Online under-pressure leaking stoppage robot, system and method

The embodiment of the invention discloses an online under-pressure leaking stoppage robot which comprises a mobile module, a power supply module, a bottom plate, a tool rest, an execution module and aglobal image collecting module, wherein the power supply module and the bottom plate are arranged on the mobile module, and the tool rest, the execution module and the global image collecting moduleare arranged on the bottom plate. The embodiment of the invention further discloses a control system for the online under-pressure leaking stoppage robot. The embodiment of the invention further discloses a method of the control system for the online under-pressure leaking stoppage robot. By means of the robot, an operator can safely observe the conditions of a leaking point remotely and carry outautomatic twisting and striking repairing on the leaking point through a global camera module and a local camera module. During operation, the leaking point of a pipeline can be more accurately positioned by replacing a probe