The invention belongs to the technical field of unmanned
underwater vehicles, and particularly relates to an autonomous embedded type
unmanned underwater vehicle anchoring device and an anchoring method thereof. The problems that due to the defects that an anchor carried in an
unmanned underwater vehicle is light in weight, poor in
seabed hard substrate adaptability and the like, the
mooring force is insufficient, and anchoring cannot be achieved are solved. According to the technical scheme, the device comprises an anchoring device, one end of a
mooring cable is connected with an anchoring section bulkhead, the other end of the
mooring cable is connected with a rear guide
pipe, before the anchoring device is started to work, the mooring cable is wound into a cylindrical cluster to be embedded into a middle hole of a gas generation chamber, one end of the mooring cable is connected with the rear guide
pipe, and the other end of the mooring cable is connected with a
locking mechanism in an anchoring cabin; the
shoot nail is mounted in the front guide
pipe through a supporting rod, a plurality of anchor teeth which are circumferentially symmetrical are mounted on the front guide pipe, the anchor teeth are connected with the front guide pipe through torsional springs, the anchor teeth are restrained by the wall of an anchoring cabin before exiting from the cabin and automatically spread under the action of the torsional springs after exiting from the cabin,
rope nets are mounted among the anchor teeth, and the
rope nets are also spread in the spreading process of the anchor teeth and used for increasing anchoring force.