This invention relates to the field of
underwater vehicle technology and discloses an
underwater vehicle capable of anchoring and escaping from
entrapment, comprising: a
fuselage shell; a
water pumping device fixedly installed inside the
fuselage shell; a foldable leg-type anchoring structure disposed around the bottom of the
fuselage shell; a water film
lubrication anchoring and escaping structure disposed at the bottom of the foldable leg-type anchoring structure; and a
control system fixedly installed inside the fuselage shell and located on top of the
water pumping device. This invention simplifies the structure significantly by eliminating the need for independent propulsion units and front and rear anchoring devices, replacing multiple unit combinations with a single leg; after the support leg is deployed, a hollow motor directly drives a
auger drill bit to screw into the
sediment, and the threaded structure directly engages with the soil to form anchoring force, eliminating the intermediate propulsion stage and resulting in faster anchoring response.