Full-self-sustaining type underwater glider driven by multiple ocean energy sources

Abstract

The invention discloses a full-self-sustaining underwater glider driven by multiple ocean energy sources, which belongs to the technical field of underwater observation and detection equipment and comprises a solar energy capturing unit and a buoyancy adjusting system. A solar panel is installed on the upper portion of the underwater glider, and when the underwater glider drifts on the water surface or glides on the shallow layer, solar energy can be converted into electric energy and stored in a battery pack. The buoyancy adjusting system comprises an outer leather bag, an inner oil tank, a plunger pump, an oil return electromagnetic valve, a temperature difference energy heat exchanger, a temperature difference energy accumulator, a high-pressure electromagnetic valve, a compensation energy accumulator and the like, hydraulic oil is driven to flow through the temperature difference of the deep sea environment, and buoyancy adjustment is achieved. Meanwhile, the compensation energy accumulator can effectively and passively compensate buoyancy loss of the underwater glider caused by seawater density change and compression amount of the pressure-resistant shell, and stable and energy-saving operation of the system is achieved. The system can reduce the dependence on a traditional battery and a mechanical pump, improves the energy utilization efficiency, cruising ability and operation reliability of the underwater glider, and is suitable for long-time and wide-area deep sea observation tasks.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater detection equipment, and in particular relates to a fully self-sustaining underwater glider driven by multiple ocean energy sources. Background Art

[0002] Traditional underwater gliders float up and down by changing their buoyancy, performing profile movements to complete long-term collection and monitoring of ocean parameters. This type of equipment is usually equipped with a variety of sensors. After completing the measurement, it surfaces to communicate with satellites and transmit the collected data back to shore or base stations. Underwater gliders have become an important tool for ocean observation and scientific research due to their autonomous diving, long-term operation and long-distance communication capabilities. Underwater gliders have played a huge role in continuously collecting ocean temperature, salinity, depth and ocean current dynamics, and provide data support for the global ocean observation system.

[0003] Current underwater gliders still suffer from numerous shortcomings and deficiencies in practical applications, primarily in terms of energy supply and ease of maintenance. First, most underwater gliders rely on lithium or alkaline batteries as their primary power source. While reliable, these batteries are limited in energy capacity, resulting in insufficient endurance for long-duration, long-distance missions. This makes them incapable of meeting the demands of long-term deep-sea observation and wide-area data collection. Second, large-capacity batteries present a risk of leakage when operating in the high-pressure environment of the deep sea, which can, in severe cases, lead to explosions and loss of underwater equipment. Furthermore, frequent battery replacement is not only costly but also requires complex disassembly and sealing, making this difficult and time-consuming, especially in offshore or platform environments. This limits the rapid deployment and efficient recovery of underwater gliders. In actual ocean observation and exploration missions, these combined issues not only increase maintenance costs but also significantly restrict the efficiency and operational range of underwater gliders, hindering their widespread application in scenarios such as long-term autonomous deep-sea operations. Summary of the Invention

[0004] In response to the problems of existing underwater gliders such as limited battery energy, risks of large-capacity batteries, and complex replacement and maintenance, the present invention provides a fully self-sustaining underwater glider driven by multiple ocean energy sources.

[0005] The present invention is achieved by providing a fully self-sustaining underwater glider driven by multiple ocean energy sources, including a solar energy capture unit and a buoyancy adjustment system, characterized in that:

[0006] The solar energy capture unit includes a flexible gallium arsenide solar panel fixed on the upper part of the pressure hull and a rigid crystalline silicon solar panel installed on the upper part of the wing. When the underwater glider is in a state of drifting on the water surface or gliding in shallow depths, the solar panel converts solar energy into electrical energy and stores it in a battery pack connected to the solar panel.

[0007] The buoyancy adjustment system includes an outer bladder, an inner oil tank, a plunger pump, an oil return solenoid valve, a temperature difference energy heat exchanger, a temperature difference energy accumulator, and a high-pressure solenoid valve; the outer bladder is connected to the inner oil tank through an oil return pipeline, and the oil return pipeline is installed with the oil return solenoid valve, the inner oil tank is connected to the outer bladder through an oil drain pipeline, and the oil drain pipeline is installed with the temperature difference energy heat exchanger, the temperature difference energy accumulator and the high-pressure solenoid valve in series, the temperature difference energy heat exchanger is driven by temperature changes to absorb hydraulic oil in the inner oil tank or discharge hydraulic oil to the temperature difference energy accumulator, and the temperature difference energy accumulator is used to discharge hydraulic oil to the outer bladder; the inner oil tank and the outer bladder are connected through a compensation oil circuit, and the plunger pump is installed in the compensation oil circuit, and the plunger pump drives the hydraulic oil in the inner oil tank to discharge to the outer bladder.

[0008] In the above technical solution, preferably, a first check valve is installed between the inner oil tank and the temperature difference energy heat exchanger, and a second check valve is installed between the temperature difference energy heat exchanger and the temperature difference energy accumulator. The first check valve prevents the hydraulic oil from flowing from the temperature difference energy heat exchanger to the inner oil tank, and the second check valve prevents the hydraulic oil from flowing from the temperature difference energy heat exchanger to the temperature difference energy accumulator.

[0009] In the above technical solution, preferably, a third check valve is installed in the compensation oil circuit, and the third check valve prevents the hydraulic oil from flowing from the outer bladder to the inner oil tank.

[0010] In the above technical solution, preferably, the outer bladder and the temperature difference heat exchanger are installed outside the pressure-resistant shell, and the inner oil tank, plunger pump, oil return solenoid valve, temperature difference energy accumulator, high-pressure solenoid valve and compensation accumulator are installed inside the pressure-resistant shell.

[0011] In the above technical solution, preferably, underwater glider wings are installed on both sides of the pressure hull, and the temperature difference heat exchanger is installed below the underwater glider wings.

[0012] In the above technical solution, preferably, a solar panel is installed on the upper surface of the wing.

[0013] Honda Ocean Energy-driven fully self-sustaining underwater glider integrates two renewable ocean energy sources, temperature difference energy and solar energy, to build an efficient, stable, low-power energy supply system with many significant advantages and comprehensive effects.

[0014] The underwater glider's buoyancy regulation system incorporates a mechanism based on pressure and temperature differential energy, efficiently utilizing the temperature difference between the upper and lower layers of seawater to achieve buoyancy regulation in deep-sea environments. This system offers numerous advantages and significant results. First, the system reduces reliance on traditional plunger pumps. Plunger pumps and their motors are fragile mechanical components, and prolonged cycling can increase component failure rates. This invention fundamentally improves the stability and reliability of the buoyancy regulation process. Second, by using temperature differential energy to drive buoyancy regulation, the system significantly reduces the need for battery power, extending the underwater glider's flight time and effectively addressing the issue of limited battery life due to low battery energy density. Third, by eliminating the need for high-power mechanical pump systems, overall energy consumption is reduced, helping to improve energy efficiency and simplify energy management strategies. Furthermore, the system's simplified structure reduces the number of moving parts, lowering the probability of mechanical failure, and enhancing the stability and ease of maintenance of the device during long-term ocean observation missions. The compensating accumulator effectively utilizes pressure differentials to passively compensate for buoyancy losses caused by changes in the pressure hull volume and seawater density, enabling more stable and energy-efficient operation of the underwater glider. In addition, the system utilizes the temperature difference resources existing in the environment, has strong environmental adaptability and energy self-driving potential, and provides a greener, more efficient and low-maintenance buoyancy regulation solution for ocean observation platforms such as underwater gliders.

[0015] The underwater glider has gotten rid of its reliance on traditional batteries as a single energy supply method, effectively solving the problems of short flight time and limited operating cycles caused by insufficient battery energy, and greatly improving the underwater glider's navigation time and mission sustainability. Secondly, when the underwater glider floats to the surface or sails in shallow waters, the solar energy system can provide power to the control system, communication module and sensors in real time, further improving the overall energy utilization efficiency and enhancing the energy self-sustaining ability of the underwater glider. In addition, the system can intelligently switch energy acquisition and use modes according to the conditions of the marine environment, achieving a seamless operational transition from deep sea to shallow sea, and has good environmental adaptability and mission flexibility. The overall design not only simplifies the energy management structure and reduces operating and maintenance costs, but also provides an efficient, long-term and green technical solution for application scenarios such as long-term environmental monitoring, resource surveys and scientific research in the deep sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the buoyancy adjustment system of the present invention;

[0017] Figure 2 Schematic diagram of the external structure of the fully self-sustaining underwater glider of the present invention;

[0018] Figure 3 This is a schematic diagram of the internal structure of the fully self-sustaining underwater glider of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] To address the issues of existing underwater gliders, such as low battery energy density, risks associated with large-capacity batteries, and complex replacement and maintenance, the present invention provides a buoyancy control system and a fully self-sustaining underwater glider powered by multiple ocean energy sources. To further illustrate the structure of the present invention, a detailed description is provided below with reference to the accompanying drawings:

[0021] See also Figure 2 and Figure 3 A fully self-sustaining underwater glider powered by multiple ocean energy sources includes a pressure hull and a buoyancy control system. A solar panel is mounted on top of the pressure hull. While the underwater glider is gliding on the surface or shallow water, the solar panel converts solar energy into electricity and stores it in a connected battery pack.

[0022] Among them, see Figure 1 The buoyancy adjustment system includes an outer bladder, an inner oil tank, a plunger pump, an oil return solenoid valve, a temperature difference energy heat exchanger, a temperature difference energy accumulator, a high-pressure solenoid valve and a compensation accumulator.

[0023] The outer bladder is connected to the inner oil tank through an oil return line, and an oil return solenoid valve is installed on the oil return line. The oil return solenoid valve adopts a low-pressure solenoid valve, which controls the opening and closing of the oil return line.

[0024] The inner oil tank is communicated with the outer bladder through an oil discharge pipeline, and the oil discharge pipeline is sequentially connected in series with a temperature difference energy heat exchanger, a temperature difference energy accumulator and a high-pressure solenoid valve.

[0025] The thermoelectric heat exchanger, driven by temperature changes, draws hydraulic oil from the internal tank or discharges it to the thermoelectric accumulator. A thermoelectric heat exchanger with an internal phase-change material (PCM) is a known device that utilizes thermal energy to drive a hydraulic system. It features a PCM chamber and a hydraulic oil chamber. The PCM's phase and volume changes during heating and cooling allow for controlled hydraulic oil intake and discharge. When the external temperature rises, the PCM expands, pushing the diaphragm inside the accumulator to discharge the hydraulic oil. When the temperature drops, the PCM contracts, creating negative pressure that draws hydraulic oil in. This completes the hydraulic cycle without external mechanical drive, offering advantages such as a compact structure and self-powered energy. A first check valve is installed between the internal tank and the PCM, and a second check valve is installed between the PCM and the PCM accumulator. The first check valve prevents hydraulic oil from flowing from the PCM to the internal tank, while the second check valve prevents hydraulic oil from flowing from the PCM to the internal tank.

[0026] The thermoelectric accumulator is used to discharge hydraulic oil into the outer bladder. Accumulators using hydraulic oil as their working medium are known devices for storing hydraulic energy, storing energy in liquid form. In this embodiment, when the outer bladder requires additional flow, the accumulator releases stored hydraulic oil to provide a transient change in the buoyancy of the aircraft, enabling transitions between submergence and buoyancy. A high-pressure solenoid valve is installed between the outer bladder and the thermoelectric accumulator.

[0027] The inner tank and outer bladder are connected by a compensating oil circuit, equipped with a high-pressure plunger pump. A third check valve is installed in the compensating oil circuit to prevent the flow of hydraulic oil from the outer bladder to the inner tank. The outer bladder is connected to the compensating accumulator.

[0028] The compensating accumulator is directly connected to the outer bladder, achieving passive compensation through the low-density gas inside, effectively reducing buoyancy losses caused by changes in seawater density and deformation of the pressure hull. When the underwater glider dives, because the compression of the pressure hull cannot fully match the rapid increase in seawater density, the outer bladder will press hydraulic oil into the compensating accumulator, thereby increasing the overall volume reduction of the aircraft. This not only maintains a stable diving speed, but also reduces the amount of oil discharged required for diving and surfacing conversion, achieving energy conservation. During the surfacing process, the expansion rate of the pressure hull lags behind the decrease in seawater density, and the compensating accumulator presses hydraulic oil back into the outer bladder, increasing the volume increase of the underwater glider and ensuring the stability of the surfacing speed. This design utilizes the potential energy of ocean pressure to achieve efficient dynamic passive compensation of buoyancy.

[0029] The underwater glider consists of two parts: an external structure and an internal structure. The external structure mainly consists of a front fairing 21, wings 1, a thermoelectric heat exchanger 3, an outer bladder 6, a propeller 4, a tail fin 37, and a rear fairing 5. These structures form the underwater glider's hydrodynamic shape, reducing navigation resistance while ensuring smooth movement in various ocean conditions.

[0030] The internal structure includes multiple systems such as power storage, buoyancy regulation, propulsion control and data transmission, including a battery pack 17, a flexible solar panel 2, a worm gear motor 16, a guide rail 18, a self-aligning ball bearing 19, a temperature difference energy accumulator 12, a plunger pump 8, an internal oil tank 10, a compensation accumulator 33, a control circuit board 14, a main control computer circuit board 30, a temperature and salinity sensor 22, a water pump 23, a communication watertight cable 38, an antenna pole 39 and an antenna head 40, etc.

[0031] The core structure of the underwater glider is the main sealed chamber, which is composed of a front cover 20, a front pressure-resistant shell 24, a transition rib ring 13, a rear pressure-resistant shell 31 and a rear cover 35 connected in sequence. The sealing ring is used for axial sealing between the various components to ensure the waterproof and pressure-resistant performance of the underwater glider in the deep-sea high-pressure environment. The main sealed chamber is equipped with various power and control system components. Through reasonable layout and tight connection, functions such as buoyancy regulation, power propulsion, energy supply and data transmission are realized. The rear end of the main sealed chamber is connected to the outer bladder, and the volume of the outer bladder directly determines the overall net buoyancy of the underwater glider. The key to buoyancy regulation lies in the flow of hydraulic oil between the outer bladder 6 and the inner oil tank. The expansion or contraction of the outer bladder is controlled by the high-pressure solenoid valve 32 and the return oil solenoid valve 34, thereby realizing the ascent and descent of the underwater glider.

[0032] The thermoelectric energy system includes a thermoelectric heat exchanger, a thermoelectric accumulator, and a phase change material. The thermoelectric heat exchanger 3 is fixed beneath the underwater glider's wing 1 via mounting brackets secured to the front end cover 20, the rib ring 13, and the lateral openings of the rear end cover 35. The heat exchanger utilizes the volume change of the phase change material during temperature fluctuations to control the hydraulic oil. Solar panels, specifically rigid crystalline silicon solar panels, are installed on the upper surface of the wing. When the underwater glider descends to the cold depths of the deep sea, the phase change material shrinks in volume as the temperature drops, allowing hydraulic oil to flow from the internal tank into the thermoelectric heat exchanger 3 and be stored in the thermoelectric accumulator. When the underwater glider ascends to the warmer shallows, the phase change material expands, pushing the hydraulic oil back into the outer bladder, creating a buoyant effect. A one-way valve 11 ensures unidirectional flow of the hydraulic oil during this process, preventing backflow and ensuring more stable and reliable buoyancy control.

[0033] Flexible solar panels cover the surface of the underwater glider's pressure hull, while rigid solar panels are mounted above the wings. A solar energy capture unit is used to capture solar energy while floating on the water surface or sailing in shallow water, converting it into electrical energy and storing it in a battery pack. Specifically, flexible gallium arsenide solar panels are installed above the surface of the underwater glider's pressure hull, while rigid crystalline silicon solar panels are installed above the wings. The battery pack is secured by a battery pack support main frame 15 and a support subframe 29, and connected to a worm gear motor and guide rails. The worm gear motor adjusts the angular position of the battery pack to ensure a proper distribution of the underwater glider's center of gravity and optimize its navigational attitude. The DC motor 25 and transmission gear 28 control the motor screw 26 to drive the battery pack support subframe 29 to achieve center of gravity adjustment, and a displacement sensor 2 collects position information. In shallow water or on the surface, solar energy provides power to equipment such as the control circuit board, main control computer circuit board, communication module, thrusters, and temperature and salinity sensors, enabling the underwater glider to maintain energy self-sustaining in different mission modes.

[0034] The buoyancy drive system consists of a plunger pump, a plunger pump motor 9, an internal oil tank, a compensating accumulator, and multiple solenoid valves. The plunger pump is driven by the plunger pump motor. When the temperature differential energy system fails to provide sufficient buoyancy regulation, the plunger pump can actively adjust the flow of hydraulic oil. The compensating accumulator is connected to the outer bladder and is primarily used for buoyancy compensation in deep-sea environments. Because the pressure-resistant hull undergoes slight compression under deep-sea pressure, resulting in buoyancy loss, the compensating accumulator automatically adjusts buoyancy through the flow of hydraulic oil to balance pressure changes and ensure the underwater glider remains stable in the deep-sea environment.

[0035] The propulsion system mainly consists of a propeller 4 and a propeller compensator 36, which is located at the tail of the underwater glider. The propeller 4 is used for directional propulsion, rapid movement and constant depth floating of the underwater glider underwater to improve its navigation efficiency and mission execution capability. The propeller compensator assists the propeller in providing stability and precise control when the underwater glider navigates at a constant depth. After completing the navigation in the target area, the propeller stops working and the underwater glider maintains its depth through the buoyancy adjustment system. The temperature and salinity sensor and the matching water pump are used to collect data such as ambient temperature and salinity in real time. The sensor is connected to the control circuit board, and the real-time processing, storage and transmission of data are realized through the control circuit board. When the underwater glider surfaces, the communication system establishes a link with the satellite through the antenna and transmits the collected data to the ground station to ensure timely feedback and monitoring of changes in the underwater environment.

[0036] The rear end of the main sealed chamber is connected to an outer bladder, the volume of which determines the underwater glider's buoyancy. A solenoid valve controls the flow of hydraulic oil between the outer bladder and the inner tank. A thermoelectric heat exchanger regulates buoyancy at varying water depths by shifting the volume of its internal phase-change material. As the underwater glider ascends or descends, the phase-change material in the heat exchanger expands or contracts due to temperature fluctuations, forcing the hydraulic oil to circulate between the outer bladder, the inner tank, and the thermoelectric accumulator, thus dynamically adjusting buoyancy.

[0037] Flexible solar panels are installed on the surface of the underwater glider's pressure hull, while rigid solar panels are mounted on the wings. While floating on the water's surface or sailing shallowly, the solar energy capture unit captures solar energy, converts it into electricity, and stores it in a battery pack to power the control circuits, communication systems, and sensors. The battery pack not only stores the solar-generated electricity but also provides backup power for the underwater glider's propulsion and other auxiliary devices, ensuring the underwater glider's energy self-sustainability under varying depths and light conditions. A plunger pump serves as an auxiliary oil discharge device, working in conjunction with the thermoelectric energy system. If thermoelectric energy capture is insufficient or the phase change material fails to achieve the expected volume change rate, the plunger pump actively adjusts the flow of hydraulic oil to ensure stable buoyancy control. A compensating accumulator, connected to the outer bladder, automatically adjusts buoyancy in the high-pressure deep-sea environment to compensate for buoyancy losses caused by changes in the pressure hull volume and seawater density, further enhancing the underwater glider's deep-sea adaptability.

[0038] The present invention relates to a fully self-sustaining underwater glider driven by multiple ocean energy sources. The temperature difference heat exchanger is located under the wing, and drives the buoyancy system of the underwater glider through the temperature difference energy. The heat exchanger uses the temperature difference of water at different depths to drive the phase change material to expand or contract, generating the flow of hydraulic oil required for buoyancy regulation. The solar panel is located on the upper surface of the underwater glider. When the underwater glider floats or sails in shallow water, it collects solar energy and converts it into electrical energy and stores it in the battery pack to power the electronic components such as the control circuit, communication and sensors of the underwater glider. The buoyancy drive unit composed of a plunger pump and a compensating accumulator is used to provide emergency support for buoyancy regulation when the temperature difference energy is insufficient, and passively compensates for buoyancy in a deep-sea environment through the compensating accumulator, compensating for the buoyancy loss of the underwater glider caused by changes in the volume of the pressure hull and changes in the density of seawater.

[0039] The temperature difference energy circuit of the underwater glider significantly reduces the energy dependence of the underwater glider, improves the energy efficiency and self-sustaining ability of the system, and the buoyancy adjustment method of the temperature difference energy buoyancy system includes the following steps:

[0040] S1. Oil return stage: Before the underwater glider starts to dive, the oil return solenoid valve opens, allowing the hydraulic oil in the outer bladder to flow into the inner oil tank. The buoyancy of the underwater glider is less than its own weight, and it begins to dive.

[0041] S2. Dive Phase: As the dive depth increases, seawater pressure gradually increases. The remaining hydraulic oil in the outer bladder is forced into the compensating accumulator under external pressure, achieving passive buoyancy compensation. Simultaneously, the phase-change material in the thermoelectric heat exchanger contracts at low temperatures, allowing the hydraulic oil in the inner tank to flow into the thermoelectric heat exchanger, preparing for subsequent buoyancy adjustments.

[0042] S3. Submersible-to-Floating Transition: When the underwater glider reaches the desired depth, the high-pressure solenoid valve opens, discharging hydraulic oil from the thermoelectric accumulator into the outer bladder, increasing the glider's buoyancy and prompting its ascent. If the outer bladder's oil level is insufficient, the plunger pump activates, draining hydraulic oil from the inner tank into the outer bladder to ensure a smooth transition.

[0043] S4. Ascent: During the underwater glider's ascent, the hydraulic oil in the compensation accumulator gradually flows back into the outer bladder, providing additional buoyancy. Simultaneously, the phase-change material in the thermoelectric heat exchanger expands in the high-temperature environment, pushing the hydraulic oil into the thermoelectric accumulator, thus reserving the required oil for the next diving and surfacing cycle.

[0044] S5. Cycle completed: The underwater glider rises to the surface, completing a full profiling cycle. At this time, it can enter the data transmission mode according to the mission requirements, send the collected environmental data to the ground station, and adjust the parameters of the next profiling cycle.

[0045] The underwater glider's main control computer circuit board 30 is connected to the control circuit board and is responsible for coordinating and controlling various components. The control circuit board, in turn, is connected to the communication module and data acquisition module, which monitor the underwater glider's operating status and the operating parameters of various devices. A temperature and salinity sensor collects ocean environmental data via a water pump and transmits this information to the control system in real time. The communication module, which includes a watertight communication cable, antenna mast, and antenna head, transmits data to a ground station via satellite when the underwater glider surfaces, enabling remote monitoring and the transmission of mission commands.

[0046] This fully self-sustaining underwater glider utilizes a combination of thermal energy and solar energy to power its buoyancy control system and other power supply systems. The underwater glider captures thermal energy for buoyancy control underwater, using temperature differences between shallow and deep seawater to control the flow of hydraulic oil in the buoyancy control device. When surfacing or operating in shallow waters, solar energy is used to power control, communication, and sensor systems. This design fundamentally addresses the issue of limited battery life in traditional battery-powered underwater gliders, providing an efficient and stable power source for long-term monitoring in both deep and shallow waters. This ocean-powered propulsion overcomes the limitations of traditional battery-powered underwater gliders, improving system reliability and expanding the scope of underwater gliders' applications in complex marine environments. By utilizing multiple ocean energy sources, the underwater glider overcomes the limitations of traditional battery-powered systems, significantly extending their endurance and environmental adaptability. The thermal energy system efficiently utilizes water temperature differences in the deep ocean for buoyancy control, reducing reliance on plunger pumps and battery power. A solar energy capture system provides power to the electronic control system in shallow environments, further improving energy efficiency. The overall design enables the underwater glider to flexibly switch operating modes based on environmental conditions, maintaining high self-sustaining and reliability in both deep and shallow waters, providing a long-term, low-cost solution for marine environmental monitoring and scientific research.

[0047] The "self-sustaining" in this technical solution refers to the underwater glider's ability to achieve completely autonomous energy supply and long-term operation by capturing energy from the ocean environment, completely getting rid of its dependence on its own power supply. The underwater glider disclosed in the present invention effectively captures ocean temperature difference energy and solar energy to achieve fully self-sustaining operation. The buoyancy adjustment system inside the system controls the flow of hydraulic oil through the thermal expansion and contraction of phase change materials, realizing active oil discharge during the submersible-floating conversion process, replacing the traditional plunger pump oil discharge method; the compensating accumulator effectively compensates for the buoyancy loss caused by changes in seawater density and compression of the pressure-resistant shell, achieving stable and energy-saving operation of the system. At the same time, the solar energy unit of the system charges the internal battery pack when operating in the shallow layer or on the water surface, and the electricity in the battery pack can power the system's electronic components. The fully self-sustaining underwater glider has multiple motion modes. The system can flexibly switch between gliding, drifting and other motion modes according to environmental information, thereby realizing energy recycling and stable output. Underwater gliders can ensure that the equipment can perform deep-sea observation and detection, environmental data collection and other tasks for a long time without external energy supply, significantly improving endurance and environmental adaptability.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A fully self-sustaining underwater glider powered by multiple ocean energy sources, comprising a solar energy capture unit and a buoyancy adjustment system, characterized in that: The solar energy capture unit includes a flexible gallium arsenide solar panel fixed on the upper part of the pressure hull and a rigid crystalline silicon solar panel installed on the upper part of the wing. When the underwater glider is in a state of drifting on the water surface or gliding in shallow water, the solar panel converts solar energy into electrical energy and stores it in a rechargeable battery pack connected to the solar panel. The buoyancy adjustment system includes an outer bladder, an inner oil tank, a plunger pump, an oil return solenoid valve, a temperature difference energy heat exchanger, a temperature difference energy accumulator, and a high-pressure solenoid valve; the outer bladder is connected to the inner oil tank through an oil return pipeline, and the oil return pipeline is installed with the oil return solenoid valve, the inner oil tank is connected to the outer bladder through an oil drain pipeline, and the oil drain pipeline is installed with the temperature difference energy heat exchanger, the temperature difference energy accumulator and the high-pressure solenoid valve in series, the temperature difference energy heat exchanger is driven by temperature changes to absorb hydraulic oil in the inner oil tank or discharge hydraulic oil to the temperature difference energy accumulator, and the temperature difference energy accumulator is used to discharge hydraulic oil to the outer bladder; the inner oil tank and the outer bladder are connected through a compensation oil circuit, and the plunger pump is installed in the compensation oil circuit, the plunger pump drives the hydraulic oil in the inner oil tank to discharge to the outer bladder; the outer bladder is connected to the compensation accumulator.

2. The multi-ocean energy driven fully self-sustaining underwater glider according to claim 1, characterized in that: A first check valve is installed between the inner oil tank and the temperature difference energy heat exchanger, and a second check valve is installed between the temperature difference energy heat exchanger and the temperature difference energy accumulator. The first check valve prevents the hydraulic oil from flowing from the temperature difference energy heat exchanger to the inner oil tank, and the second check valve prevents the hydraulic oil from flowing from the temperature difference energy heat exchanger to the temperature difference energy accumulator.

3. The multi-ocean energy driven fully self-sustaining underwater glider according to claim 2, characterized in that: The auxiliary oil discharge circuit is provided with a third check valve, and the third check valve prevents the hydraulic oil from flowing from the outer bladder to the inner oil tank.

4. The multi-ocean energy driven fully self-sustaining underwater glider according to claim 3, characterized in that: The outer bladder and the temperature difference heat exchanger are installed outside the pressure-resistant shell, and the inner oil tank, the plunger pump, the oil return solenoid valve, the temperature difference energy accumulator, the high-pressure solenoid valve and the compensation accumulator are installed inside the pressure-resistant shell.

5. The multi-ocean energy driven fully self-sustaining underwater glider according to claim 4, characterized in that: Glider wings are installed on both sides of the pressure-resistant shell, and the temperature difference heat exchanger is installed below the underwater glider wings.

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