An underwater autonomous docking modular tracked ROV

Abstract

The application discloses a modular tracked ROV, which comprises an ROV module, a tracked module and an automatic docking module, the ROV module and the tracked module are automatically docked through the automatic docking module, the automatic docking module comprises a docking module, a first positioning module, a second positioning module and an underwater camera, the first positioning module is fixed on the ROV module and is used for acquiring real-time position information of the ROV module, the second positioning module is fixed on the tracked module and is used for acquiring real-time position information of the tracked module, the underwater camera is fixed below the ROV module and is used for acquiring image data below the ROV module, and a controller of the modular tracked ROV controls the ROV module to move above the tracked module to be processed based on the position information acquired by the first positioning module and the second positioning module, and then controls the docking module to complete docking based on the image data acquired by the underwater camera, so that the accurate connection of the ROV module and the tracked module is realized. The automatic docking between one ROV module and multiple tracked modules is realized through the automatic docking module.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to an underwater autonomous docking modular tracked ROV. Background Technology

[0002] ROV, or Remotely Operated Vehicle, is a type of unmanned underwater vehicle. A typical system includes: a propulsion system, a remote electronic communication device, a black-and-white or color camera, a camera tilt and pan unit, a user-external sensor interface, a real-time online display unit, a navigation and positioning device, an autopilot navigation unit, auxiliary lighting, and a Kevlar zero-buoyancy tow cable. Adding a tracked chassis to the bottom of an ROV creates a tracked ROV. Together, they can move along the bottom of complex terrains, including vertical and inverted planes, and possess underwater navigation and crawling capabilities. Existing tracked ROVs generally have the following disadvantages:

[0003] (1) The tracks and ROV are complicated to disassemble and assemble, and cannot be used separately, which wastes resources to a certain extent;

[0004] (2) Common tracked ROVs, the tracks are usually located below the ROV, which will block the water flow of the vertical thruster on the ROV and cause power loss.

[0005] (3) Existing tracked ROVs have a fixed connection between the track and the ROV, which is cumbersome to disassemble and assemble, and cannot achieve autonomous connection and control of multiple track modules by one ROV. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies, this invention provides an underwater autonomous docking modular tracked ROV, which solves the problems of existing tracked ROVs, such as cumbersome disassembly and assembly of tracks and ROV, inability to achieve autonomous connection and control of multiple tracked modules by one ROV, and tracks obstructing the water flow to the vertical thruster on the ROV, resulting in power loss.

[0007] To achieve the above objectives, the present invention relates to a modular tracked ROV, comprising an ROV module, a track module, and an automatic docking module. The ROV module and the track module automatically dock via the automatic docking module, which includes a docking module, a first positioning module, a second positioning module, and an underwater camera. The first positioning module is fixed to the ROV module and is used to acquire the real-time position information of the ROV module. The second positioning module is fixed to the track module and is used to acquire the real-time position information of the track module. The underwater camera is fixed below the ROV module and is used to acquire image data below it. Based on the position information acquired by the first and second positioning modules, the controller of the modular tracked ROV controls the ROV module to move above the track module to be processed, and then controls the docking module to complete the docking based on the image data acquired by the underwater camera, thereby achieving accurate connection between the ROV module and the track module.

[0008] Specifically, the docking module includes guide sleeves, guide shafts, and a locking mechanism. The locking mechanism is fixed at the center of the bottom of the ROV module. At least two guide sleeves are fixed to the bottom of the ROV module and are evenly spaced around the outer periphery of the locking mechanism. At least two guide shafts are fixed to the upper part of the track module. The guide sleeves correspond one-to-one with the guide shafts, and the guide sleeves are fitted onto the corresponding guide shafts. After fitting, the through holes on the guide sleeves and the through holes on the guide shafts are aligned. The locking mechanism includes a fixed plate, a turntable, a connecting rod, a locking pin, an underwater rudder, a connecting rod, a slide, and a slider. The servo motor is fixed to the middle of one side of the fixed plate, and the connecting rod is fixed to the fixed plate on the same side as the underwater servo motor. The fixed plate is installed at the bottom of the ROV module through the connecting rod. The turntable on the other side of the fixed plate is connected to the shaft of the underwater servo motor. At least two connecting rods are hinged at equal intervals in a ring around the turntable. The other end of the connecting rod is hinged to one end of the locking pin. The bottom of the locking pin is fixed to the slider. At least two sliding grooves are opened on the fixed plate. The slider moves back and forth along the sliding grooves. The locking pin moves with the slider. When the locking pin extends, the other end can be inserted into the through hole aligned with the guide sleeve and the guide shaft to fix the two.

[0009] The track module involved in this invention includes a frame, track wheels, and a sealed motor. A track wheel 8 is fixed on each of the left and right sides of the frame, and a sealed motor is installed on the front and rear sides of the frame respectively. Each track wheel is connected to the output shaft of a sealed motor to drive the track wheel to rotate.

[0010] The tracked wheel of the present invention includes a track, a drive pulley, a drive wheel axle, a fixed plate, a connecting rod, a driven pulley, a driven wheel axle, and a first float. Two fixed plates are arranged in parallel, and a connecting rod perpendicular to the fixed plates is placed in the middle of the two fixed plates and connects the two plates. The first float is fixed in the middle of the two fixed plates. The drive wheel axle and the driven wheel axle, which are perpendicular to the fixed plates, are rotatably connected to the front and rear ends of the two fixed plates, respectively. A drive pulley is fixed to each end of the drive wheel axle, and a driven pulley is fixed to each end of the driven wheel axle. The track meshes with the outer wheels of the two drive pulleys and the two driven pulleys, respectively, connecting the two.

[0011] Furthermore, the track wheel also includes a support wheel axle and a support wheel; at least one support wheel axle is vertically mounted on the fixed plate, and a support wheel is fixed to each end of the support wheel axle. The lower part of the support wheel abuts against the track to support the lower part of the track. The track wheel also includes a tensioning block and a tensioning screw. The tensioning block is fixed to the outside of the fixed plate, and the tensioning screw is threaded to the tensioning block and abuts against the outside of the driven wheel axle. The track wheel also includes a baffle, which is fixed to the fixed plate and placed inside the track wheel. The two ends of the baffle are connected to the driving wheel axle and the driven wheel axle, respectively.

[0012] The sealed motor of the present invention includes a sealed chamber, a motor body and insulating oil. The motor body is installed in the sealed chamber. The output shaft of the motor body passes through a through hole opened at the front end of the sealed chamber and is connected to the drive pulley on the corresponding track wheel. The output shaft of the motor body is rotatably connected to the through hole of the sealed chamber. The sealed chamber is filled with insulating oil.

[0013] Specifically, the sealed chamber includes a front sealed chamber, a rear sealed chamber, and a sealed chamber cover. The front sealed chamber is a chamber with a front-end seal and a rear-end opening. The rear sealed chamber is a chamber with openings at both ends. One end of the rear sealed chamber is sealed and connected to the front and rear end openings of the sealed chamber. The other end of the rear sealed chamber is sealed and connected to the sealed chamber cover through a sealing ring. A through hole is opened in the middle of the front end of the sealed chamber, and the output shaft of the motor body is sealed and rotatably connected to the through hole.

[0014] Furthermore, the sealed chamber also includes a sealing plug, with an oil injection hole opened on the sealed chamber, and the sealing plug is sealed and fixed on the oil injection hole.

[0015] The ROV module involved in this invention includes a second float, a vertical thruster, a horizontal thruster, an LED light, a flow deflector, a main frame, and an electronics compartment. The second float is fixed to the upper part of the main frame, the electronics compartment is installed at the center of the main frame, a horizontal thruster is installed on the left and right sides of the electronics compartment, and a vertical thruster is fixed to the upper part of each horizontal thruster. An LED light is installed on the left and right sides of the main frame.

[0016] The modular tracked ROV involved in this invention also includes a flow guide plate, which is fixed on the ROV module and installed at an angle below the vertical thruster.

[0017] Compared with the prior art, the present invention has the following advantages: (1) The water flow generated by the vertical thruster is guided to the downward slope by the guide plate, so as to avoid the water flow of the thruster pushing the track and causing the power to be canceled inside and do useless work; (2) The sealed motor has a simple structure, good sealing performance and is easy to process; (3) Placing the float inside the track wheel not only plays the role of support and filling, but also avoids damage to the external float during use; (4) Automatic docking between one ROV module and multiple track modules is realized through the autonomous docking module. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the modular tracked ROV structure involved in Example 1.

[0019] Figure 2 This is an exploded structural diagram of the modular tracked ROV involved in Example 1.

[0020] Figure 3 This is a structural block diagram of the automatic docking module involved in Example 1.

[0021] Figure 4 This is a bottom view (unlocked state) of the locking mechanism involved in Embodiment 1.

[0022] Figure 5 This is a top view (unlocked state) of the locking mechanism involved in Embodiment 1.

[0023] Figure 6 This is a side view (unlocked state) of the locking mechanism involved in Embodiment 1.

[0024] Figure 7 This is a bottom view (locked state) of the locking mechanism involved in Embodiment 1.

[0025] Figure 8 This is a diagram showing the fit between the guide sleeve and the guide shaft in Example 1.

[0026] Figure 9 This is a front view of the track wheel involved in Example 1.

[0027] Figure 10 for Figure 9 Sectional view of AA.

[0028] Figure 11 This is a side view of the sealed motor involved in Example 1.

[0029] Figure 12 for Figure 11 Sectional view of AA.

[0030] Figure 13 This is a schematic diagram of the ROV module A involved in Example 1.

[0031] Figure 14 This is a schematic diagram of the modular tracked ROV structure involved in Example 2.

[0032] Figure 15 This is an exploded structural diagram of the modular tracked ROV involved in Example 2. Detailed Implementation

[0033] To more clearly illustrate the content of this invention, the invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0034] Example 1

[0035] like Figures 1-3 As shown, this embodiment relates to a modular tracked ROV, including ROV module A, tracked module B, and an automatic docking module. ROV module A and tracked module B automatically dock through the automatic docking module, which includes a docking module, a first positioning module 1, a second positioning module 2, and an underwater camera 3. The first positioning module 1 is fixed to ROV module A and is used to acquire the real-time position information of ROV module A. The second positioning module 2 is fixed to tracked module B and is used to acquire the real-time position information of tracked module B. The underwater camera 3 is fixed below ROV module A and is used to acquire image data below it. Based on the position information acquired by the first positioning module 1 and the second positioning module 2, the controller of the modular tracked ROV controls ROV module A to move above the tracked module B to be processed. Then, based on the image data acquired by the underwater camera 3, it controls the docking module to complete the docking, thereby achieving an accurate connection between ROV module A and tracked module B.

[0036] Specifically, the first positioning module 1 and the second positioning module 2 are existing underwater positioning modules such as GPS.

[0037] like Figures 4-8 As shown, in one implementation method, the docking module includes guide sleeves 4, guide shafts 5, and locking mechanisms 6. The locking mechanism 6 is fixed at the center of the bottom of the ROV module A. At least two guide sleeves 4 are fixed to the bottom of the ROV module A and are arranged at equal intervals around the outer periphery of the locking mechanism 6. At least two guide shafts 5 are fixed to the upper part of the track module B. The guide sleeves 4 and guide shafts 5 correspond one-to-one, with the guide sleeves 4 fitting onto the corresponding guide shafts 5. After fitting, the through holes on the guide sleeves 4 and guide shafts 5 are aligned.

[0038] The locking mechanism 6 includes a fixed plate 601, a turntable 602, a connecting rod 603, a locking pin 604, an underwater servo 605, a connecting rod 606, a slide 607, and a slider 608. The underwater servo 605 is fixed to the middle of one side of the fixed plate 601, and the connecting rod 606 is fixed to the fixed plate on the same side as the underwater servo 605. The fixed plate is installed at the bottom of the ROV module A through the connecting rod 606. The turntable 602, located on the other side of the fixed plate 601, is connected to the underwater servo shaft 608. 5. A turntable 602 is circumferentially hinged with at least two connecting rods 603 at equal intervals. The other end of each connecting rod 603 is hinged to one end of a locking pin 604. The bottom of the locking pin 604 is fixed to a slider 608. At least two grooves 607 are formed on a fixed plate 601. The slider 608 reciprocates along the grooves 607, and the locking pin 604 moves with the slider 608. When the locking pin 604 extends, its other end can be inserted into a through hole aligned with the guide sleeve 4 and the guide shaft 5 to fix the two together. The rotation of the underwater servo shaft 605 drives the turntable 602 to rotate, and the connecting rods 603 move with the turntable 602, which in turn drives the locking pin 604 to reciprocate linearly along the grooves 607. When the locking pin 604 extends, it is inserted into the through hole aligned with the guide sleeve 4 and the guide shaft 5 to lock the two together in a locked state. When it retracts, the locking pin 604 is pulled out from the through hole of the guide sleeve 4 and the guide shaft 5 in an unlocked state.

[0039] Specifically, the guide sleeve 4, guide shaft 5, connecting rod 603, locking pin 604, slide groove 607 and slider 608 correspond one-to-one. The guide shaft 5 is fixed on the frame of ROV module A. There can be 2, 3, 4, etc., and the figure shows 4.

[0040] In this embodiment, the docking module uses a guiding structure and a locking structure for automatic docking, or it can be automatically docked by electromagnetic adsorption, vacuum adsorption, or other methods.

[0041] like Figures 9-12 As shown, the track module B involved in this embodiment includes a frame 7, track wheels 8 and a sealed motor 9. A track wheel 8 is fixed on both the left and right sides of the frame 7, and a sealed motor 9 is installed on the front and rear sides of the frame 7 respectively. Each track wheel 8 is connected to the output shaft of a sealed motor 9 to drive the track wheel 8 to rotate.

[0042] like Figures 9-10As shown, the track wheel 8 involved in this embodiment includes a track 801, a drive pulley 802, a drive wheel axle 803, a fixed plate 804, a connecting rod 805, a driven pulley 811, a driven wheel axle 812, and a first float 813. The two fixed plates 804 are arranged in parallel, and the connecting rod 805, which is perpendicular to the fixed plates 804, is placed in the middle of the two fixed plates 804 and connects the two. The first float 813 is fixed in the middle of the two fixed plates 804. The drive wheel axle 803 and the driven wheel axle 812, which are perpendicular to the fixed plates 804, are rotatably connected to the front and rear ends of the two fixed plates 804, respectively. A drive pulley 802 is fixed at each end of the drive wheel axle 803, and a driven pulley 811 is fixed at each end of the driven wheel axle 812. The track 801 meshes with the outer wheels of the two drive pulleys 802 and the two driven pulleys 811, respectively, connecting the two.

[0043] Furthermore, the track wheel 8 also includes a support wheel axle 806 and a support wheel 807; at least one support wheel axle 806 is vertically mounted on the fixed plate 804, and a support wheel 807 is fixed at each end of the support wheel axle 806. The lower part of the support wheel 807 abuts against the track 801 to support the lower part of the track 801.

[0044] Furthermore, the track wheel 8 also includes a tensioning block 809 and a tensioning screw 810. The tensioning block 809 is fixed to the outside of the fixed plate 804. The tensioning screw 810 is threadedly engaged with the tensioning block 809 and abuts against the outside of the driven wheel axle 812. By tightening the tensioning screw 810, the driven wheel axle 812 is pushed backward, thereby achieving the tensioning of the track 801.

[0045] Furthermore, the track wheel 8 also includes a baffle 808, which is fixed on the fixed plate 804 and placed inside the track wheel 8. The two ends of the baffle 808 are connected to the drive wheel axle 803 and the driven wheel axle 812, respectively.

[0046] like Figures 11-12 As shown, the sealed motor 9 described in this embodiment includes a sealed chamber, a motor body 904, and insulating oil. The motor body 904 is installed inside the sealed chamber. The output shaft 901 of the motor body passes through a through hole opened at the front end of the sealed chamber and is connected to the drive pulley on the corresponding track wheel 8. The output shaft 901 of the motor body is rotatably connected to the through hole of the sealed chamber. The sealed chamber is filled with insulating oil to protect the motor and prevent water from entering the chamber and causing damage to the motor.

[0047] As one implementation, the sealed chamber includes a front 903, a rear 905, and a cover 906. The front 903 is a chamber with a sealed front end and an open rear end. The rear 905 is a chamber with openings at both ends. One opening of the rear 905 is sealed to the rear opening of the front 903, and the other opening of the rear 905 is sealed to the cover 906 via a sealing ring 309. A through hole is formed in the middle of the front end of the front 903, and the output shaft 901 of the motor body 904 is rotatably connected to the through hole. This type of sealed chamber is simple to manufacture, easy to assemble and disassemble, and has good sealing performance. Of course, other structures can also be used for the sealed chamber.

[0048] Furthermore, the sealed chamber also includes a sealing plug 908, with an oil injection hole provided on the sealed chamber, and the sealing plug 908 is sealed and fixed on the oil injection hole.

[0049] In addition, an underwater gland 907 is fixed on the sealed chamber, which facilitates communication between the motor body 904 and external equipment.

[0050] The output shaft 901 of the motor body is sealed and rotated with the through hole of the sealed chamber in the following manner: a skeleton oil seal 902 is fixed in the through hole opened at the front end of the front 903 of the sealed chamber, and the output shaft 901 of the motor body passes through the skeleton oil seal 902 and rotates relative to it.

[0051] The motor body 904 is installed in the sealed chamber by means of sealing bolts 910 evenly arranged around the through hole at the front end of the sealed chamber 903, passing through the sealed chamber from the outside and connecting to the motor body 904, thereby fixing the motor body 904 in the sealed chamber.

[0052] like Figure 13 As shown, the ROV module A involved in this embodiment includes a second float 10, a vertical thruster 11, a horizontal thruster 12, an LED light 13, a flow guide plate 14, a main frame 15, and an electronics compartment 16. The second float 10 is fixed to the upper part of the main frame 15, and the electronics compartment 16 is installed at the center of the main frame 15. A horizontal thruster 12 is installed on the left and right sides of the electronics compartment 16, and a vertical thruster 11 is fixed to the upper part of each horizontal thruster 12. An LED light 13 is installed on the left and right sides of the main frame 15.

[0053] Furthermore, such as Figure 1 As shown, the modular tracked ROV involved in this embodiment also includes a flow guide plate C. The flow guide plate C is fixed on the ROV module A and is installed at an angle below the vertical thruster 11. When the tracked ROV rises in the water, the vertical thruster 11 generates a downward water flow. The flow guide plate guides the water flow to the downward angle, avoiding the water flow of the thruster from pushing the track and causing the power to cancel out internally and do useless work.

[0054] The specific working process of a modular tracked ROV involved in this embodiment is as follows:

[0055] When a tracked ROV docks underwater, ROV module A moves above tracked module B based on its position information and then descends vertically. Guide sleeve 4 and guide shaft 5 will make initial contact. Based on image data, the position of ROV module A is adjusted as it descends, ensuring coaxial engagement of guide sleeve 4 and guide shaft 5. Descending stops once guide sleeve 4 contacts tracked module B. At this point, locking mechanism 6 changes from unlocked to locked, completely fixing ROV module A and tracked module B into a single unit. Through the automatic docking module, ROV module A and tracked module B can be configured in a one-to-many ratio, allowing multiple tracked modules B to operate underwater. Normally, ROV module A is idle but can be used independently. It only docks and secures itself underwater when tracked module B needs to be retrieved or when encountering obstacles that it cannot overcome, completing the retrieval and obstacle-crossing tasks.

[0056] Example 2

[0057] like Figures 14-15 As shown, except for the following parts, this embodiment is the same as embodiment 1.

[0058] This embodiment relates to a modular tracked ROV, including an ROV module A and a track module B. The ROV module A is detachably fixed to the upper side of the track module B. Specifically, the ROV module A is fixed to the frame 7 of the track module B by bolts.

Claims

1. A modular tracked ROV, characterized in that, The modular tracked ROV includes an ROV module, a track module, and an automatic docking module. The ROV module and the track module automatically dock through the automatic docking module, which includes a docking module, a first positioning module, a second positioning module, and an underwater camera. The first positioning module is fixed to the ROV module and is used to obtain the real-time position information of the ROV module. The second positioning module is fixed to the track module and is used to obtain the real-time position information of the track module. The underwater camera is fixed below the ROV module and is used to obtain image data below it. Based on the position information obtained by the first and second positioning modules, the controller of the modular tracked ROV controls the ROV module to move above the track module to be processed. Then, based on the image data obtained by the underwater camera, it controls the docking module to complete the docking, realizing the accurate connection between the ROV module and the track module. The docking module includes guide sleeves, guide shafts, and a locking mechanism. The locking mechanism is fixed at the center of the bottom of the ROV module. At least two guide sleeves are fixed to the bottom of the ROV module and are evenly spaced around the outer periphery of the locking mechanism. At least two guide shafts are fixed to the upper part of the track module. The guide sleeves correspond one-to-one with the guide shafts, and the guide sleeves are fitted onto the corresponding guide shafts. After fitting, the through holes on the guide sleeves and the through holes on the guide shafts are aligned. The locking mechanism includes a fixed plate, a turntable, a connecting rod, a locking pin, an underwater servo, a connecting rod, a slide, and a slider. The underwater servo is fixed to the center of one side of the fixed plate. The connecting rod is fixed to the mounting plate on the same side as the underwater servo. The mounting plate is installed at the bottom of the ROV module through the connecting rod. The turntable on the other side of the mounting plate is connected to the shaft of the underwater servo. At least two connecting rods are hinged at equal intervals in a ring around the turntable. The other end of the connecting rod is hinged to one end of the locking pin. The bottom of the locking pin is fixed to the slider. At least two sliding grooves are opened on the mounting plate. The slider moves back and forth along the sliding grooves. The locking pin moves with the slider. When the locking pin extends, the other end can be inserted into the through hole aligned with the guide sleeve and the guide shaft to fix the two.

2. The modular tracked ROV according to claim 1, characterized in that, The track module includes a frame, track wheels, and a sealed motor. A track wheel is fixed on each of the left and right sides of the frame, and a sealed motor is installed on the front and rear sides of the frame. Each track wheel is connected to the output shaft of a sealed motor to drive the track wheel to rotate.

3. The modular tracked ROV according to claim 2, characterized in that, The track wheel includes a track, a drive pulley, a drive axle, a fixed plate, a connecting rod, a driven pulley, a driven axle, and a first float. The two fixed plates are arranged in parallel, and the connecting rod perpendicular to the fixed plates is placed in the middle of the two fixed plates and connects them. The first float is fixed in the middle of the two fixed plates. The drive axle and the driven axle perpendicular to the fixed plates are rotatably connected to the front and rear ends of the two fixed plates, respectively. A drive pulley is fixed to each end of the drive axle, and a driven pulley is fixed to each end of the driven axle. The track meshes with the outer wheels of the two drive pulleys and the two driven pulleys, respectively, connecting them.

4. The modular tracked ROV according to claim 3, characterized in that, The track wheel also includes a support wheel axle and a support wheel; at least one support wheel axle is vertically mounted on the fixed plate, and a support wheel is fixed to each end of the support wheel axle. The lower part of the support wheel abuts against the track to support the lower part of the track. The track wheel also includes a tensioning block and a tensioning screw. The tensioning block is fixed to the outside of the fixed plate, and the tensioning screw is threaded to the tensioning block and abuts against the outside of the driven wheel axle. The track wheel also includes a baffle, which is fixed to the fixed plate and placed inside the track wheel. The two ends of the baffle are connected to the driving wheel axle and the driven wheel axle, respectively.

5. The modular tracked ROV according to claim 4, characterized in that, The sealed motor includes a sealed chamber, a motor body, and insulating oil. The motor body is installed inside the sealed chamber. The output shaft of the motor body passes through a through hole at the front end of the sealed chamber and is connected to the drive pulley on the corresponding track wheel. The output shaft of the motor body is sealed and rotatably connected to the through hole of the sealed chamber. The sealed chamber is filled with insulating oil.

6. The modular tracked ROV according to claim 5, characterized in that, The sealed chamber includes a front sealed chamber, a rear sealed chamber, and a sealed chamber cover. The front sealed chamber is a chamber with a front-end seal and a rear-end opening. The rear sealed chamber is a chamber with openings at both ends. One end of the rear sealed chamber is sealed and connected to the front and rear end openings of the sealed chamber. The other end of the rear sealed chamber is sealed and connected to the sealed chamber cover through a sealing ring. A through hole is opened in the middle of the front end of the sealed chamber, and the output shaft of the motor body is sealed and rotatably connected to the through hole.

7. The modular tracked ROV according to claim 6, characterized in that, The sealed chamber also includes a sealing plug, with an oil injection hole opened on the sealed chamber, and the sealing plug is sealed and fixed on the oil injection hole.

8. The modular tracked ROV according to claim 1, characterized in that, The ROV module includes a vertical thruster, a horizontal thruster, a deflector plate, a main frame, and an electronics compartment. The electronics compartment is installed in the center of the main frame. A horizontal thruster is installed on each of the left and right sides of the electronics compartment, and a vertical thruster is fixed to the upper part of each horizontal thruster.

9. The modular tracked ROV according to claim 8, characterized in that, The modular tracked ROV also includes a flow deflector plate, which is fixed to the ROV module and installed at an angle below the vertical thruster.

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