With the deepening of the research on anti-encirclement strategy of underwater vehicles, the encirclement of underwater vehicles has been more and more difficult. For this reason, a multi-layer annular ambush capture model was constructed and a task assignment method based on the capture task was designed, so that the underwater vehicle can make full use of its own characteristics to complete the task better. At the same time, considering that the energy consumption in the system is uneven with the passage of time in the capture process, an energy balance method was proposed to balance the energy consumption of the system. Experiments show that the proposed task allocation method based on the energy balance strategy of multi-layer annular capture model can effectively improve the success rate of capture and prolong the life of the system.