Man-machine interaction type underwater pipeline inspection welding ROV, system and tracking method

The invention relates to a man-machine interaction type underwater pipeline inspection welding ROV, a system and a tracking method, and belongs to the technical field of underwater robots. The problem that the sewer pipeline welding task is difficult to complete in the underwater environment is solved. Comprising buoyancy materials, a vertical propeller, a welding mechanical arm, a welding high-definition camera, an underwater welding gun, a frame body, a forward high-definition camera, a sliding table, a downward high-definition camera, a horizontal propeller and a mechanical arm, the buoyancy materials are installed on the two sides of the frame body, the forward high-definition camera, the downward high-definition camera, the sliding table and the mechanical arm are installed on the front side of the frame body, and the welding mechanical arm is installed on the sliding table. An underwater welding gun is installed on the welding mechanical arm, a welding high-definition camera is installed on the underwat