Integrated equipment, systems, and construction methods for detecting and treating pile foundation scour pits.

Abstract

This application relates to the field of offshore wind power engineering construction technology, and in particular to an integrated device, system, and construction method for detecting and treating pile foundation scour pits. Specifically, it includes an integrated device for detecting and treating pile foundation scour pits, comprising a tracked robot. The tracked robot includes an advanced detection module, a grouting module, a walking chassis, and an electrical control system. The device uses an underwater tracked robot as its carrier, integrating multiple modules for collaborative operation. Based on the advanced detection and grouting modules, it fulfills two main functions: refined detection of scour pit morphology and filling and grouting reinforcement of the soil around the pile. It also achieves full transparency of the underwater construction process, overcoming the common problems of underwater repair point misalignment and grout cross-flow in traditional construction methods. Furthermore, it solves the technical challenge of existing equipment requiring separate detection and treatment stages.

Description

Technical Field

[0001] This invention relates to the technical field of offshore wind power engineering construction, specifically to an integrated device, system, and construction method for detecting and treating pile foundation scour pits. Background Technology

[0002] In offshore wind power projects, scour pits often form around the pile foundations and other structures due to water erosion. If not repaired in time, these pits can lead to foundation instability or even structural collapse, seriously threatening the safety of offshore wind power facilities.

[0003] Although solidified soil construction is widely used, it suffers from serious underwater flow problems. Even with the addition of anti-dispersants, up to 20% of the grout can still leak under the action of waves, resulting in material waste and environmental disturbance outside the repair area. Its compressive strength is usually below 0.5 MPa within 6 hours after initial setting, making it unable to withstand repeated scouring by waves and prone to early failure. While quick-setting materials such as cement-water glass two-component grout have short setting times, their grouting controllability is limited. Furthermore, when water glass comes into contact with seawater, it will quickly undergo a metathesis reaction with the high concentration of divalent cations in the seawater, generating insoluble silicate precipitates, causing material failure and easily leading to pipe blockage.

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

[0005] In addition, existing equipment often separates the detection and treatment processes, requiring phased operations. This not only results in low construction efficiency but also leads to insufficient repair accuracy due to a lack of real-time data feedback and poor mixing uniformity, further limiting the application effectiveness of scour protection and repair technologies.

[0006] Therefore, there is an urgent need for a solution that can address the problems of slurry cross-flow, insufficient early strength, construction positioning deviation, and high construction costs in the treatment of scour pits of offshore wind power pile foundations in existing technologies. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention proposes an integrated device for detecting and treating pile foundation scour pits, comprising a tracked robot, wherein the tracked robot includes an advanced detection module, a grouting module, a walking chassis, and an electrical control system;

[0008] The advanced detection module is used to detect scour pits; the grouting module includes a slurry delivery pipe, a filler delivery pipe, a rigid frame, a slurry electrically controlled valve, a filler electrically controlled valve, a discharge pipe, and a discharge bin. One end of both the filler delivery pipe and the slurry delivery pipe is connected to the rigid frame. The other end of the slurry delivery pipe is connected to the filler delivery pipe via the slurry electrically controlled valve. The other end of the filler delivery pipe is connected to one end of the discharge pipe via the filler electrically controlled valve. The other end of the discharge pipe is connected to the discharge bin. The walking chassis is used for the movement of the tracked robot. The electrical 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 mixer, which is disposed inside the filler delivery pipe and located between the slurry electrically controlled valve and the filler electrically controlled valve. Furthermore, the grouting module also includes an extrusion control valve and an extrusion module. The extrusion module is located after the premixing mixer and is arranged in parallel with the feed pipe. One end of the extrusion module is connected to the filler conveying pipe through the extrusion control valve, and the other end of the extrusion module is connected to the feed hopper.

[0009] Based on this, the present invention also proposes an integrated system for detecting and treating pile foundation scour pits, including an offshore support vessel, an electro-hydraulic communication four-in-one cable duct, and the integrated equipment as described above;

[0010] The offshore support vessel is positioned on the sea surface at the location of the scour pit and is used to provide material and technical support for the operation of the tracked robot.

[0011] The tracked 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.

[0012] The electro-hydraulic communication four-in-one cable is used to connect the marine support vessel and the tracked robot.

[0013] Furthermore, the electro-hydraulic communication four-in-one cable includes a slurry conveying pipe, a filler conveying pipe, a power supply cable, and a communication cable. The slurry conveying pipe is connected to the slurry delivery pipe, the filler conveying pipe is used to connect to the filler delivery pipe, the power supply cable is used to supply power to the tracked robot, and the communication cable is used for information and data transmission between the tracked robot and the offshore support vessel.

[0014] Furthermore, the electro-hydraulic communication four-in-one cable conduit is provided with an anti-torsion bracket along the cable conduit axis, and the electro-hydraulic communication four-in-one cable conduit is filled with float material.

[0015] Furthermore, the offshore support vessel includes a filler area, a slurry storage area, and an underwater operation area. The filler area is used to store filler materials, the slurry storage area is used to store slurry materials, and the underwater operation area serves as the control platform and deployment area for the tracked robot.

[0016] Based on this, the present invention also proposes a construction method based on the integrated system for pile foundation scour pit detection and treatment as described above, comprising the following steps:

[0017] S1: Construction preparation: Transport the equipment and construction materials to the offshore support vessel. After arriving at the construction site, prepare the grout and filler on the offshore support vessel.

[0018] S2: Deployment of tracked robot: The tracked robot is lowered into the scour pit area, and the advanced detection module of the tracked robot is used to detect the scour pit and obtain the detection results of the scour pit.

[0019] S3: Plan the filler thickness and grouting thickness according to the engineering reinforcement requirements: Adjust the grout ratio and grouting operation mode based on the results of the scour pit detection.

[0020] S4: Filling with filler: Control the tracked robot to move, close the slurry control valve and the extrusion control valve, and open the filler control valve to fill the scour pit with filler until it is filled to 60%-80% of the scour pit depth;

[0021] S5: Start grouting: Close the filler solenoid valve, open the slurry solenoid valve and the extrusion solenoid valve to transport the slurry and filler. Then, the extrusion module stirs and extrudes the mixed grouting liquid and fills the scour pit to form a solidified layer. The solidified layer is then compacted synchronously during the movement of the tracked robot.

[0022] S6: Cleaning and recycling equipment: Pump seawater into the slurry delivery pipe and the filler delivery pipe, clean the pipelines of the slurry delivery pipe and the filler delivery pipe, and then recycle and check the equipment operation.

[0023] Furthermore, in step S4, when controlling the tracked robot to move, the tracked robot follows a figure-eight path planning and travel path setting.

[0024] Furthermore, after the grouting step S5 and before the cleaning and recycling equipment step S6, a secondary grouting step is included: the grouting area in the scour pit is detected by the advanced detection module, and the detection results are observed to see if there is significant settlement. If significant settlement occurs, the steps of filling the filler in S4 and starting grouting in S5 are repeated to perform secondary grouting repair on the scour pit until the detection result of the advanced detection module shows no significant settlement, and then the cleaning and recycling equipment step S6 is performed.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] (1) Based on the underwater tracked robot, the underwater tracked robot, which integrates detection and treatment, is used as a carrier in the repair operation of the scour pit of offshore wind power pile foundation. It integrates multiple modules to work together. Based on the advanced detection module and the grouting module, the entire underwater construction process is made transparent, which overcomes the common problems of underwater repair point displacement and grout flow in traditional construction. It solves the technical problem that existing equipment needs to separate the detection and treatment links and carry out phased operations. In addition, on the one hand, the data feedback is carried out in real time through the electrical control system and the advanced detection module to improve the repair accuracy. On the other hand, the structural setting of the grouting module improves the mixing uniformity and operability of the grout.

[0027] (2) By setting up an integrated system including offshore support vessel, electro-hydraulic communication four-in-one cable duct and tracked robot, the continuous progress of offshore wind power pile foundation scour pit detection and treatment work can be guaranteed.

[0028] (3) By controlling the tracked robot 300 to plan and travel in a figure-eight pattern, and at the same time using the electro-hydraulic communication four-in-one cable to limit the relative displacement of each channel, the risk of cable entanglement can be effectively reduced.

[0029] (4) The construction method proposed in this invention combines scour detection and treatment, which can prevent, detect and treat scour in a timely manner, improve the scour protection and treatment effect of offshore wind power pile foundation, and meet the needs of large-scale underwater construction operations or refined underwater construction operations by opening and closing the filler electric control valve, slurry electric control valve and extrusion electric control valve; the grouting module design can greatly improve the operability of slurry, and with the ultra-fast setting early strength grouting material, the underwater slurry can be rapidly set and resist wave scour in the early stage of setting. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the tracked robot according to Embodiment 1 of the present invention;

[0031] Figure 2 This is an overall layout diagram of the integrated system according to Embodiment 2 of the present invention;

[0032] Figure 3 This is a diagram showing the support vessel structure layout of the integrated system according to Embodiment 2 of the present invention;

[0033] Figure 4 This is a flowchart of the construction method according to Embodiment 3 of the present invention;

[0034] Figure 5 This is a schematic diagram of the travel path of the tracked robot in the construction method of Embodiment 3 of the present invention.

[0035] In the diagram: 100, offshore support vessel; 200, electro-hydraulic communication four-in-one cable duct; 300, tracked robot; 110, filling area; 120, slurry storage area; 130, underwater operation area; 310, advanced detection module; 320, grouting module; 330, walking chassis; 340, electrical control system; 321, slurry delivery pipe; 322, filling delivery pipe; 323, rigid frame; 324, slurry electrical control valve; 325, filling electrical control valve; 326, premix mixer; 327, extrusion electrical control valve; 328, extrusion module; 329, discharge bin. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Example 1:

[0038] like Figure 1 As shown, the present invention provides an integrated device for detecting and treating pile foundation scour pits, including a tracked robot 300. The tracked robot 300 includes an advanced detection module 310, a grouting module 320, a walking chassis 330, and an electrical control system 340.

[0039] Specifically, the advanced detection module 310 is used to detect the scour pit and obtain the size of the scour pit and the terrain data inside the scour pit. It includes a multibeam sonar, an ultra-short baseline positioning system, a high-definition camera and an attitude sensor. The advanced detection module 310 can acquire terrain data at a resolution of 0.1m or higher, and generate a scour pit model with coordinates through the attitude sensor and the ship's control station, and realize real-time scanning and updating.

[0040] The grouting module 320 includes a grout delivery pipe 321, a filler delivery pipe 322, a rigid frame 323, a grout solenoid valve 324, a filler solenoid valve 325, a discharge pipe, and a discharge hopper 329. One end of both the filler delivery pipe 322 and the grout delivery pipe 321 is connected to the rigid frame 323 via a quick-release flange interface. The other end of the grout delivery pipe 321 is connected to the filler delivery pipe 322 via the grout solenoid valve 324, and the other end of the filler delivery pipe 322 is connected to one end of the discharge pipe via the filler solenoid valve 325. The grout solenoid valve 324 and the filler solenoid valve 325 control the delivery of grout and filler, respectively. The grout solenoid valve 324 can be closed via the electrical control system during filler construction to prevent filler from flowing into the grout pipe and to prevent cross-contamination between materials. The packing solenoid valve 325 is used to control the packing material delivery to the discharge bin 329 to enable large-scale construction. The other end of the discharge pipe is connected to the discharge bin 329. The discharge bin 329 has a funnel-shaped structure and a flat discharge port to ensure uniform discharge. The inner wall of the discharge bin is coated with a superhydrophobic coating (PTFE), and the inclined slope ensures that the grout residence time is ≤20s, effectively preventing the grouting liquid from scaling in the bin.

[0041] Furthermore, the grouting module 320 also includes a premixing agitator 326, which is installed inside the filler delivery pipe 322 and located between the slurry control valve 324 and the filler control valve 325. It is used to premix the slurry and filler to prevent the slurry in the slurry delivery pipe 321, such as water glass, from failing due to contact with seawater.

[0042] Furthermore, the grouting module 320 also includes an extrusion control valve 327 and an extrusion module 328. The extrusion module 328 is located after the premixing mixer 326 and is arranged in parallel with the discharge pipe. One end of the extrusion module 328 is connected to the filler delivery pipe 322 through the extrusion control valve 327, and the other end of the extrusion module 328 is connected to the discharge hopper 329. The extrusion control valve 327 is used to control the slurry and filler entering the extrusion module 328. Specifically, the extrusion module 328 includes a twin screw, a gearbox transmission system, and a control device, which can fully mix the slurry and filler to meet the discharge requirements of low-fluidity grouting slurry and discharge it evenly, meet the requirements of fine construction, realize fine underwater construction, and match the bolt extrusion time with the initial setting time of the selected two-liquid slurry.

[0043] In summary, the packing conveying pipe 322 is connected to the feeding pipe and the extrusion module 328 through the packing solenoid valve 325 and the extrusion solenoid valve 327, respectively. Thus, when no fine construction is required, the packing solenoid valve 325 can control the packing to bypass the extrusion module 328 and directly transport the slurry and packing to the feeding hopper 329 through the feeding pipe, thus enabling large-scale construction.

[0044] Furthermore, the inner layer of the packing conveying pipe 322 is made of wear-resistant nitrile rubber and other materials to meet the wear characteristics of sand-containing packing.

[0045] The 330 chassis includes a power compartment, a control compartment, lighting, a thruster, two tracks, and a drive system for the movement of the tracked robot.

[0046] Specifically, based on actual working conditions, the chassis 330 in this invention must have a climbing ability of at least 30° and an obstacle crossing ability of 0.38m, and can support path planning to ensure that the operation coverage is without blind spots.

[0047] The electronic control system 340, integrated within the tracked robot, can be mounted on the rigid frame 323 or next to the power supply compartment. It uses a waterproof sealed enclosure with an IP68 protection rating and is used to monitor the flow rate, pressure, and mixing parameters of the grouting module in real time, and supports remote control and data transmission.

[0048] The components of the tracked robot are all made of pressure-resistant, wear-resistant, and corrosion-resistant materials to ensure the working environment and durability requirements on the seabed.

[0049] The use of underwater tracked robots enables the integrated detection and treatment of scour pits in offshore wind turbine foundations. This multi-module collaborative operation, based on advanced detection and grouting modules, achieves full transparency of the underwater construction process. It overcomes the common problem of underwater repair point misalignment in traditional construction methods and solves the technical issue of separating detection and treatment into stages, as required by existing equipment. Furthermore, the electronic control system and advanced detection module provide real-time data feedback, improving repair accuracy. Additionally, the structural design of the grouting module enhances the uniformity and controllability of grout mixing.

[0050] Example 2:

[0051] Based on Example 1, such as Figure 2As shown, this invention also proposes an integrated system for detecting and treating pile foundation scour pits, comprising an offshore support vessel 100, an electro-hydraulic communication four-in-one cable duct 200, and the aforementioned integrated equipment. The integrated equipment includes a tracked robot 300. The offshore support vessel 100 is positioned on the sea surface at the location of the scour pit to provide material and technical support for the operation of the tracked robot 300. The tracked robot 300 is lowered to the location of the scour pit to detect its parameters and treat it through grouting. The electro-hydraulic communication four-in-one cable duct 200 is used for connecting... The system connects the offshore support vessel 100 and the tracked robot 300. Specifically, it includes a slurry conveying pipe, a filler conveying pipe, a power supply cable, and a communication cable. The slurry conveying pipe connects to the slurry delivery pipe 321 on the tracked robot 300 for slurry input. The filler conveying pipe connects to the filler delivery pipe 322 for filler input. The power supply cable supplies power to the tracked robot 300. The communication cable is used for information and data transmission between the tracked robot 300 and the offshore support vessel 100. The electro-hydraulic communication four-in-one cable duct 200 has anti-torsion supports installed every 1-2m along the axial direction of the cable duct to limit the relative displacement of each channel. The cable duct is filled with buoyancy material to ensure that no additional stress is applied to the cable duct when the pipeline is transporting materials.

[0052] Furthermore, such as Figure 3 As shown, the offshore support vessel 100 includes a filler 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.

[0053] The filling area 110 stores filling materials such as silt, sand, and gravel to be filled, and is divided into zones to facilitate the mixing of seawater to adjust the fluidity of the filling materials. The filling area 110 is also equipped with a conveying pump for transporting the filling materials. The slurry storage area 120 is used to store slurry raw materials such as two-liquid slurry main agent, quick-setting agent, and early-strength agent. The slurry storage area 120 is also equipped with a premixing cylinder and a pressure regulating conveying pump. The underwater operation area 130 is used as the control platform and deployment area for the tracked robot 300, including a cable car, control panel, A-frame, anti-sway device, and other devices.

[0054] The integrated system, which includes an offshore support vessel, an electro-hydraulic communication four-in-one cable duct, and a tracked robot, ensures the continuous progress of the detection and treatment of scour pits in offshore wind turbine foundations.

[0055] Example 3:

[0056] Based on Embodiment 1 and Embodiment 2, as 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 aforementioned integrated equipment and integrated system for detecting and treating pile foundation scour pits. Specifically, it includes the following steps:

[0057] S1: Construction preparation.

[0058] Specifically, this includes: transporting equipment and construction materials to the offshore support vessel, inspecting each part, and, upon arrival at the designated construction site, preparing the required grout and filler on the offshore support vessel 100.

[0059] S2: Deployment of tracked robots.

[0060] Specifically, this includes: lowering the tracked robot 300 into the scour pit area using an A-frame, using the advanced detection module 310 of the tracked robot 300 to detect the scour pit, and obtaining the size of the scour pit and the terrain data inside the scour pit;

[0061] S3: Plan the filler thickness and grouting thickness according to the engineering reinforcement requirements.

[0062] The specific steps include the following: Based on the results of the detection of the scour pit, the proportion of grout and the working mode of the grouting operation are adjusted. Specifically, for areas prone to scour, the flow rate of the filler delivery pump and the grout delivery pump is controlled by the electrical control system 340 to adjust the ratio of grout to filler in a timely manner. For large-scale construction projects, the working mode of closing the extrusion electrical control valve 327 is adopted. For projects that require secondary grouting repair or high strength requirements, the working mode of opening the extrusion electrical control valve 327 is adopted to meet the needs of refined operation.

[0063] S4: Filler material.

[0064] The specific steps include: controlling the tracked robot 300 to move and closing the slurry control valve 324 to prevent filler from flowing out. At the same time, closing the extrusion control valve 327 and opening the filler control valve 325 to fill the scouring pit with filler until it reaches 60%-80% of the depth of the scouring pit. The filler is specifically a curing agent or an anti-dispersant.

[0065] Furthermore, such as Figure 5 As shown, when controlling the tracked robot 300 to move, the tracked robot 300 is controlled according to the figure-eight path planning and driving path setting. At the same time, the electro-hydraulic communication four-in-one cable tube 200 restricts the relative displacement of each channel, which can effectively reduce the risk of cable entanglement.

[0066] S5: Start grouting.

[0067] The specific steps include: closing the filler solenoid valve 325, opening the slurry solenoid valve 324 and the extrusion solenoid 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 dual-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 accelerator such as water glass solution is conveyed through the slurry conveying pipe. Then, the extrusion module 328 stirs and extrudes the mixed grouting liquid and fills the scour pit to form a solidified layer. It is also compacted synchronously during the movement of the tracked robot 300.

[0068] S6: Cleaning and recycling equipment.

[0069] Specifically, the steps include: pumping seawater into the slurry delivery pipe 321 and the filler delivery pipe 322, cleaning the pipelines of the slurry delivery pipe 321 and the filler delivery pipe 322, and then recovering and checking the equipment operation.

[0070] The construction method proposed in this invention combines scour detection and treatment, enabling timely prevention, detection, and treatment of scour, thus improving the scour protection and treatment effect of offshore wind power pile foundations. Furthermore, the opening and closing of the filler electrically controlled valve, grout electrically controlled valve, and extrusion electrically controlled valve 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 grout, and with the ultra-fast setting early-strength grouting material, it can achieve the effect of rapid setting of underwater grout and resistance to wave scour in the early setting stage.

[0071] Furthermore, after the grouting step in S5 and before the cleaning and recycling equipment step in S6, a secondary grouting step is included. Specifically, the advanced detection module 310 detects the grouted area in the scour pit and observes the detection results to see if there is significant settlement. If significant settlement occurs, the steps of filling the filler in S4 and starting grouting in S5 are repeated to perform secondary grouting repair on the scour pit until the detection result of the advanced detection module 310 shows no significant settlement before proceeding to the cleaning and recycling equipment step in S6.

[0072] The repair construction process based on layered filling and grouting can greatly save construction costs while ensuring the repair strength of scour pits.

Claims

1. An integrated device for detecting and treating scour pits in pile foundations, characterized in that: The system includes a tracked robot (300), which includes an advanced detection module (310), a grouting module (320), a walking chassis (330), and an electronic control system (340). The advanced detection module (310) is used to detect scour pits; The walking chassis (330) is used for the movement of the tracked robot; The electronic control system (340) is used to monitor the parameters of the grouting module (320) in real time and supports remote control and data transmission; The grouting module (320) includes a grout delivery pipe (321), a filler delivery pipe (322), a rigid frame (323), a grout 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 grout delivery pipe (321) are both connected to the rigid frame (323). The other end of the grout delivery pipe (321) is connected to the filler delivery pipe (322) through the grout 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 other end of the discharge pipe is connected to the discharge bin (329). The grouting module (320) further includes a premixing agitator (326), an extrusion control valve (327), and an extrusion module (328). The premixing agitator (326) is disposed inside the filler conveying pipe (322) and located between the slurry control valve (324) and the filler control valve (325). The extrusion module (328) is disposed after the premixing agitator (326). The extrusion module (328) is disposed in parallel with the feed pipe, and one end of the extrusion module (328) is connected to the filler conveying pipe (322) through the extrusion control valve (327). The other end of the extrusion module (328) is connected to the feed hopper (329).

2. An integrated system for detecting and treating scour pits in pile foundations, characterized in that: Includes a marine support vessel (100), an electro-hydraulic communication quadrilateral cable conduit (200), and the integrated equipment as described in claim 1; The offshore support vessel (100) is positioned on the sea surface at the location of the scour pit to provide material and technical support for the operation of the tracked robot (300). The tracked 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. The electro-hydraulic communication four-in-one cable (200) is used to connect the marine support vessel (100) and the tracked robot (300).

3. The integrated system for detecting and treating pile foundation scour pits as described in claim 2, characterized in that: The electro-hydraulic communication four-in-one cable conduit (200) includes a slurry conveying pipe, a filler conveying pipe, a power supply cable, and a communication cable. The slurry conveying pipe is connected to the slurry delivery pipe (321), the filler conveying pipe is used to connect to the filler delivery pipe (322), the power supply cable is used to supply power to the tracked robot (300), and the communication cable is used for information and data transmission between the tracked robot (300) and the offshore support vessel (100).

4. The integrated system for detecting and treating pile foundation scour pits as described in claim 2 or 3, characterized in that: The electro-hydraulic communication four-in-one cable tube (200) is provided with an anti-torsion bracket along the cable tube axis, and the electro-hydraulic communication four-in-one cable tube (200) is filled with float material.

5. The integrated system for detecting and treating pile foundation scour pits as described in claim 2, characterized in that: The offshore support vessel (100) includes 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 the control platform and deployment area of ​​the tracked robot (300).

6. A construction method based on an integrated system for detecting and treating pile foundation scour pits as described in any one of claims 2-5, characterized in that: Includes the following steps: S1: Construction preparation: Transport the equipment and construction materials to the offshore support vessel (100). After arriving at the construction site, prepare the slurry and filler on the offshore support vessel (100). S2: Deployment of tracked robot: The tracked robot (300) is lowered into the scour pit area, and the advanced detection module (310) of the tracked robot (300) is used to detect the scour pit and obtain the detection results of the scour pit. S3: Plan the filler thickness and grouting thickness according to the engineering reinforcement requirements: Adjust the grout ratio and grouting operation mode based on the results of the scour pit detection. S4: Filling: Control the tracked robot (300) to move, and close the slurry control valve (324) and the extrusion control valve (327), and open the filling control valve (325) to fill the scour pit with filler until it is filled to 60%-80% of the depth of the scour pit; S5: Start grouting: Close the filler solenoid valve (325), open the slurry solenoid valve (324) and the extrusion solenoid valve (327) to transport the slurry and filler, and then the extrusion module (328) stirs and extrudes the mixed grouting liquid and fills the scour pit to form a solidified layer, and compacts it synchronously during the movement of the tracked robot (300); S6: Cleaning and recycling equipment: Pump seawater into the slurry delivery pipe (321) and the filler delivery pipe (322), clean the pipelines of the slurry delivery pipe (321) and the filler delivery pipe (322), and then recycle and check the equipment operation.

7. The construction method as described in claim 6, characterized in that: In step S4, when controlling the tracked robot (300) to move, the tracked robot (300) follows a figure-eight path planning and driving path setting.

8. The construction method as described in claim 6 or 7, characterized in that: After the S5 grouting step and before the S6 cleaning and recycling equipment step, a secondary grouting step is also included: the advanced detection module (310) detects the grouting area in the scour pit and observes the detection results to see if there is obvious settlement. If obvious settlement occurs, the steps of S4 filling and S5 grouting are repeated to repair the scour pit with secondary grouting until the detection result of the advanced detection module (310) is no obvious settlement, and then the S6 cleaning and recycling equipment step is performed.

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