nozzle according to the diffusion characterization coefficient. The operating parameters include the speed of motion and the ratio of the number of water jets operating in the first jet mode to the number operating in the second jet mode.

2. The reactor cleaning system according to claim 1, characterized in that, The explicit analysis module is used to mark the explicit impact trajectory points, wherein... The explicit analysis module is used to calculate the minimum distance from each trajectory point on the motion trajectory to the surface of the internal space model, and compare the minimum distance with a preset distance threshold. If the minimum distance corresponding to a trajectory point is less than the distance threshold, the explicit analysis module marks the trajectory point as an impact explicit trajectory point.

3. The reactor cleaning system according to claim 2, characterized in that, The explicit analysis module is used to delineate the target trajectory segment, wherein, The explicit analysis module takes each impact explicit trajectory point as the center and cuts out trajectory segments of preset length to both sides along the extension direction of the motion trajectory. The trajectory segment composed of the cut trajectory segments is defined as the target trajectory segment.

4. The reactor cleaning system according to claim 3, characterized in that, The cleaning process characterization module is used to obtain local model surface information, wherein... The cleaning process characterization module is used to obtain the intersection position of the simulated water flow sprayed by each water nozzle on the nozzle head along the target trajectory segment and the model surface. The local model surface is determined by the intersection position of the simulated water flow sprayed by the nozzle head along the target trajectory segment at several trajectory points and the model surface. Several intersection positions fall within the local model surface.

5. The reactor cleaning system according to claim 4, characterized in that, The cleaning process characterization module is used to calculate the diffusion characterization coefficient, wherein, The cleaning process characterization module is used to calculate the angle between the water flow direction vector and the normal vector of the local model surface, and the reciprocal of the angle value is determined as the diffusion characterization coefficient.

6. The reactor cleaning system according to claim 5, characterized in that, The water flow direction vector is determined by adding the water flow direction sub-vectors of each nozzle on the nozzle head. The water flow direction sub-vector of each water jet hole takes the location of the water jet hole as the starting point of the vector and the intersection point of the simulated water flow from the water jet hole and the model surface as the ending point of the vector.

7. The reactor cleaning system according to claim 5, characterized in that, The cleaning process characterization module is used to filter the optimized cleaning trajectory segment, wherein... The cleaning process characterization module compares the diffusion characterization coefficient of the target trajectory segment with the preset diffusion characterization reference value. If the diffusion characterization coefficient is greater than the diffusion characterization reference value, the cleaning process characterization module will select the corresponding target trajectory segment as the cleaning optimization trajectory segment.

8. The reactor cleaning system according to claim 7, characterized in that, The cleaning control module adjusts the movement speed of the nozzle along the optimized cleaning trajectory segment according to the diffusion characterization coefficient, and the movement speed is positively correlated with the diffusion characterization coefficient.

9. The reactor cleaning system according to claim 7, characterized in that, The cleaning control module is used to adjust the ratio of the number of water spray holes operating in the first spray mode to the number operating in the second spray mode, wherein, The ratio of the number of water jets operating in the first jet mode to the number operating in the second jet mode is negatively correlated with the diffusion characterization coefficient.

10. The reactor cleaning system according to claim 9, characterized in that, The first spray mode is a water spray mode, and the second spray mode is an atomization spray mode.

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