A pipeline blockage detection system and method

Abstract

The application relates to a pipeline blockage detection system and method, belonging to the technical field of pipeline measurement, wherein the pipeline blockage detection system comprises a first control module and a sound wave sending module arranged on a first lifting module, and a second control module and a sound wave receiving module arranged on a second lifting module; the first control module is used for controlling the lifting of the first lifting module in a pipeline and controlling the sound wave sending module to send detection sound waves to the other end of the pipeline; the second control module is used for controlling the lifting of the second lifting module in the pipeline and acquiring the detection sound waves received by the sound wave receiving module, and determining whether the pipeline is blocked based on the detection sound waves received by the sound wave receiving module. The application improves the accuracy of the pipeline blockage detection result while realizing pipeline blockage detection.

Description

Technical Field

[0001] This invention relates to the field of pipeline measurement technology, and in particular to a pipeline blockage detection system and method. Background Technology

[0002] Existing methods for measuring pipe blockage mainly include the following: pressure difference measurement, which uses pressure sensors installed at both ends of the pipe to measure the pressure difference between the inside and outside of the pipe to determine whether the pipe is unobstructed; when the pipe is blocked, the pressure difference will be abnormal; flow meter measurement, which uses flow meters installed in the pipe to measure the flow rate to determine whether the pipe is unobstructed; and visual inspection, which uses manual inspection or equipment such as cameras to inspect the inside of the pipe to observe whether there are any blockages to determine whether the pipe is unobstructed.

[0003] Existing methods for measuring pipe blockage are time-consuming to obtain results, have poor real-time performance, and their accuracy may be affected by environmental factors and easily influenced by errors, making it difficult to accurately determine the pipe blockage status. Summary of the Invention

[0004] In view of this, it is necessary to provide a pipeline blockage detection system and method to solve the problems of high complexity and low accuracy of existing methods for measuring pipeline blockage.

[0005] To address the above problems, the present invention provides a pipeline blockage detection system, comprising: A first control module and a sound wave transmitting module are provided on the first lifting module, and a second control module and a sound wave receiving module are provided on the second lifting module; The first control module is used to control the lifting and lowering of the first lifting module inside the pipeline, and to control the sound wave transmitting module to send detection sound waves to the other end of the pipeline; The second control module is used to control the lifting and lowering of the second lifting module in the pipeline, and to acquire the detection sound waves received by the sound wave receiving module, and to determine whether the pipeline is blocked based on the detection sound waves received by the sound wave receiving module.

[0006] In one possible implementation, the first control module is further configured to send initial parameter information to the second control module, the initial parameter information including the parameter information of the detected sound wave sent by the sound wave transmitting module; The second control module is also used to receive the initial parameter information sent by the first control module.

[0007] In one possible implementation, the system further includes: A first gyroscope mounted on the first lifting module and a second gyroscope mounted on the second lifting module; The first gyroscope is used to keep the first lifting module vertically moving up and down; The second gyroscope is used to keep the second lifting module vertically raised and lowered.

[0008] In one possible implementation, the system further includes: a first ultrasonic module disposed on the first lifting module and a second ultrasonic module disposed on the second lifting module; The first ultrasonic module is used to measure the distance between the first lifting module and the bottom of the pipe and send the measurement to the first control module. The second ultrasonic module is used to measure the distance between the second lifting module and the bottom of the pipe and send the measurement to the second control module.

[0009] In one possible implementation, the system further includes: A first positioning module is disposed on the first lifting module and a second positioning module is disposed on the second lifting module; The first positioning module is used to determine the position information of the first lifting module and send it to the first control module; The second positioning module is used to determine the position information of the second lifting module and send it to the second control module.

[0010] The present invention also provides a pipeline blockage detection method based on the above-mentioned pipeline blockage detection system, applied to a first control module, comprising: The first lifting module is controlled by the first gyroscope to descend vertically from the wellhead and acquire measurement data from the first ultrasonic module. If the distance between the first lifting module and the bottom of the pipe is less than or equal to a preset distance, based on the measurement data of the first ultrasonic module, the first lifting module is controlled to stop descending, and the sound wave transmitting module is controlled to send detection sound waves to the other end of the pipe.

[0011] In one possible implementation, the method further includes: The system acquires initial parameter information and the position information of the first lifting module determined by the first positioning module, and sends the initial parameter information and the position information of the first lifting module to the second control module.

[0012] The present invention also provides a pipeline blockage detection method based on the above-mentioned pipeline blockage detection system, applied to the second control module, comprising: The second lifting module is controlled by the second gyroscope to descend vertically from the wellhead and acquire measurement data from the second ultrasonic module. If the distance between the second lifting module and the bottom of the pipe is less than or equal to a preset distance, based on the measurement data of the second ultrasonic module, the second lifting module is controlled to stop descending, and the detection sound wave received by the sound wave receiving module is acquired. The blockage of the pipeline is determined by the detection sound waves received by the sound wave receiving module.

[0013] In one possible implementation, determining whether a pipe is blocked based on the detected sound waves received by the sound wave receiving module includes: The system acquires the position information of the second lifting module determined by the second positioning module, and receives the initial parameter information and the position information of the first lifting module sent by the first control module. Based on the position information of the first lifting module, the position information of the second lifting module, the initial parameter information, and the detection sound waves received by the sound wave receiving module, it is determined whether the pipeline is blocked.

[0014] In one possible implementation, determining whether the pipeline is blocked based on the position information of the first lifting module, the position information of the second lifting module, initial parameter information, and the detection sound wave received by the sound wave receiving module includes: The transmission distance of the sound wave is determined based on the position information of the first lifting module and the position information of the second lifting module, and the transmission attenuation value of the sound wave is determined based on the transmission distance of the sound wave. The transmission attenuation value of the detected sound wave is determined based on the detected sound wave received by the sound wave receiving module and the initial parameter information. If the transmission attenuation value of the detected sound wave is less than or equal to the transmission attenuation value of the sound wave, it is determined that the pipe is not blocked. If the transmission attenuation value of the detected sound wave is greater than the transmission attenuation value of the sound wave, the pipe is determined to be blocked.

[0015] The beneficial effects of this invention are as follows: The pipeline blockage detection system and method provided by this invention, by setting two lifting modules, ensures that the detection equipment can enter deeply buried pipelines. By setting a control module, an acoustic wave transmitting module, and an acoustic wave receiving module on the lifting modules, the pipeline blockage detection process is made more convenient. Furthermore, the pipeline blockage detection result is directly calculated by the control module based on real-time data, which also improves the accuracy of the pipeline blockage detection result. This invention improves the accuracy of pipeline blockage detection results while realizing pipeline blockage detection. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an embodiment of the pipe blockage detection system provided by the present invention; Figure 2 This is a schematic flowchart of an embodiment of the pipe blockage detection method provided by the present invention; Figure 3 A schematic flowchart of yet another embodiment of the pipe blockage detection method provided by the present invention; Figure 4 This is a schematic diagram of an embodiment of the pipeline blockage detection scenario provided by the present invention. Detailed Implementation

[0017] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0018] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Furthermore, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0019] In the description of this invention, reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the described embodiments can be combined with other embodiments.

[0020] Existing methods for measuring pipe blockage mainly include the following: pressure difference measurement, which uses pressure sensors installed at both ends of the pipe to measure the pressure difference between the inside and outside of the pipe to determine whether the pipe is unobstructed; when the pipe is blocked, the pressure difference will be abnormal; flow meter measurement, which uses flow meters installed in the pipe to measure the flow rate to determine whether the pipe is unobstructed; and visual inspection, which uses manual inspection or equipment such as cameras to inspect the inside of the pipe to observe whether there are any blockages to determine whether the pipe is unobstructed.

[0021] Existing methods for measuring pipe blockage are time-consuming to obtain results, have poor real-time performance, and their accuracy may be affected by environmental factors and easily influenced by errors, making it difficult to accurately determine the pipe blockage status. Furthermore, traditional methods usually require shutdown to perform the test, which can cause production line interruptions and downtime, affecting production efficiency.

[0022] To address the aforementioned problems, this invention proposes a pipeline blockage detection system.

[0023] The specific embodiments are described in detail below: A specific embodiment of the present invention discloses a pipe blockage detection system, combined with Figure 1 Let's take a look. Figure 1 This is a schematic diagram of an embodiment of the pipe blockage detection system provided by the present invention. The pipe blockage detection system 100 includes: The first control module 101 and the sound wave transmitting module 103 are disposed on the first lifting module 105, and the second control module 102 and the sound wave receiving module 104 are disposed on the second lifting module 106. The first control module 101 is used to control the lifting and lowering of the first lifting module 105 in the pipeline, and to control the sound wave transmitting module 103 to send detection sound waves to the other end of the pipeline. The second control module 102 is used to control the lifting and lowering of the second lifting module 106 in the pipeline, and to acquire the detection sound wave received by the sound wave receiving module 104, and to determine whether the pipeline is blocked based on the detection sound wave received by the sound wave receiving module 104.

[0024] It should be noted that the first lifting module 105 can be raised and lowered in the pipe by a sliding cable set parallel to the pipe inside the vertical pipe. Similarly, the second lifting module 106 can also be raised and lowered in the pipe in the same way.

[0025] In practice, the first control module can control the lifting and lowering of the first lifting module inside the pipe. At the same time, the first control module can also control the sound wave transmitting module to send detection sound waves to the other end of the pipe. The sound wave transmitting module can be a buzzer or other sound-emitting device, and the present invention does not specifically limit it.

[0026] Similarly, the second control module can also control the lifting and lowering of the second lifting module in the pipeline. At the same time, the second control module can also acquire the detection sound wave received by the sound wave receiving module and determine whether the pipeline is blocked based on the detection sound wave received by the sound wave receiving module. The sound wave receiving module can be a sound sensor or other device that can receive sound. This invention does not specifically limit it.

[0027] The first and second lifting modules can descend from the wellheads at both ends of the pipeline to complete the pipeline blockage detection process. The first and second control modules can be modules with data processing capabilities, such as microcontrollers.

[0028] The pipeline blockage detection system provided by this invention can be applied to blockage detection scenarios of deeply buried underground pipelines, as well as blockage detection scenarios of erected or laid pipelines. This invention does not impose any specific limitations on these scenarios.

[0029] Compared with existing technologies, the pipeline blockage detection system provided in this embodiment, by setting up two lifting modules, ensures that the detection equipment can enter deeply buried pipelines. By setting up a control module, an acoustic wave transmitting module, and an acoustic wave receiving module on the lifting modules, the pipeline blockage detection process is made more convenient. Furthermore, the pipeline blockage detection results are directly calculated by the control module based on real-time data, which also improves the accuracy of the pipeline blockage detection results. This invention improves the accuracy of pipeline blockage detection results while realizing pipeline blockage detection.

[0030] For example, the first control module is further configured to send initial parameter information to the second control module, the initial parameter information including the parameter information of the detected sound wave sent by the sound wave transmitting module; The second control module is also used to receive the initial parameter information sent by the first control module.

[0031] Specifically, the first control module can also acquire the parameter information (i.e., initial parameter information) of the detected sound wave sent by the sound wave transmitting module and send it to the second control module. The second control module can receive the initial parameter information sent by the first control module through wireless signal or Bluetooth signal.

[0032] For example, the system further includes: A first gyroscope mounted on the first lifting module and a second gyroscope mounted on the second lifting module; The first gyroscope is used to keep the first lifting module vertically moving up and down; The second gyroscope is used to keep the second lifting module vertically raised and lowered.

[0033] Specifically, in order to maintain the vertical descent of the first lifting module and the second lifting module, a first gyroscope can be installed on the first lifting module and a second gyroscope can be installed on the second lifting module.

[0034] The first and second control modules can adjust the lifting modules based on the attitude information fed back by the gyroscope, so that the first and second lifting modules maintain a vertical descent.

[0035] For example, the system further includes: a first ultrasonic module disposed on the first lifting module and a second ultrasonic module disposed on the second lifting module; The first ultrasonic module is used to measure the distance between the first lifting module and the bottom of the pipe and send the measurement to the first control module. The second ultrasonic module is used to measure the distance between the second lifting module and the bottom of the pipe and send the measurement to the second control module.

[0036] Specifically, to prevent the lifting module from descending excessively and entering the water below the pipe surface, which could damage the equipment, an ultrasonic module can be installed on the lifting module to measure the distance between the lifting module and the bottom of the pipe.

[0037] For example, the system further includes: A first positioning module is disposed on the first lifting module and a second positioning module is disposed on the second lifting module; The first positioning module is used to determine the position information of the first lifting module and send it to the first control module; The second positioning module is used to determine the position information of the second lifting module and send it to the second control module.

[0038] Specifically, to determine the distance between the two ends of the pipeline, a first positioning module can be installed on the first lifting module to send the position information of the first lifting module to the first control module. Similarly, a second positioning module can be installed on the second lifting module to send the position information of the second lifting module to the second control module.

[0039] This invention also provides a pipe blockage detection method based on the above-mentioned pipe blockage detection system, applied to the first control module, combined with... Figure 2 Let's take a look. Figure 2 A schematic flowchart of an embodiment of the pipe blockage detection method provided by the present invention includes steps S201 and S202: In step S201, the first lifting module is controlled to descend vertically from the wellhead based on the first gyroscope, and the measurement data of the first ultrasonic module is acquired. In step S202, if the distance between the first lifting module and the bottom of the pipe is less than or equal to a preset distance based on the measurement data of the first ultrasonic module, the first lifting module is controlled to stop descending, and the sound wave transmitting module is controlled to send a detection sound wave to the other end of the pipe.

[0040] During implementation, the first control module can control the first lifting module to descend vertically from the wellhead via the first gyroscope, while simultaneously acquiring measurement data from the first ultrasonic module.

[0041] When the distance between the first lifting module and the bottom of the pipe is less than or equal to a preset distance (e.g., 5cm) as determined by the measurement data of the first ultrasonic module, the first lifting module can be controlled to stop descending, and at the same time the sound wave transmitting module can be controlled to send detection sound waves to the other end of the pipe.

[0042] The pipe blockage detection method provided by this invention can be applied to blockage detection scenarios of deeply buried underground pipes, as well as blockage detection scenarios of erected or laid pipes. This invention does not impose any specific limitations on these scenarios.

[0043] Compared with the prior art, the pipeline blockage detection method provided in this embodiment involves a first control module controlling a first lifting module to descend vertically from the wellhead via a first gyroscope, while simultaneously acquiring measurement data from a first ultrasonic module. When the distance between the first lifting module and the bottom of the pipeline is determined to be less than or equal to a preset distance based on the measurement data from the first ultrasonic module, the first control module controls a sound wave transmitting module to send a detection sound wave to the other end of the pipeline, enabling the second control module to perform pipeline blockage detection. This invention improves the accuracy of pipeline blockage detection results while achieving pipeline blockage detection.

[0044] Exemplarily, the method further includes: The system acquires initial parameter information and the position information of the first lifting module determined by the first positioning module, and sends the initial parameter information and the position information of the first lifting module to the second control module.

[0045] Specifically, the first control module can also acquire the parameter information (i.e., initial parameter information) of the detected sound wave sent by the sound wave transmitting module and the position information of the first lifting module, and send them to the second control module via wireless signal or Bluetooth signal.

[0046] This invention also provides a pipe blockage detection method based on the above-mentioned pipe blockage detection system, applied to the second control module, combined with... Figure 3 Let's take a look. Figure 3 A flowchart illustrating another embodiment of the pipe blockage detection method provided by the present invention includes steps S301 to S303: In step S301, the second lifting module is controlled to descend vertically from the wellhead based on the second gyroscope, and the measurement data of the second ultrasonic module is acquired. In step S302, if the distance between the second lifting module and the bottom of the pipe is less than or equal to a preset distance based on the measurement data of the second ultrasonic module, the second lifting module is controlled to stop descending, and the detection sound wave received by the sound wave receiving module is acquired. In step S303, it is determined whether the pipe is blocked based on the detection sound waves received by the sound wave receiving module.

[0047] During implementation, the second control module can control the second lifting module to descend vertically from the wellhead via the second gyroscope, while simultaneously acquiring measurement data from the second ultrasonic module.

[0048] When the distance between the second lifting module and the bottom of the pipe is less than or equal to a preset distance (e.g., 5cm) as determined by the measurement data of the second ultrasonic module, the second lifting module can be controlled to stop descending. At the same time, the detection sound wave received by the sound wave receiving module is acquired, and then the pipe is determined to be blocked based on the detection sound wave received by the sound wave receiving module.

[0049] The pipe blockage detection method provided by this invention can be applied to blockage detection scenarios of deeply buried underground pipes, as well as blockage detection scenarios of erected or laid pipes. This invention does not impose any specific limitations on these scenarios.

[0050] Compared with the prior art, the pipeline blockage detection method provided in this embodiment uses a second control module to control a second lifting module to descend vertically from the wellhead via a second gyroscope, while simultaneously acquiring measurement data from a second ultrasonic module. When the distance between the second lifting module and the bottom of the pipeline is determined to be less than or equal to a preset distance based on the measurement data from the second ultrasonic module, the detection sound wave received by the sound wave receiving module is acquired. Then, the pipeline blockage is determined based on the detection sound wave received by the sound wave receiving module. This invention improves the accuracy of pipeline blockage detection results while achieving pipeline blockage detection.

[0051] For example, determining whether a pipe is blocked based on the detection sound waves received by the sound wave receiving module includes: The system acquires the position information of the second lifting module determined by the second positioning module, and receives the initial parameter information and the position information of the first lifting module sent by the first control module. Based on the position information of the first lifting module, the position information of the second lifting module, the initial parameter information, and the detection sound waves received by the sound wave receiving module, it is determined whether the pipeline is blocked.

[0052] Specifically, when the second control module determines whether the pipeline is blocked based on the detection sound wave received by the sound wave receiving module, it can first obtain the position information of the second lifting module determined by the second positioning module, and then receive the initial parameter information and the position information of the first lifting module sent by the first control module.

[0053] Finally, the second control module can determine whether the pipeline is blocked based on the position information of the first lifting module, the position information of the second lifting module, the initial parameter information, and the detection sound waves received by the sound wave receiving module.

[0054] For example, determining whether the pipeline is blocked based on the position information of the first lifting module, the position information of the second lifting module, the initial parameter information, and the detection sound wave received by the sound wave receiving module includes: The transmission distance of the sound wave is determined based on the position information of the first lifting module and the position information of the second lifting module, and the transmission attenuation value of the sound wave is determined based on the transmission distance of the sound wave. The transmission attenuation value of the detected sound wave is determined based on the detected sound wave received by the sound wave receiving module and the initial parameter information. If the transmission attenuation value of the detected sound wave is less than or equal to the transmission attenuation value of the sound wave, it is determined that the pipe is not blocked. If the transmission attenuation value of the detected sound wave is greater than the transmission attenuation value of the sound wave, the pipe is determined to be blocked.

[0055] Specifically, when determining whether a pipe is blocked based on the position information of the first lifting module, the position information of the second lifting module, the initial parameter information, and the detection sound wave received by the sound wave receiving module, the transmission distance of the sound wave can first be determined based on the position information of the first lifting module and the position information of the second lifting module, and then the transmission attenuation value of the sound wave can be determined based on the transmission distance of the sound wave.

[0056] For example, the transmission attenuation value of a sound wave can be determined using the following formula:

[0057] in, This represents the transmission attenuation value of the sound wave. This indicates the distance a sound wave can travel.

[0058] After determining the transmission attenuation value of the sound wave, the transmission attenuation value of the detected sound wave can be determined based on the detected sound wave received by the sound wave receiving module and the initial parameter information.

[0059] If the detected sound wave transmission attenuation value is less than or equal to the sound wave transmission attenuation value, it can be determined that the pipe is not blocked; if the detected sound wave transmission attenuation value is greater than the sound wave transmission attenuation value, it can be determined that the pipe is blocked.

[0060] The technical solution of the present invention will be better illustrated below with a specific embodiment: Combination Figure 4 Let's take a look. Figure 4 This is a schematic diagram of a scenario for a pipeline blockage detection provided by the present invention. The first control module can control the first lifting module to descend from point A (i.e., the wellhead at one end of the ground) until the first lifting module descends to point B, which is close to the bottom of the pipeline. Then, the first control module controls the sound wave transmitting module to send detection sound waves to the other end of the pipeline, and at the same time sends initial parameter information and the position information of the first lifting module to the second control module.

[0061] Simultaneously, the second control module can control the second lifting module to descend from point C (i.e., the wellhead at the other end of the ground) until the second lifting module descends to point D, which is close to the bottom of the pipeline. Then, it controls the sound wave receiving module to receive the detection sound wave, and at the same time receives the initial parameter information and the position information of the first lifting module sent by the first control module. Based on the position information of the first lifting module, the position information of the second lifting module, the initial parameter information, and the detection sound wave received by the sound wave receiving module, it determines whether the pipeline is blocked.

[0062] This invention discloses a pipeline blockage detection system and method. By setting up two lifting modules, the detection equipment can be inserted into deeply buried pipelines. By setting up a control module, an acoustic wave transmitting module, and an acoustic wave receiving module on the lifting modules, the pipeline blockage detection process is made more convenient. Furthermore, the pipeline blockage detection result is directly calculated by the control module based on real-time data, which also improves the accuracy of the pipeline blockage detection result. This invention improves the accuracy of pipeline blockage detection results while realizing pipeline blockage detection.

[0063] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A pipe blockage detection system, characterized in that, include: A first control module and a sound wave transmitting module are provided on the first lifting module, and a second control module and a sound wave receiving module are provided on the second lifting module; The first control module is used to control the lifting and lowering of the first lifting module inside the pipeline, and to control the sound wave transmitting module to send detection sound waves to the other end of the pipeline; The second control module is used to control the lifting and lowering of the second lifting module in the pipeline, and to acquire the detection sound waves received by the sound wave receiving module, and to determine whether the pipeline is blocked based on the detection sound waves received by the sound wave receiving module. The first control module is also used to send initial parameter information to the second control module, wherein the initial parameter information includes the parameter information of the detected sound wave sent by the sound wave transmitting module; The second control module is also used to receive the initial parameter information sent by the first control module; The system also includes: A first gyroscope mounted on the first lifting module and a second gyroscope mounted on the second lifting module; The first gyroscope is used to keep the first lifting module vertically moving up and down; The second gyroscope is used to keep the second lifting module vertically moving up and down; The system further includes: a first ultrasonic module disposed on the first lifting module and a second ultrasonic module disposed on the second lifting module; The first ultrasonic module is used to measure the distance between the first lifting module and the bottom of the pipe and send the measurement to the first control module. The second ultrasonic module is used to measure the distance between the second lifting module and the bottom of the pipe and send the measurement to the second control module. The system also includes: A first positioning module is disposed on the first lifting module and a second positioning module is disposed on the second lifting module; The first positioning module is used to determine the position information of the first lifting module and send it to the first control module; The second positioning module is used to determine the position information of the second lifting module and send it to the second control module.

2. A method for detecting pipe blockage based on the pipe blockage detection system of claim 1, characterized in that, Applied to the first control module, including: The first lifting module is controlled by the first gyroscope to descend vertically from the wellhead and acquire measurement data from the first ultrasonic module. If the distance between the first lifting module and the bottom of the pipe is less than or equal to a preset distance, based on the measurement data of the first ultrasonic module, the first lifting module is controlled to stop descending, and the sound wave transmitting module is controlled to send detection sound waves to the other end of the pipe.

3. The pipe blockage detection method according to claim 2, characterized in that, The method further includes: The system acquires initial parameter information and the position information of the first lifting module determined by the first positioning module, and sends the initial parameter information and the position information of the first lifting module to the second control module.

4. A method for detecting pipe blockage based on the pipe blockage detection system of claim 1, characterized in that, Applied to the second control module, including: The second lifting module is controlled by the second gyroscope to descend vertically from the wellhead and acquire measurement data from the second ultrasonic module. If the distance between the second lifting module and the bottom of the pipe is less than or equal to a preset distance, based on the measurement data of the second ultrasonic module, the second lifting module is controlled to stop descending, and the detection sound wave received by the sound wave receiving module is acquired. The blockage of the pipeline is determined by the detection sound waves received by the sound wave receiving module.

5. The pipe blockage detection method according to claim 4, characterized in that, The method of determining whether a pipe is blocked based on the detection sound waves received by the sound wave receiving module includes: The system acquires the position information of the second lifting module determined by the second positioning module, and receives the initial parameter information and the position information of the first lifting module sent by the first control module. Based on the position information of the first lifting module, the position information of the second lifting module, the initial parameter information, and the detection sound waves received by the sound wave receiving module, it is determined whether the pipeline is blocked.

6. The pipe blockage detection method according to claim 5, characterized in that, The process of determining whether the pipeline is blocked based on the position information of the first lifting module, the position information of the second lifting module, the initial parameter information, and the detection sound waves received by the sound wave receiving module includes: The transmission distance of the sound wave is determined based on the position information of the first lifting module and the position information of the second lifting module, and the transmission attenuation value of the sound wave is determined based on the transmission distance of the sound wave. The transmission attenuation value of the detected sound wave is determined based on the detected sound wave received by the sound wave receiving module and the initial parameter information. If the transmission attenuation value of the detected sound wave is less than or equal to the transmission attenuation value of the sound wave, it is determined that the pipe is not blocked. If the transmission attenuation value of the detected sound wave is greater than the transmission attenuation value of the sound wave, the pipe is determined to be blocked.

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