In my 30 years of brewing foam or sponge cleaning balls did the trick. German breweries used foam balls in the 90s when I started. More Beer and many other suppliers sell foam cleaning balls.
I added an automated grain mill roller unlock feature to my grain processing system. Most of the time the system runs unattended while processing the grain bill. Any lockup requires me to go to the mill and fix it after the system warns me, now the system takes care of it.