Pipeline leakage detection system and method thereof

1. A pipeline leakage detection system, comprising:

a ball-type detection device operated in a pipeline and moved by an external force, and comprising:

a ball-type casing;

a posture detection module fixed on the ball-type casing and configured to sense an angular velocity of the ball-type casing to output angular velocity data;

a controlling module disposed in the ball-type casing, and comprising a plurality of wheels, a plurality of motors and a bearing base, wherein the plurality of wheels are disposed correspondingly to the plurality of motors one-to-one, and the plurality of motors are configured to drive the plurality of wheels, and the plurality of wheel are in rolling contact with a bottom of the ball-type casing, and the bearing base is configured to carry the posture detection module and comprises a plurality of rolling units disposed thereon, and the plurality of rolling units are configured to support the bearing base on the ball-type casing;

a processing module disposed on the bearing base and electrically connected to the plurality of motors, and configured to control, according to the angular velocity data, the plurality of motors to drive the plurality of wheels, so as to prevent the ball-type casing from being rotated by the external force;

a plurality of infrared thermal imagers fixed on the ball-type casing, wherein each of the plurality of infrared thermal imagers is configured to capture thermal image signals around the pipeline, and each of the thermal image signals comprises time information and identification information of the infrared thermal imager corresponding thereto; and

a wireless transceiver module electrically connected to the plurality of infrared thermal imagers and configured to transmit the plurality of thermal image signals; and

a monitoring terminal configured to combine the plurality of thermal image signals, according to a sequential order of the pieces of time information contained in the plurality of thermal image signals and the pieces of identification information of the infrared thermal imagers corresponding to the plurality of thermal image signals, respectively, to form a plurality of time images, and perform image analysis on the plurality of time images to determine whether the pipeline has a leaking location.

2. The pipeline leakage detection system according to claim 1 , wherein the each of the plurality of thermal image signals further comprises location information, and the monitoring terminal combines the plurality of thermal image signals, according to the pieces of location information contained in the plurality of thermal image signals and the identification information of the plurality of infrared thermal imagers corresponding to the plurality of thermal image signals, respectively, to form a plurality of panoramic images, and performs image analysis on the plurality of panoramic images to determine whether the pipeline has the leaking location.

3. The pipeline leakage detection system according to claim 1 , wherein the ball-type detection device further comprises a storage module configured to store the plurality of thermal image signals according to the sequential order of the pieces of time information contained in the plurality of thermal image signals and the pieces of identification information of the infrared thermal imagers corresponding to the plurality of thermal image signals, respectively.

4. The pipeline leakage detection system according to claim 1 , wherein each of the plurality of wheels is an omnidirectional wheel, and when the plurality of motors drives the plurality of wheels, the controlling module provides a motion mode of controlling the ball-type casing to rotate in situ, move straight, move backwardly, or make a turn.

5. The pipeline leakage detection system according to claim 1 , wherein the ball-type detection device comprises a positioning module disposed on the bearing base and electrically connected to the processing module, and configured to position the ball-type detection device and transmit positioning information through the wireless transceiver module, and the pipeline leakage detection system comprises a controlling device configured to receive the positioning information and transmit a control signal to the wireless transceiver module, and the processing module controls, according to the control signal, the plurality of motors to drive the plurality of wheels, so as to move the ball-type detection device to a specific location of the pipeline.

6. A pipeline leakage detection method, comprising:

providing a ball-type detection device and a monitoring terminal, wherein the ball-type detection device comprises a ball-type casing, a posture detection module, a controlling module, a processing module, a plurality of infrared thermal imagers and a wireless transceiver module, and the controlling module is disposed in the ball-type casing and comprises a plurality of wheels, a plurality of motors and a bearing base, and the plurality of wheels are disposed correspondingly to the plurality of motors one-to-one, and the plurality of motors are configured to drive the plurality of wheels, and the plurality of wheels are in rolling contact with a bottom of the ball-type casing, and the bearing base comprises a plurality of rolling units disposed thereon to support the bearing base on the ball-type casing, and the processing module is disposed on the bearing base and electrically connected to the plurality of motors, and the posture detection module and the plurality of infrared thermal imagers are fixed on the ball-type casing, and the wireless transceiver module is connected to the plurality of infrared thermal imagers;

operating the ball-type detection device in a pipeline, and applying an external force to move the ball-type detection device;

sensing, by the posture detection module, an angular velocity of the ball-type casing to output angular velocity data;

controlling, by the processing module, according to the angular velocity data, the plurality of motors to drive the plurality of wheels, to prevent the ball-type casing from being rotated by the external force;

capturing, by each of the plurality of infrared thermal imagers, thermal image signals around the pipeline, wherein each of the plurality of thermal image signals comprises time information and identification information of the infrared thermal imager corresponding thereto;

transmitting, by the wireless transceiver module, the plurality of thermal image signals to the monitoring terminal; and

combining, by the monitoring terminal, the plurality of thermal image signals, according to a sequential order of the pieces of time information contained in the plurality of thermal image signals and the pieces of identification information of the plurality of infrared thermal imagers corresponding to the plurality of thermal image signals, respectively, to form a plurality of time images, and performing, by the monitoring terminal, image analysis on the plurality of time images to determine whether the pipeline has a leaking location.

7. The pipeline leakage detection method according to claim 6 , wherein each of the plurality of thermal image signals comprises location information, and the pipeline leakage detection method further comprises:

combining, by the monitoring terminal, the plurality of thermal image signals, according to the pieces of the location information contained in the plurality of thermal image signals and the pieces of identification information of the plurality of infrared thermal imagers corresponding to the plurality of thermal image signals, respectively, to form a plurality of panoramic images; and

performing, by the monitoring terminal, image analysis on the plurality of panoramic images to determine whether the pipeline has the leaking location.

8. The pipeline leakage detection method according to claim 6 , wherein the ball-type detection device further comprises a storage module configured to store the plurality of thermal image signals according to the sequential order of the pieces of time information contained in the plurality of thermal image signals and the pieces of identification information of the plurality of infrared thermal imagers corresponding to the plurality of thermal image signals, respectively.

9. The pipeline leakage detection method according to claim 6 , wherein each of the plurality of wheels is an omnidirectional wheel, and when the plurality of motors drives the plurality of wheels, the controlling module provides a motion mode of controlling the ball-type casing to rotate in situ, move straight, move backwardly, or make a turn.

10. The pipeline leakage detection method according to claim 6 , further comprising:

providing a controlling device;

positioning the ball-type detection device, by a positioning module of the ball-type detection device, and transmitting positioning information through the wireless transceiver module;

receiving, by the controlling device; the positioning information and transmitting a control signal to the wireless transceiver module; and

controlling, by the processing module, according to the control signal, the plurality of motors to drive the plurality of wheels, so as to move the ball-type detection device to a specific location of the pipeline.