Integrated equipment and system for detection and treatment of pile foundation scouring pit and construction method

Abstract

The invention relates to the technical field of offshore wind power engineering construction, in particular to integrated equipment, a system and a construction method for detecting and treating a pile foundation scouring pit, specifically, the integrated equipment for detecting and treating the pile foundation scouring pit comprises a crawler-type robot, the tracked robot comprises an advanced detection module, a grouting module, a walking chassis and an electric control system. According to the equipment, an underwater crawler-type robot serves as a carrier, multiple modules are integrated for cooperative operation, on the basis of the advanced detection module and the grouting module, the two functions of scouring pit form refined detection and pile periphery soil filling and grouting reinforcement are achieved, and underwater construction whole-process transparency is achieved; the universal problems of traditional construction underwater repair point position deviation and slurry fluid channeling are solved, and the technical problems that detection and treatment links need to be separated and staged operation needs to be conducted in an existing device are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power project construction, and in particular to an integrated device, system and construction method for detecting and treating pile foundation scour pits. Background Art

[0002] In offshore wind power projects, scour pits are often formed around pile foundations and other structures due to water erosion. If not repaired in time, the foundation will become unstable or even the structure will overturn, seriously threatening the safety of offshore wind power facilities.

[0003] Although solidified soil construction is widely used, it suffers from a serious problem of underwater leakage. Even with the addition of anti-dispersants, up to 20% of the slurry will still leak under the action of wave currents, resulting in material waste and environmental disturbance outside the repair area. Its compressive strength within 6 hours after initial setting is usually less than 0.5MPa, which cannot withstand the reciprocating erosion of wave currents and is prone to early damage. Rapid-setting materials such as cement-water glass two-liquid slurry have a short setting time, but the grouting controllability is limited. In addition, when water glass comes into contact with seawater, it will quickly undergo a double decomposition reaction with the high concentration of divalent cations in seawater to form insoluble silicate precipitates, causing material failure and extremely prone to pipe blockage.

[0004] Traditional construction relies on fixed-point mixing and release from ships. Affected by the shaking of the ship when anchored, the construction positioning deviation is large. The greater the operating depth, the more prominent the problem of repair point offset caused by the shaking of the mixing equipment. At the same time, it is difficult to accurately position the equipment when the underwater terrain is complex.

[0005] In addition, most existing equipment separates the detection and treatment links, requiring operations to be carried out in stages. Not only is the construction efficiency low, but the lack of real-time data feedback also leads to insufficient repair accuracy and poor mixing uniformity, further limiting the application effect of scour protection and repair technologies.

[0006] Therefore, there is an urgent need for a solution that can solve the problems of slurry crossflow, insufficient initial strength, construction positioning deviation, and high construction cost in the treatment of offshore wind power pile foundation scour pits in the existing technology. Summary of the Invention

[0007] In response to the above technical problems: The present invention proposes an integrated device for detecting and treating pile foundation scour pits, comprising a crawler robot, wherein the crawler robot includes an advance detection module, a grouting module, a walking chassis, and an electronic control system; The advanced detection module is used to detect the scour pit; the grouting module includes a slurry delivery pipe, a filler delivery pipe, a rigid frame, a slurry electric control valve, a filler electric control valve, a discharge pipe and a discharge bin. One end of the filler delivery pipe and the slurry delivery pipe are both connected to the rigid frame, and the other end of the slurry delivery pipe is connected to the filler delivery pipe through the slurry electric control valve, and the other end of the filler delivery pipe is connected to one end of the discharge pipe through the filler electric control valve, and the other end of the discharge pipe is connected to the discharge bin; the walking chassis is used for the movement of the crawler robot; the electronic control system monitors the parameters of the grouting module in real time and supports remote control and data transmission. Furthermore, the grouting module also includes a premixing agitator, which is arranged in the filler delivery pipe and is located between the slurry electric control valve and the filler electric control valve. Furthermore, the grouting module also includes an extrusion electric control valve and an extrusion module. The extrusion module is arranged after the premixer, and the extrusion module is arranged in parallel with the discharge pipe. One end of the extrusion module is connected to the filler delivery pipe through the extrusion electric control valve, and the other end of the extrusion module is connected to the discharge bin.

[0008] On this basis, the present invention also proposes an integrated system for detecting and treating pile foundation scour pits, comprising an offshore support vessel, an electro-hydraulic communication four-in-one cable pipe, and the aforementioned integrated equipment; The offshore support vessel is arranged on the sea surface at the location of the scouring pit and is used to provide materials and technical support for the operation of the crawler robot; The crawler robot is lowered to the location of the scour pit to detect the parameters of the pile foundation scour pit and treat the scour pit by grouting; The electro-hydraulic communication four-way cable is used to connect the offshore support vessel and the crawler robot.

[0009] Furthermore, the electro-hydraulic communication four-in-one cable pipe includes a slurry delivery pipe, a filler delivery pipe, a power supply cable and a communication cable. The slurry delivery pipe is connected to the slurry delivery pipe, the filler delivery pipe is used to connect the filler delivery pipe, the power supply cable is used to power the crawler robot, and the communication cable is used for information and data transmission between the crawler robot and the offshore support vessel.

[0010] Furthermore, the electro-hydraulic communication four-in-one cable tube is provided with an anti-torsion bracket along the axial direction of the cable tube, and the electro-hydraulic communication four-in-one cable tube is filled with a floating material.

[0011] Furthermore, the offshore support vessel includes a filling area, a slurry storage area and an underwater operation area. The filling area is used to store filling materials, the slurry storage area is used to store slurry materials, and the underwater operation area is the control platform and delivery area of ​​the crawler robot.

[0012] On this basis, the present invention also proposes a construction method based on the aforementioned integrated system for pile foundation scour pit detection and treatment, comprising the following steps: S1: Construction preparation: transporting equipment and construction materials to the offshore support vessel. After arriving at the construction site, slurry and filler are prepared on the offshore support vessel; S2: deploying the crawler robot: lowering the crawler robot to the scour pit area, detecting the scour pit using the advance detection module of the crawler robot, and obtaining detection results of the scour pit; S3: Plan the filler thickness and grouting thickness according to the project reinforcement requirements: adjust the slurry ratio and grouting operation mode based on the results of the scour pit detection; S4: Filling filler: controlling the crawler robot to travel, closing the slurry electric control valve and the extrusion electric control valve, and opening the filler electric control valve to fill the scouring pit with filler until the scouring pit is filled to 60%-80% of its depth; S5: Starting grouting: closing the filler electric control valve, opening the slurry electric control valve and the extrusion electric control valve, and conveying the slurry and filler. Then, the extrusion module stirs and extrudes the mixed grouting liquid and fills the scouring pit to form a solidified layer, which is then compacted synchronously by the crawler robot during its travel. S6: Cleaning and recovery equipment: pump seawater into the slurry delivery pipe and the filler delivery pipe, clean the slurry delivery pipe and the filler delivery pipe, and then recover and check the operation of the equipment.

[0013] Furthermore, in step S4, when controlling the crawler robot to travel, the crawler robot is planned and traveled in an "8"-shaped path.

[0014] Furthermore, after the step of starting grouting in S5 and before the step of cleaning and recovering the equipment in S6, a secondary grouting step is also included: the grouting area in the scour pit is detected by the advanced detection module, and the detection results are observed to see whether there is obvious settlement. If obvious settlement occurs, the steps of filling the filler in S4 and starting grouting in S5 are repeated, and the scour pit is repaired by secondary grouting until the detection result of the advanced detection module shows that there is no obvious settlement, and then the step of cleaning and recovering the equipment in S6 is performed.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) Based on the setting of underwater crawler robots, in the repair work of offshore wind turbine pile foundation scour pits, the underwater crawler robots that realize detection and treatment through integration are used as carriers, and multiple modules are integrated for collaborative operation. On the basis of the advance detection module and the grouting module, the transparency of the entire underwater construction process is achieved, overcoming the common problems of point offset and slurry crossflow in traditional construction underwater repair, and solving the technical problem that the existing equipment needs to separate the detection and treatment links and operate in stages. In addition, on the one hand, through the electronic control system and the advance detection module, real-time data feedback is carried out to improve the repair accuracy. On the other hand, through the structural setting of the grouting module, the mixing uniformity and operability of the slurry are improved.

[0016] (2) Through the setting up of an integrated system including an offshore support vessel, an electro-hydraulic communication four-in-one cable pipe and a crawler robot, the detection and treatment of offshore wind power pile foundation scour pits can be ensured to be carried out continuously.

[0017] (3) By controlling the crawler robot 300 to plan and drive along an “8”-shaped path, and by coordinating the electro-hydraulic communication four-in-one cable pipe to limit the relative displacement of each channel, the risk of cable pipe entanglement can be effectively reduced.

[0018] (4) The construction method proposed in the present invention combines scour detection with control, which can timely prevent, discover and control scour, improve the scour protection and control effect of offshore wind power pile foundation, and through the opening and closing of the filler electric control valve, slurry electric control valve and extrusion electric control valve, it can meet the needs of large-scale underwater construction operations or refined underwater construction operations; the grouting module design can greatly improve the operability of the slurry, and with the ultra-fast setting early strength grouting material, it can achieve the effect of rapid setting of underwater slurry and early resistance to wave scour. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the structure of the crawler robot according to the first embodiment of the present invention; Figure 2 This is an overall layout diagram of the integrated system of Example 2 of the present invention; Figure 3 This is a structural layout diagram of a support vessel for an integrated system according to a second embodiment of the present invention; Figure 4 This is a flowchart of a construction method according to a third embodiment of the present invention; Figure 5 This is a schematic diagram of the driving path of the crawler robot in the construction method of embodiment 3 of the present invention.

[0020] In the figure: 100, offshore support vessel, 200, electro-hydraulic communication four-in-one cable pipe, 300, crawler robot, 110, filling area, 120, slurry storage area, 130, underwater operation area, 310, advanced detection module, 320, grouting module, 330, walking chassis, 340, electronic control system, 321, slurry delivery pipe, 322, filler delivery pipe, 323, rigid frame, 324, slurry electric control valve, 325, filler electric control valve, 326, premixing agitator, 327, extrusion electric control valve, 328, extrusion module, 329, discharge silo. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] Example 1: like Figure 1 As shown, the present invention provides an integrated device for detecting and treating pile foundation scour pits, including a crawler robot 300 , which includes an advance detection module 310 , a grouting module 320 , a walking chassis 330 and an electronic control system 340 .

[0023] Specifically, the advance detection module 310 is used to detect scour pits and obtain the size of the scour pits and the terrain data inside the scour pits. It specifically includes multi-beam sonar, ultra-short baseline positioning system, high-definition camera and attitude sensor. The advance detection module 310 can obtain terrain data at a resolution of 0.1m or higher, and through the attitude sensor, it can link with the onboard control station to generate a scour pit model with coordinates, and realize real-time scanning and updating.

[0024] The grouting module 320 includes a slurry delivery pipe 321, a filler delivery pipe 322, a rigid frame 323, a slurry electric control valve 324, a filler electric control valve 325, a discharge pipe and a discharge bin 329. One end of the filler delivery pipe 322 and the slurry delivery pipe 321 are connected to the rigid frame 323 through a quick-release flange interface. The other end of the slurry delivery pipe 321 is connected to the filler delivery pipe 322 through the slurry electric control valve 324. The other end of the filler delivery pipe 322 is connected to one end of the discharge pipe through the filler electric control valve 325. The slurry electric control valve 324 and the filler electric control valve 325 respectively control the delivery of slurry and filler. The slurry electric control valve 324 can be closed by the electric control system during the filling construction process to prevent the filler from flowing into the slurry pipe and to prevent the flow between materials. The filler electric control valve 325 is used to control the delivery of filler to the discharge bin 329 to realize large-scale construction. The other end of the discharge pipe is connected to the discharge bin 329. The structure of the discharge bin 329 is funnel-shaped, and the discharge port is designed to be flat to ensure uniform discharge. The inner wall of the discharge is coated with a super-hydrophobic coating (PTFE) and the inclined slope makes the slurry retention time ≤20s, which effectively prevents the grouting liquid from scaling in the bin.

[0025] Furthermore, the grouting module 320 also includes a premixer 326, which is arranged in the filler delivery pipe 322 and located between the slurry electric control valve 324 and the filler electric control valve 325, and is used to premix the slurry and the filler to prevent the slurry in the slurry delivery pipe 321, such as water glass, from becoming ineffective due to contact with seawater.

[0026] Furthermore, the grouting module 320 also includes an extrusion electric control valve 327 and an extrusion module 328. The extrusion module 328 is arranged behind the premixer 326. The extrusion module 328 is arranged in parallel with the discharge pipe, and one end of the extrusion module 328 is connected to the filler conveying pipe 322 through the extrusion electric control valve 327, and the other end of the extrusion module 328 is connected to the discharge bin 329. The extrusion electric control valve 327 is used to control the slurry and filler to enter the extrusion module 328. Specifically, the extrusion module 328 includes a twin-screw, a gear box transmission system and a control device, which can fully mix the slurry and filler, meet the discharge requirements of low-fluidity grouting slurry and discharge it evenly, meet the requirements of refined construction, realize underwater refined construction, and the bolt extrusion time matches the initial setting time of the selected dual-liquid slurry.

[0027] In summary, the filler delivery pipe 322 is connected to the discharge pipe and the extrusion module 328 through the filler electric control valve 325 and the extrusion electric control valve 327 respectively. Therefore, when fine construction is not required, the filler electric control valve 325 can control the filler to not pass through the extrusion module 328, but directly transport the slurry and filler to the discharge bin 329 through the discharge pipe, thereby realizing large-scale construction.

[0028] Furthermore, the inner layer of the filler delivery pipe 322 is made of wear-resistant nitrile rubber or other materials to meet the wear characteristics of the sand-containing filler.

[0029] The walking chassis 330 includes a power supply compartment, a control compartment, a lighting lamp, a propeller, two tracks and a drive system, which are used for the movement of the tracked robot.

[0030] Specifically, based on actual working conditions, the walking chassis 330 of the present invention must have at least the ability to climb a 30° slope and overcome a 0.38m obstacle, and can support path planning to ensure that the operation covers no blind spots.

[0031] The electronic control system 340 is integrated into the crawler robot and can be set on the rigid frame 323 or next to the power supply compartment. It uses a waterproof and sealed box and requires an IP68 protection level. It is used to monitor the flow, pressure and mixing parameters of the grouting module in real time, and supports remote control and data transmission.

[0032] The components of the crawler robot are all made of pressure-resistant, wear-resistant and corrosion-resistant materials to ensure the working environment and durability requirements on the seabed.

[0033] Based on the setting of underwater crawler robots, in the repair work of offshore wind turbine pile foundation scour pits, detection and treatment are carried out through an integrated underwater crawler robot as a carrier, and multiple modules are integrated for collaborative operation. On the basis of the advanced detection module and the grouting module, the transparency of the entire underwater construction process is achieved, overcoming the common problem of point offset in traditional underwater repair construction, and solving the technical problem that existing equipment needs to separate the detection and treatment links and operate in stages. In addition, on the one hand, through the electronic control system and the advanced detection module, real-time data feedback is carried out to improve the repair accuracy. On the other hand, the structural setting of the grouting module improves the mixing uniformity and controllability of the slurry.

[0034] Example 2: Based on the first embodiment, Figure 2As shown, the present invention also proposes an integrated system for detecting and treating pile foundation scour pits, which includes an offshore support vessel 100, an electro-hydraulic communication four-in-one cable pipe 200 and the above-mentioned integrated equipment, the integrated equipment including a crawler robot 300, wherein the offshore support vessel 100 is arranged on the sea surface at the location of the scour pit, and is used to provide materials and technical support for the operation of the crawler robot 300, and the crawler robot 300 is lowered to the location of the scour pit to detect the parameters of the pile foundation scour pit and treat the scour pit by grouting, and the electro-hydraulic communication four-in-one cable pipe 200 is used to connect The offshore support vessel 100 and the crawler robot 300 are connected, and specifically include a slurry delivery pipe, a filler delivery pipe, a power supply cable and a communication cable. The slurry delivery pipe is connected to the slurry delivery pipe 321 on the crawler robot 300 for slurry input, the filler delivery pipe is used to connect to the filler delivery pipe 322 for filler input, the power supply cable is used to power the crawler robot 300, and the communication cable is used for information and data transmission between the crawler robot 300 and the offshore support vessel 100. The electro-hydraulic communication four-in-one cable pipe 200 is provided with anti-torsion brackets every 1-2m along the axial direction of the cable pipe to limit the relative displacement of each channel. The cable pipe is filled with floating material to ensure that no additional stress is applied to the pipe and cable when the pipeline transports materials.

[0035] Further, such as Figure 3 As shown, the offshore support vessel 100 includes a filling area 110, a slurry storage area 120 and an underwater operation area 130, which can ensure a continuous and stable supply of filler and slurry.

[0036] Among them, the filling area 110 stores filling materials such as silt, sand, gravel, etc. to be filled, and is partitioned to facilitate the suction of seawater to mix in to adjust the fillers with different fluidity. The filling area 110 is also provided with a delivery pump for conveying the filler; the slurry storage area 120 is used to store slurry raw materials such as double-liquid slurry main agent, quick-setting agent, early strength agent, etc. The slurry storage area 120 is also provided with a premixing drum and a pressure-regulating delivery pump; the underwater operation area 130 is used for the control platform and delivery area of ​​the crawler robot 300, including a mixing cable car, an operating console, an A-frame, a stabilizer and other devices.

[0037] By setting up an integrated system including an offshore support vessel, an electro-hydraulic communication four-in-one cable pipe and a crawler robot, the continuous detection and treatment of offshore wind power pile foundation scour pits can be ensured.

[0038] Example 3: Based on the first and second embodiments, Figure 4 As shown, the present invention also provides a construction method for an integrated system for detecting and treating pile foundation scour pits, which is based on the above-mentioned integrated equipment for detecting and treating pile foundation scour pits and the integrated system for detecting and treating pile foundation scour pits. Specifically, the method includes the following steps: S1: Construction preparation.

[0039] Specifically, the process includes: transporting equipment and construction materials to the offshore support vessel, inspecting each part, and configuring the required slurry and filler on the offshore support vessel 100 after arriving at the designated construction site.

[0040] S2: Tracked robot deployment.

[0041] Specifically, the crawler robot 300 is lowered to the scour pit area via an A-frame, and the advance detection module 310 of the crawler robot 300 is used to detect the scour pit to obtain the size of the scour pit and the terrain data within the scour pit; S3: Plan the filler thickness and grouting thickness according to the engineering reinforcement requirements.

[0042] Specifically, the following steps are included: according to the results of the detection of the scour pit, the proportion of the slurry and the working mode of the grouting operation are adjusted. Specifically, for areas susceptible to scour, the flow of the filler delivery pump and the slurry delivery pump is controlled by the electronic control system 340, and the ratio of slurry to filler is adjusted in time. For large-scale construction, the working mode of closing the extrusion electric control valve 327 is adopted. For projects that require secondary grouting repair or high-strength requirements, the working mode of opening the extrusion electric control valve 327 is adopted to meet the needs of refined operations.

[0043] S4: Filling filler.

[0044] Specifically, the steps include: controlling the crawler robot 300 to travel, and closing the slurry electric control valve 324 to prevent the filler from flowing, while closing the extrusion electric control valve 327 and opening the filler electric control valve 325 to fill the scouring pit with filler until it is filled to 60%-80% of the depth of the scouring pit. The filler is specifically a curing agent or an anti-dispersant.

[0045] Further, such as Figure 5 As shown, when controlling the crawler robot 300 to travel, the crawler robot 300 is specifically controlled to plan and set the travel path in an "8" shape, and at the same time, the electro-hydraulic communication four-in-one cable pipe 200 is used to limit the relative displacement of each channel, which can effectively reduce the risk of cable pipe entanglement.

[0046] S5: Start grouting.

[0047] Specifically, the process includes the following steps: closing the filler electric control valve 325, opening the slurry electric control valve 324 and the extrusion electric control valve 327, and conveying the slurry and filler according to the calculated customized flow ratio. The slurry is selected according to different construction requirements. A cement-water glass double-liquid grouting material with early strength and rapid setting effect can be selected. The main agent cement-based slurry can be mixed with the filler and conveyed through the filler conveying pipe. The coagulant such as water glass solution is conveyed through the slurry conveying pipe. The extrusion module 328 then stirs and extrudes the mixed grouting liquid and fills the scouring pit to form a solidified layer, which is then compacted synchronously by the crawler robot 300 during its travel. S6: Cleaning and recycling equipment.

[0048] Specifically, the process includes the following steps: pumping seawater into the slurry delivery pipe 321 and the filler delivery pipe 322 , cleaning the slurry delivery pipe 321 and the filler delivery pipe 322 , and then recovering and inspecting the equipment operation.

[0049] The construction method proposed in the present invention combines scour detection with control, which can timely prevent, discover and control scour, improve the scour protection and control effect of offshore wind turbine pile foundations, and through the opening and closing of the filler electric control valve, slurry electric control valve and extrusion electric control valve, it can meet the needs of large-scale underwater construction operations or refined underwater construction operations; the grouting module design can greatly improve the operability of the slurry, and cooperate with the ultra-fast setting early strength grouting material to achieve the effect of rapid setting of underwater slurry and early resistance to wave scour.

[0050] Furthermore, after the step of starting grouting in S5 and before the step of cleaning and recovering the equipment in S6, a secondary grouting step is also included. Specifically, the grouting area in the scour pit is detected by the advance detection module 310, and the detection results are observed to see whether there is obvious settlement. If obvious settlement occurs, the steps of filling the filler in S4 and starting grouting in S5 are repeated, and the scour pit is repaired by secondary grouting until the detection result of the advance detection module 310 shows that there is no obvious settlement, and then the step of cleaning and recovering the equipment in S6 is performed.

[0051] The repair construction technology based on layered filler and grouting can greatly save construction costs while ensuring the strength of scour pit repair.

Claims

1. An integrated device for detecting and treating pile foundation scour pits, characterized by: The crawler robot (300) includes an advance detection module (310), a grouting module (320), a walking chassis (330), and an electric control system (340); The advance detection module (310) is used to detect the scour pit; The grouting module (320) comprises a slurry delivery pipe (321), a filler delivery pipe (322), a rigid frame (323), a slurry electric control valve (324), a filler electric control valve (325), a discharge pipe and a discharge bin (329), one end of the filler delivery pipe (322) and the slurry delivery pipe (321) are both connected to the rigid frame (323), the other end of the slurry delivery pipe (321) is connected to the filler delivery pipe (322) via the slurry electric control valve (324), the other end of the filler delivery pipe (322) is connected to one end of the discharge pipe via the filler electric control valve (325), and the other end of the discharge pipe is connected to the discharge bin (329); The walking chassis (330) is used for the movement of the crawler robot; The electronic control system (340) monitors the parameters of the grouting module (320) in real time and supports remote control and data transmission.

2. The integrated device for detecting and treating pile foundation scour pits according to claim 1, characterized in that: The grouting module (320) further includes a premixer (326), which is arranged in the filler delivery pipe (322) and located between the slurry electric control valve (324) and the filler electric control valve (325).

3. The integrated device for detecting and treating pile foundation scour pits according to claim 2, characterized in that: The grouting module (320) further includes an extrusion electric control valve (327) and an extrusion module (328), wherein the extrusion module (328) is arranged after the premixer (326), the extrusion module (328) and the discharge pipe are arranged in parallel, and one end of the extrusion module (328) is connected to the filler delivery pipe (322) through the extrusion electric control valve (327), and the other end of the extrusion module (328) is connected to the discharge bin (329).

4. An integrated system for detecting and treating pile foundation scour pits, characterized by: It comprises an offshore support vessel (100), an electro-hydraulic communication four-in-one cable tube (200), and the integrated device according to claim 3; The offshore support vessel (100) is arranged on the sea surface at the location of the scouring pit and is used to provide material and technical support for the operation of the crawler robot (300); The crawler robot (300) is lowered to the location of the scour pit to detect the parameters of the pile foundation scour pit and to treat the scour pit by grouting; The electro-hydraulic communication four-in-one cable (200) is used to connect the offshore support vessel (100) and the crawler robot (300).

5. The integrated system for detecting and treating pile foundation scour pits according to claim 4, characterized in that: The electro-hydraulic communication four-in-one cable (200) comprises a slurry delivery pipe, a filler delivery pipe, a power supply cable and a communication cable; the slurry delivery pipe is connected to the slurry delivery pipe (321); the filler delivery pipe is used to connect to the filler delivery pipe (322); the power supply cable is used to supply power to the crawler robot (300); and the communication cable is used for information and data transmission between the crawler robot (300) and the offshore support vessel (100).

6. The integrated system for detecting and treating pile foundation scour pits according to claim 4 or 5, characterized in that: The electro-hydraulic communication four-in-one cable tube (200) is provided with a torsion-resistant bracket along the cable tube axial direction, and the electro-hydraulic communication four-in-one cable tube (200) is filled with a floating material.

7. The integrated system for detecting and treating pile foundation scour pits according to claim 4, characterized in that: The offshore support vessel (100) comprises a filling area (110), a slurry storage area (120) and an underwater operation area (130); the filling area (110) is used to store filling materials; the slurry storage area (120) is used to store slurry materials; and the underwater operation area (130) is a control platform and a delivery area for the crawler robot (300).

8. A construction method based on the integrated system for pile foundation scour pit detection and treatment according to any one of claims 4 to 7, characterized in that: The steps include: S1: Construction preparation: transporting equipment and construction materials to the offshore support vessel (100); after arriving at the construction site, disposing slurry and filler on the offshore support vessel (100); S2: deploying the crawler robot: lowering the crawler robot (300) to the scour pit area, detecting the scour pit using the advance detection module (310) of the crawler robot (300), and obtaining the detection result of the scour pit; S3: Plan the filler thickness and grouting thickness according to the project reinforcement requirements: adjust the slurry ratio and grouting operation mode based on the results of the scour pit detection; S4: Filling filler: controlling the crawler robot (300) to travel, closing the slurry electric control valve (324) and the extrusion electric control valve (327), and opening the filler electric control valve (325) to fill the scouring pit with filler until the scouring pit is filled to 60%-80% of its depth; S5: Grouting starts: the filler electric control valve (325) is closed, the slurry electric control valve (324) and the extrusion electric control valve (327) are opened, and the slurry and filler are transported, and then the extrusion module (328) stirs and extrude the mixed grouting liquid and fills the scouring pit to form a solidified layer, which is then compacted synchronously during the movement of the crawler robot (300); S6: Cleaning and recycling equipment: Pump seawater into the slurry delivery pipe (321) and the filler delivery pipe (322), clean the slurry delivery pipe (321) and the filler delivery pipe (322), and then recycle and check the equipment operation.

9. The construction method according to claim 8, wherein: In step S4, when controlling the crawler robot (300) to travel, the crawler robot (300) plans and sets a travel path in an "8" shape.

10. The construction method according to claim 8 or 9, characterized in that: After the step of starting grouting in S5 and before the step of cleaning and recovering the equipment in S6, a secondary grouting step is also included: the grouting area in the scouring pit is detected by the advance detection module (310), and the detection result is observed to see whether there is obvious settlement. If obvious settlement occurs, the steps of filling the filler in S4 and starting grouting in S5 are repeated, and the scouring pit is repaired by secondary grouting until the detection result of the advance detection module (310) shows that there is no obvious settlement, and then the step of cleaning and recovering the equipment in S6 is performed.

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