Subsea anchoring method of a torque installed foundation

Abstract

The application discloses a kind of torque installation type foundation's seabed anchoring method, by hawser, installation support is lowered to seabed, installation ship is positioned installation support according to underwater acoustic positioning signal, then again by hawser, anchor combination assembly is lowered to water, installation ship is positioned installation support according to underwater acoustic positioning signal, and anchor combination assembly is controlled to approach installation support, and by installation support, it is held limit to screw anchor, and remote start torque installation unit is started, to make screw anchor anchor into seabed.The application is assembled to torque installation unit and screw anchor in advance on installation ship, avoids the difficulty of underwater installation, improves installation efficiency;Positioning installation is carried out by underwater acoustic positioning signal, and by installation support, it is held limit to screw anchor, improves the stability and accuracy of underwater installation, and can be lifted off and recycled to installation support and torque installation unit after screw anchor is completed anchor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater anchoring technology, in particular to the field of ocean anchor foundation installation technology, and specifically to a seabed anchoring method for torque installation type foundation. BACKGROUND

[0002] Ocean infrastructure plays a crucial role in global energy supply, particularly renewable energy supply. Due to its unique geographical location, ocean infrastructure such as offshore wind power, oil and gas drilling platforms, etc., not only improves energy production efficiency, but also helps reduce dependence on land resources and exploitation. Ocean infrastructure plays an important role in connecting global trade networks and improving ocean transportation efficiency. The construction and improvement of ocean infrastructure such as bridges, ports, and channels also require stable ocean foundations to ensure their normal operation and service life. Therefore, to ensure the stable and safe operation of ocean infrastructure, it is necessary to install a firm ocean foundation.

[0003] However, there are great challenges in constructing infrastructure, especially installing foundations, in the ocean environment. The wind, wave, current and other natural conditions in the ocean environment are extremely uncertain [1] , the seabed geological conditions are complex, and the underwater construction environment also puts high requirements on the construction personnel and equipment. Therefore, the key to ocean foundation installation is how to achieve efficient, safe and accurate foundation installation in such harsh environments, so as to support the stable operation of various ocean infrastructure.

[0004] Pile anchor foundation as an important part of ocean engineering project is the key to ensure the stable operation of power transmission towers, bridges, anchoring facilities [2] , wind power facilities, etc. Whether it is an offshore oil drilling platform or a nearshore wind power plant, pile anchor foundation fixing structure is needed to ensure safe and stable operation. The stability of these structures is of great significance to personnel safety, equipment safety and environmental protection. In the future, with the further development of ocean economy, the frequency of pile anchor foundation use will only increase.

[0005] However, pile anchor foundation construction in the ocean environment is extremely difficult [3-4] . The underwater construction environment is a great test for workers' technology and spirit, and the inherent uncertainty factors such as wind, wave, current, seabed geology, etc. make the design and implementation of construction scheme more complex. Moreover, since the quality of pile anchor foundation directly affects the stability and efficiency of the entire project, its construction requires high professional knowledge and skills, as well as advanced equipment and technical means [5] to ensure construction quality and efficiency.

[0006] The installation of screw anchors as a basic technology in the marine environment faces many challenges. Currently, it is often carried out by specialized installation ships and divers, and needs to be rotated into the seabed after accurate positioning. Technical difficulties include how to ensure the installation position and stability of the anchor under the condition of uncertainty of seabed soil conditions and seabed sediments; adjusting the screw anchor to the correct depth and angle to ensure stability; and coping with the challenges of equipment maintenance and personnel safety in the high-pressure and harsh working environment of the seabed.

[0007] [1] Cresswell N, Hayman J, Kyte A, et al. Anchor installation for the taut moored tidal platform PLAT-O [C] / / Proceedings of the 3rd Asian Wave Tidal Energy Conference, Singapore, Singapore. 2016: 24-28.

[0008] [2] Sparrevik P. Suction pile technology and installation in deep waters [C] / / Offshore technology conference. OTC, 2002: OTC-14241-MS.

[0009] [3] Sciacca L, Valmori F, Melegari C, et al. Theoretical and Experimental Investigation on Underwater Ground Anchors [J]. DFI Journal-The Journal of the Deep Foundations Institute, 2011, 5(1): 15-26.

[0010] [4] Cerfontaine B, White D, Kwa K, et al. Anchor geotechnics for floating offshore wind: Current technologies and future innovations [J]. Ocean Engineering, 2023, 279: 114327.

[0011] [5] Spagnoli G, Weixler L. Alternative Offshore Foundation Installation Methods [C] / / Offshore Technology Conference. OTC, 2013: OTC-23962-MS. SUMMARY

[0012] The present application aims to provide a torque installation type foundation seabed anchoring method with high installation efficiency, good stability and high installation accuracy to solve the extremely difficult problem of pile anchor foundation construction in the marine environment as described in the background art.

[0013] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0014] A torque installation type foundation seabed anchoring method, comprising the following steps:

[0015] Step a: ship positioning, the installation ship is positioned to the installation point according to the radar;

[0016] Step b: hoisting and installing the support, the installation ship lowers the installation support to the seabed through the hoisting cable, the installation support can emit an underwater acoustic positioning signal, and the installation ship positions the installation support according to the underwater acoustic positioning signal;

[0017] Step c: hoisting the anchoring combination assembly formed by the torque installation unit and the screw anchor, the installation ship lowers the anchoring combination assembly into the water through the hoisting cable;

[0018] Step d: positioning and anchoring, the anchoring combination assembly receives the underwater acoustic positioning signal emitted by the installation support, the installation ship controls the anchoring combination assembly to approach the installation support according to the underwater acoustic positioning signal, when the screw anchor is lowered to the middle part of the installation support, the screw anchor is clamped and limited by the installation support, then the torque installation unit is started remotely, the torque installation unit drives the screw anchor to rotate, so that the screw anchor is anchored into the seabed;

[0019] Step e: hoisting and recycling, when the screw anchor is anchored into the seabed to the final anchoring depth, the connection between the screw anchor and the torque installation unit and the installation support is released, the torque installation unit and the installation support are hoisted and recycled through the hoisting cable respectively.

[0020] Preferably, in step d, when the screw anchor is anchored into the seabed to the preset depth, the torque installation unit is first closed, the installation support is opened relative to the screw anchor through the remote control of the installation ship, and then the torque installation unit is started again to drive the screw anchor to continue to penetrate into the seabed.

[0021] Preferably, the top end of the screw anchor is reserved with an interface, and the screw anchor is fixed at the bottom end of the torque installation unit in a way of interface and slot butt joint.

[0022] Preferably, the installation ship is loaded with a high-precision acoustic positioning and communication system and an underwater robot AUV.

[0023] Preferably, the installation support includes a bottom plate, a leveling unit and a clamping unit, the leveling unit is arranged on the bottom plate for automatic leveling of the bottom plate, and the clamping unit is arranged on the bottom plate for clamping the screw anchor.

[0024] Preferably, an opening matched with the screw anchor is formed in the middle of the bottom plate to allow the lower end of the screw anchor to extend in, and the installation support includes a guide arranged in the middle of the bottom plate, and the guide is funnel-shaped with the bottom penetrating to the opening at the bottom surface of the bottom plate.

[0025] Preferably, before step c, the signal communication device of the installation support is started, and then the whole installation support is hoisted to the underwater, the hoisting cable is removed after the installation support is stably landed on the seabed, and then the leveling unit of the installation support is started to complete the leveling of the bottom plate.

[0026] Preferably, in step d, the screw anchor is clamped and positioned by at least two clamping units after the screw anchor is landed in place.

[0027] Compared with the prior art, the beneficial effects of the present application are:

[0028] 1. The optional accessories of the torque installation unit can be determined according to the marine environment, soil conditions and power driving requirements, all the accessories are assembled into the torque installation unit on the installation ship, and then the torque installation unit is assembled with the screw anchor in advance, so that the difficulty of underwater installation is avoided, the installation efficiency of the whole construction method is improved, and the underwater installation accuracy is improved by controlling the anchoring assembly to approach the installation support through the underwater acoustic positioning signal.

[0029] 2. The vertical penetration of the screw anchor is ensured by closing the clamping frame of the installation support, which not only ensures the stable installation of the screw anchor, but also greatly reduces the time of underwater operation of personnel, improves the underwater installation efficiency, and effectively avoids the risk of inclination or even overturning of the screw anchor caused by ocean current fluctuation in the penetration process due to the existence of the installation support with guiding effect.

[0030] 3. Only a small number of operating personnel are needed on the ship to control the winch and the underwater robot AUV, without manual underwater installation, which not only reduces the dependence on water depth conditions to a certain extent, but also reduces the operation risk of operating personnel, is safer, and can be applied to deeper anchoring foundation installation.

[0031] 4. The installation ship has lower requirements for the carrying capacity, and the number and size of the torque installation unit and the propulsion mechanism can be selected according to the modular design, and the torque installation unit and the installation support can be lifted for reuse after the installation of the screw anchor, so that the equipment loss rate is lower, and the economic benefit is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 FIG. 1 is a structural schematic diagram of a torque installation type foundation seabed anchoring device according to the present application;

[0033] Figure 2 FIG. 2 is a partial structural schematic diagram of a torque installation type foundation seabed anchoring device according to the present application;

[0034] Figure 3 FIG. 3 is a structural schematic diagram of an installation support according to the present application.

[0035] Correspondence of the marks in the figures is as follows:

[0036] 1 - torque installation unit; 11 - rotating body; 12 - rotating arm; 13 - propulsion mechanism; 2 - screw anchor; 3 - installation support; 31 - bottom plate; 32 - leveling unit; 321 - stepping motor; 322 - supporting leg; 33 - clamping unit; 331 - clamping frame; 332 - driving member; 333 - guide member, 4 - installation ship. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] Embodiment 1

[0039] Please refer to Figures 1-3 A torque installation type foundation seabed anchoring method is achieved by a torque installation type foundation seabed anchoring device, comprising the following steps:

[0040] Step a: ship positioning, the installation ship 4 is positioned to the installation point according to the radar;

[0041] Step b: hoisting and installing the installation support 3, the installation ship 4 lowers the installation support 3 to the seabed through the hoisting cable, the installation support 3 can emit an underwater acoustic positioning signal, and the installation ship 4 positions the installation support 3 according to the underwater acoustic positioning signal;

[0042] Step c: hoisting the anchoring combination assembly formed by the torque installation unit 1 and the screw anchor 2, and lowering the anchoring combination assembly into the water by the installation ship 4 through the hoisting cable;

[0043] Step d: positioning and anchoring, the anchoring assembly receives the underwater acoustic positioning signal sent by the installation support 3, the installation ship 4 controls the anchoring assembly to approach the installation support 3 according to the underwater acoustic positioning signal, when the screw anchor 2 is lowered to the middle of the installation support 3, the screw anchor 2 is clamped and limited by the installation support 3, then the torque installation unit 1 is started remotely, the torque installation unit 1 drives the screw anchor 2 to rotate, so that the screw anchor 2 is anchored into the seabed;

[0044] Step e: lifting and recycling, when the screw anchor 2 is anchored into the seabed to the final anchoring depth, the connection between the screw anchor 2 and the torque installation unit 1 and the installation support 3 is released, the torque installation unit 1 and the installation support 3 are lifted and recycled by the lifting cable respectively, so as to improve the recycling rate of the equipment.

[0045] In step d, when the screw anchor 2 is anchored into the seabed to a preset depth, the torque installation unit 1 is first closed, the installation support 3 is remotely controlled by the installation ship 4 to open relative to the screw anchor 2, and then the torque installation unit 1 is started again to drive the screw anchor 2 to continue to penetrate into the seabed.

[0046] When step a is performed, in order to stabilize the installation ship 4, in the shallow sea field, the installation ship 4 will use anchors or piles to fix itself on the seabed in advance, so as to keep its position stable. The installation ship 4 is installed with a DP system, which is a dynamic positioning system with GPS positioning function. When encountering deep sea or seabed environment problems, the DP system on the computer of the installation ship 4 can continuously monitor the position and direction of the ship and environmental factors such as wind, current and wave, so as to control the propulsion system of the installation ship 4 to keep the installation ship 4 stable at a specific position, i.e. to be positioned at the installation point. The DP system can adjust the exact position of the installation ship 4 on the water according to the accurate GPS data.

[0047] Please refer to Figure 1 , the anchoring assembly includes a torque installation unit 1 and a screw anchor 2 connected to the bottom end of the torque installation unit 1. In this embodiment, the torque installation unit 1 can be provided with one or more, and the plurality of torque installation units 1 are stacked one above another and connected in sequence. The screw anchor 2 is a screw pile structure with a rod body at the upper end and a screw blade structure at the lower end. Before step c is performed, the number of torque installation units 1 is determined, and the torque installation unit 1 and the screw anchor 2 are assembled in advance. The torque installation unit 1 includes a rotating body 11, a plurality of rotating arms 12 distributed in the circumferential direction of the rotating body 11, and a propulsion mechanism 13 arranged on the corresponding rotating arm 12. Adjacent torque installation units 1 are connected to each other through the rotating body 11, and the propulsion mechanism 13 is used to drive the rotating arm 12 to drive the rotating body 11 to rotate around the axis. The screw anchor 2 is connected to the bottom end of the rotating body 11 of the torque installation assembly and rotates with the rotating body 11.

[0048] In this embodiment, the number of torque installation units 1 and the number of force arms thereon can be determined according to the actual torque required by the rotating body 11 and the construction requirements, and the number of force arms is at least two; the propulsion mechanism 13 adopts a propeller, and other types of propulsion mechanisms 13 can also be adopted.

[0049] Please refer to Figure 1 Before step c is performed, the optional accessories of the torque installation unit 1 are determined according to the marine environment, soil conditions and power driving requirements, all the accessories are assembled into the torque installation unit 1 on the installation ship 4, and then the screw anchor 2 is assembled in advance, so that the difficulty of underwater installation is avoided, and the installation efficiency of the entire construction method is improved. The bottom end of the rotating body 11 of the torque installation assembly is provided with a slot, and the top end of the screw anchor 2 is reserved with an interface. The screw anchor 2 can be fixed at the bottom end of the torque installation unit 1 by using an electric gripper or by using an interface and a plug-in connection. Specifically, the size of the anchor installation foundation can be selected.

[0050] The installation ship 4 is loaded with a high-precision acoustic positioning and communication system and an underwater robot AUV. In this embodiment, the radar positioning device can adopt a hydroacoustic positioning instrument.

[0051] Please refer to Figures 2-3 The installation support 3 is used to cooperate with the matching device of the anchor assembly assembly, so that the installation ship 4 can be positioned by signal to install the installation support 3. The installation support 3 is provided with a horizontal detection device, so that the installation support 3 falling into the seabed can actively monitor the inclination of itself. The installation support 3 includes a bottom plate 31, a leveling unit 32 and a clamping unit 33. The leveling unit 32 and the clamping unit 33 are arranged on the bottom plate 31. An opening is formed in the middle of the bottom plate 31 to cooperate with the screw anchor 2, so that the lower end of the screw anchor 2 can extend into the opening.

[0052] The leveling unit 32 is provided with at least three, and in this embodiment, the leveling unit 32 is four, which are arranged at the four corners of the bottom plate 31, respectively, for automatically leveling the bottom plate 31, so that the bottom plate 31 can be kept horizontal. In other embodiments, the leveling unit 32 can be provided with more than four. In this embodiment, the clamping unit 33 is two and oppositely arranged, and the two clamping units 33 form a group. In other embodiments, two or more groups of clamping units 33 can be arranged to clamp at different height positions of the screw anchor 2, so as to further improve the stability of the screw anchor 2 when anchoring into the seabed.

[0053] Please refer to Figure 3The leveling unit 32 comprises a stepping motor 321 and a supporting leg 322, the stepping motor 321 is arranged on the bottom plate 31, the output shaft of the stepping motor 321 penetrates the bottom plate 31 downward and is connected with the supporting leg 322, the supporting leg 322 is driven to ascend and descend relative to the bottom plate 31, so that the bottom plate 31 is kept horizontal on the uneven seabed surface, and the further underwater installation work is carried out. The bottom end of the supporting leg 322 is a plate structure, so that the force bearing area of the supporting leg 322 is large, and the support is more stable. In the embodiment, the output shaft of the stepping motor 321 is connected with a screw rod, the supporting leg 322 is connected with a sleeve which is sleeved on the screw rod, when the stepping motor 321 drives the screw rod to rotate, the sleeve ascends and descends together with the supporting leg 322 relative to the bottom plate 31, so that the leveling of the bottom plate 31 is realized.

[0054] Before step c is carried out, in order to ensure the installation accuracy, the signal communication device of the installation support 3 is started, then the installation support 3 is hoisted to the underwater, after the installation support 3 is stably landed on the seabed, the hoisting cable is removed, then the leveling unit 32 of the installation support 3 is started, the leveling of the bottom plate 31 is completed through the leveling unit 32, so that the vertical landing of the spiral anchor 2 as the pile foundation is realized in the next step.

[0055] In step d, after the spiral anchor 2 is landed in place, the spiral anchor 2 is clamped and positioned through at least two clamping units 33, so that the spiral anchor 2 is stably anchored into the seabed.

[0056] Compared with the traditional manual support spiral anchor 2, the vertical penetration of the spiral anchor 2 can be ensured through the folding of the clamping frame 331 of the installation support 3, not only the stable installation of the spiral anchor 2 can be ensured, but also the time of underwater operation of personnel is greatly reduced, and the underwater installation efficiency is improved; and due to the existence of the installation support 3 with the guiding effect, the risk of inclination or even overturning of the spiral anchor 2 caused by ocean current fluctuation in the penetration process is effectively avoided.

[0057] The clamping unit 33 comprises a clamping frame 331 and a driving member 332, one end of the clamping frame 331 is hinged to the bottom plate 31, and the other end is clamped to the outer circumferential side of the spiral anchor 2. The clamping of the two clamping units 33 is oppositely arranged, and clamps the two sides of the spiral anchor 2 respectively, so as to limit the swing of the spiral anchor 2 to two sides, so that the spiral anchor 2 can be kept straight down and anchored into the seabed, and the stability of the spiral anchor 2 is improved. In the embodiment, the driving member 332 is a hydraulic cylinder.

[0058] In the embodiment, one end of the clamping frame 331 relative to the bottom plate 31 is provided with a rod sleeve matched with the spiral anchor 2, the rod sleeve is a semicylindrical structure sleeved on the outer circumferential side of the spiral anchor 2, the rod sleeve has an inner concave arc surface matched with the outer circumferential surface of the spiral anchor 2, and the inner concave arc surface is provided with a plurality of rolling balls abutting on the outer circumferential surface of the spiral anchor 2, so as to reduce the abrasion between the clamping frame 331 and the spiral anchor 2 when the spiral anchor 2 rotates.

[0059] Please refer toFigure 3 The mounting bracket 3 comprises a guide 333 arranged in the middle of the bottom plate 31, the guide 333 is funnel-shaped, the bottom of the guide 333 is open to the bottom surface of the bottom plate 31, the guide 333 is used to guide the bottom end of the screw anchor 2 to align with the anchor point in the middle of the guide 333, so that the screw anchor 2 is accurately assembled on the mounting bracket 3, and the installation error of the screw anchor 2 is reduced, so that the screw anchor 2 is subsequently limited by the clamping unit 33.

[0060] In step d, the underwater robot AUV is also needed to be lowered to the installation position of the screw anchor 2 and the mounting bracket 3, and the operator remotely monitors through the underwater robot AUV, so that the operator can more accurately place the screw anchor 2; when the screw anchor 2 approaches and aligns with the middle of the bottom plate 31 of the mounting bracket 3, the screw anchor 2 is further lowered; when the screw anchor 2 is located at the opening of the bottom plate 31, the driving members 332 are respectively started to make the two clamping frames 331 close and clamp the outer periphery of the rod body of the screw anchor 2, so that the anchor rod of the screw anchor 2 is clamped by the clamping frame 331 while ensuring the vertical penetration of the screw anchor 2 during installation.

[0061] When the screw anchor 2 penetrates into the seabed to reach the initial preset depth, the operator on the installation ship 4 remotely starts the torque installation unit 1, and then the torque installation unit 1 is turned off; then the clamping frame 331 is controlled to be opened relative to the screw anchor 2 through the driving member 332, so as to release the limitation of the screw anchor 2, and at the same time avoid the interference of the clamping frame 331 to the downward anchoring of the screw anchor 2, and finally the torque installation unit 1 is started again to drive the screw anchor 2 to rotate, and the screw anchor 2 continues to penetrate into the seabed to the final anchoring depth; finally, the screw anchor 2 without the limitation and interference of the clamping frame 331 can be anchored deeper into the seabed to form a more stable anchor pile foundation structure, and meet the requirement of deeper anchoring foundation.

[0062] After step d is completed, the torque installation unit 1 and the mounting bracket 3 need to be respectively lifted away; first, the operator can still remotely monitor the underwater installation process through the underwater robot AUV, and connect the lifting cable to the lifting lug on the top of the torque installation unit 1 through the underwater robot AUV; then the hoist is operated to lift the torque installation unit 1 away from the screw anchor 2, and then the underwater robot AUV is operated to connect the lifting cable to the lifting lug of the mounting bracket 3, and the hoist is operated to lift the mounting bracket 3 away from the screw anchor 2, so as to complete the anchoring construction of the screw anchor 2. In the embodiment, the hoist is a winch, and the hoist can also be other hoisting devices.

[0063] The present application only needs a small number of operators on the ship to control the winch and the underwater robot AUV, without manual launching and installation, not only reduces the dependence on water depth conditions to a certain extent, but also reduces the operation risk of the operators, has higher accuracy and safety, can be applied to deeper anchoring foundation installation; and the carrying capacity requirement of the installation ship 4 is also lower, and can be designed according to the modular device, the number and size of the torque installation unit 1 and the propulsion mechanism 13 can be selected, and the torque installation unit 1 and the installation support 3 can be reused, the equipment loss rate is lower, and the economic benefit is improved.

[0064] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely divergences of the principles and spirit of the application and that numerous modifications, changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. A method of subsea anchoring of a torque installed foundation, c h a r a c t e r i s e d in that, The method comprises the following steps: Step a: ship positioning, the installation ship (4) is positioned to the installation point according to the radar; Step b: hoisting and installing the support (3), the installation ship (4) lowers the support (3) to the seabed through the hoisting cable, the support (3) can emit an underwater acoustic positioning signal, and the installation ship (4) positions the support (3) according to the underwater acoustic positioning signal; Step c: hoisting the anchoring assembly formed by assembling the torque installation unit (1) and the screw anchor (2), the installation ship (4) lowers the anchoring assembly to the water through the hoisting cable; Step d: positioning and anchoring, the anchoring assembly receives the underwater acoustic positioning signal emitted by the support (3), the installation ship (4) controls the anchoring assembly to approach the support (3) according to the underwater acoustic positioning signal, when the screw anchor (2) is lowered to the middle part of the support (3), the screw anchor (2) is clamped and limited by the support (3), then the torque installation unit (1) is started remotely, the torque installation unit (1) drives the screw anchor (2) to rotate, so that the screw anchor (2) is anchored into the seabed; Step e: hoisting and recycling, when the screw anchor (2) is anchored into the seabed to the final anchoring depth, the connection between the screw anchor (2) and the torque installation unit (1) and the support (3) is released, the torque installation unit (1) and the support (3) are hoisted and recycled through the hoisting cable respectively.

2. The method of subsea anchoring of a torque installed foundation according to claim 1, characterized in that, In step d, when the screw anchor (2) is anchored into the seabed to a preset depth, the torque installation unit (1) is first closed, the support (3) is remotely controlled by the installation ship (4) to open relative to the screw anchor (2), and then the torque installation unit (1) is started again to drive the screw anchor (2) to continue to penetrate into the seabed.

3. The torque-mounted foundation subsea anchoring method of claim 2, wherein, The top end of the screw anchor (2) is reserved with an interface, and the screw anchor (2) is fixed at the bottom end of the torque installation unit (1) in a way of interface and slot butt joint.

4. The torque-mounted, foundation-based subsea anchoring method of claim 1, wherein, The installation ship (4) is loaded with a high-precision acoustic positioning and communication system and an underwater robot AUV.

5. The torque-mounted, foundation-based subsea anchoring method of claim 2, wherein, The support (3) comprises a bottom plate (31), a leveling unit (32) and a clamping unit (33), the leveling unit (32) is arranged on the bottom plate (31) and used for automatically leveling the bottom plate (31), and the clamping unit (33) is arranged on the bottom plate (31) and used for clamping the screw anchor (2).

6. The torque-mounted, foundation-based subsea anchoring method of claim 5, wherein, The middle part of the bottom plate (31) is provided with an opening matched with the screw anchor (2) to allow the lower end of the screw anchor (2) to extend in, and the support (3) comprises a guide (333) arranged in the middle part of the bottom plate (31), the guide (333) is funnel-shaped, and the bottom part penetrates to the opening at the bottom surface of the bottom plate (31).

7. The torque-mounted, foundation-based subsea anchoring method of claim 5, wherein, Before step c, the signal communication device of the support (3) is started, and then the support (3) is hoisted to the water, the hoisting cable is removed after the support (3) stably falls into the seabed, then the leveling unit (32) of the support (3) is started, and the leveling of the bottom plate (31) is completed through the leveling unit (32).

8. The torque installed foundation subsea anchoring method of claim 5, wherein, In step d, after the screw anchor (2) is positioned, the screw anchor (2) is clamped and positioned by at least two clamping units (33).

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