A multi-ocean energy driven fully autonomous underwater glider

Abstract

The application discloses a kind of multi-ocean energy driven full self-sustaining underwater glider, belong to underwater observation detection equipment technical field, including solar energy capture unit and buoyancy adjusting system.Underwater glider upper portion is equipped with solar panel, can be converted into electric energy and stored into battery pack when solar energy when water surface drift or shallow layer glides.Buoyancy adjusting system includes outer skin bag, inner oil tank, plunger pump, oil return solenoid valve, temperature difference energy heat exchanger, temperature difference energy accumulator, high-pressure solenoid valve and compensation accumulator and other components, utilize the temperature difference of deep sea environment to drive the flow of hydraulic oil, realize buoyancy adjustment.At the same time, compensation accumulator can effectively passive compensation underwater glider buoyancy loss caused by seawater density variation and pressure hull compression amount, realize the stable energy-saving operation of system.System can reduce the dependence on traditional battery and mechanical pump, improve the energy utilization efficiency, endurance capability and operation reliability of underwater glider, applicable to long time, wide area deep sea observation task.

Description

Technical Field

[0001] This invention belongs to the field of underwater exploration equipment technology, and in particular relates to a fully self-sustaining underwater glider driven by multiple marine energy sources. Background Technology

[0002] Traditional underwater gliders achieve vertical movement by altering their buoyancy, performing profiling motion to collect and monitor ocean parameters over long periods. These devices typically carry multiple sensors and, after completing measurements, surface to communicate with satellites, transmitting the collected data back to shore-based or base stations. Due to their autonomous buoyancy, persistent operation, and long-range communication capabilities, underwater gliders have become crucial tools for ocean observation and scientific research. They have played a significant role in the continuous collection of data on ocean temperature, salinity, depth, and current dynamics, providing data support for global ocean observation systems.

[0003] Current underwater gliders still have many shortcomings and deficiencies in practical applications, mainly in terms of energy supply methods and ease of maintenance. First, most underwater gliders use lithium or alkaline batteries as their primary power source. While these offer a degree of reliability, their limited battery capacity restricts their endurance for long-duration, long-distance missions, making it difficult to meet the demands of long-term deep-sea observation and wide-area data acquisition. Second, large-capacity batteries pose a risk of leakage in the high-pressure environment of the deep sea, potentially leading to explosions and loss of underwater equipment. Furthermore, frequent battery replacements are not only costly but also require complex disassembly, assembly, and sealing, which is particularly challenging and time-consuming in offshore or platform environments, limiting the rapid deployment and efficient recovery of underwater gliders. In actual marine observation missions, these combined problems not only increase maintenance costs but also significantly restrict the efficiency and operational range of underwater gliders, hindering their widespread application in long-term autonomous operations in the deep sea. Summary of the Invention

[0004] To address the problems of limited battery energy, risks associated with large-capacity batteries, and complex replacement and maintenance in existing underwater gliders, this invention provides a fully self-sustaining underwater glider powered by multiple marine energy sources.

[0005] This invention is achieved by providing a fully self-sustaining underwater glider powered by multiple marine energy sources, comprising 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 to the upper part of the pressure-resistant shell and a rigid crystalline silicon solar panel installed on the upper part of the wing. When the underwater glider is in a state of floating on the water or gliding in shallow water, 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, a return oil solenoid valve, a thermoelectric heat exchanger, a thermoelectric accumulator, and a high-pressure solenoid valve. The outer bladder and the inner oil tank are connected via a return oil pipeline, and the return oil solenoid valve is installed on the return oil pipeline. The inner oil tank and the outer bladder are connected via a drain oil pipeline, and the thermoelectric heat exchanger, the thermoelectric accumulator, and the high-pressure solenoid valve are installed in series on the drain oil pipeline. The thermoelectric heat exchanger is driven by temperature changes to draw in hydraulic oil from the inner oil tank or to discharge hydraulic oil to the thermoelectric accumulator. The thermoelectric accumulator is used to discharge hydraulic oil to the outer bladder. The inner oil tank and the outer bladder are connected via a compensation oil circuit, and the plunger pump is installed on the compensation oil circuit. 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 thermoelectric heat exchanger, and a second check valve is installed between the thermoelectric heat exchanger and the thermoelectric accumulator. The first check valve prevents hydraulic oil from flowing from the thermoelectric heat exchanger to the inner oil tank, and the second check valve prevents hydraulic oil from flowing from the thermoelectric heat exchanger to the thermoelectric heat exchanger.

[0009] In the above technical solution, preferably, the compensation oil circuit is equipped with a third check valve, which prevents 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 thermoelectric heat exchanger are installed outside the pressure-resistant shell, and the inner oil tank, plunger pump, return oil solenoid valve, thermoelectric 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-resistant shell, 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's fully self-sustaining underwater glider, powered by marine energy, integrates two renewable marine energy sources: thermoelectric energy and solar energy. This creates an efficient, stable, and low-power energy supply system with numerous significant advantages and comprehensive benefits.

[0014] The buoyancy regulation system of the underwater glider utilizes a working mechanism based on pressure and temperature difference energy to efficiently adjust buoyancy in the deep-sea environment by leveraging the temperature difference between the upper and lower layers of seawater. This system offers numerous advantages and significant benefits. First, it reduces reliance on traditional plunger pumps. Plunger pumps and their motors are vulnerable mechanical components, and prolonged cyclic use increases component failure rates. This invention fundamentally improves the stability and reliability of the buoyancy regulation process. Second, by using temperature difference energy to drive buoyancy regulation, the system significantly reduces the demand for battery power, extending the underwater glider's endurance and effectively addressing the issue of insufficient range caused by low battery energy density. Third, by eliminating reliance on high-power mechanical pump systems, overall energy consumption is reduced, contributing to improved energy efficiency and simplified energy management strategies. Simultaneously, the system structure is relatively simplified, reducing the number of moving parts, lowering the probability of mechanical failure, and improving the stability and ease of maintenance during long-term ocean observation missions. The compensating accumulator effectively utilizes pressure difference to passively compensate for buoyancy losses caused by changes in the pressure hull volume and seawater density, resulting in more stable and energy-efficient operation of the underwater glider. In addition, the system utilizes the temperature difference resources that exist in the environment, has strong environmental adaptability and energy self-driving potential, and provides a greener, more efficient and low-maintenance buoyancy adjustment solution for marine observation platforms such as underwater gliders.

[0015] This underwater glider eliminates the reliance on traditional batteries as the sole power source, effectively solving the problems of short endurance and limited operational cycles caused by insufficient battery power, and significantly improving the glider's flight time and mission sustainability. Secondly, when the underwater glider surfaces or navigates in shallow waters, the solar power system can provide real-time power to the control system, communication modules, and sensors, further improving overall energy efficiency and enhancing the glider's energy self-sufficiency. Furthermore, the system can intelligently switch energy acquisition and usage modes according to the surrounding marine environment, achieving seamless operational transitions from deep sea to shallow sea, demonstrating excellent 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 technological solution for applications such as long-term environmental monitoring, resource surveys, and scientific research in deep-sea areas. Attached Figure Description

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

[0017] Figure 2 This is a schematic diagram of the external structure of the fully self-sustaining underwater glider described in this invention;

[0018] Figure 3 This is a schematic diagram of the internal structure of the fully self-sustaining underwater glider described in this invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] To address the problems of low battery energy density, risks associated with large-capacity batteries, and complex replacement and maintenance in existing underwater gliders, this invention provides a buoyancy adjustment system and a fully self-sustaining underwater glider powered by multiple marine energy sources. To further illustrate the structure of this invention, a detailed description is provided below in conjunction with the accompanying drawings:

[0021] Please see Figure 2 and Figure 3 A fully self-sustaining underwater glider powered by multiple marine energy sources includes a pressure hull and a buoyancy adjustment system. A solar panel is fixedly mounted on the upper part of the pressure hull. When the underwater glider is gliding on the water surface or in shallow water, the solar panel converts solar energy into electrical energy and stores it in a battery pack connected to the solar panel.

[0022] Please refer to Figure 1 The buoyancy regulation system includes an outer bladder, an inner oil tank, a plunger pump, a return oil solenoid valve, a temperature difference heat exchanger, a temperature difference accumulator, a high-pressure solenoid valve, and a compensation accumulator.

[0023] The outer bladder and the inner oil tank are connected by a return oil line, which is equipped with a return oil solenoid valve. The return oil solenoid valve is a low-pressure solenoid valve, which controls the opening and closing of the return oil line.

[0024] The inner oil tank and the outer bladder are connected by an oil drain line, and the oil drain line is connected in series with a thermoelectric heat exchanger, a thermoelectric accumulator and a high-pressure solenoid valve.

[0025] A thermoelectric heat exchanger is driven by temperature changes to draw hydraulic oil into an inner tank or discharge hydraulic oil into a thermoelectric accumulator. A thermoelectric heat exchanger with an internal phase change material is a known device that utilizes temperature difference to drive a hydraulic system. It contains a phase change material chamber and a hydraulic oil chamber. By leveraging the phase change material's phase change and volume change properties during heating or cooling, the intake and discharge of hydraulic oil are controlled. When the external temperature rises, the phase change material expands, pushing the diaphragm inside the accumulator to discharge hydraulic oil; when the temperature drops, the phase change material contracts, creating negative pressure to draw in hydraulic oil. This completes the hydraulic cycle without external mechanical drive, offering advantages such as compact structure and self-powered energy. A first check valve is installed between the inner tank and the thermoelectric heat exchanger, and a second check valve is installed between the thermoelectric heat exchanger and the thermoelectric accumulator. The first check valve prevents hydraulic oil from flowing from the thermoelectric heat exchanger to the inner tank, and the second check valve prevents hydraulic oil from flowing from the thermoelectric heat exchanger to the thermoelectric accumulator.

[0026] Thermoelectric accumulator is used to discharge hydraulic oil into the outer bladder. Accumulators using hydraulic oil as the working medium are existing known devices for storing hydraulic energy. Energy is stored in liquid form. In this embodiment, when the outer bladder needs additional flow, the accumulator releases the stored hydraulic oil to provide an instantaneous change in the body's buoyancy, achieving submersion / float switching. A high-pressure solenoid valve is used and is positioned between the outer bladder and the thermoelectric accumulator.

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

[0028] The compensating accumulator is directly connected to the outer bladder and achieves passive compensation through internal low-density gas, effectively reducing buoyancy loss 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 forces hydraulic oil into the compensating accumulator, thereby increasing the overall volume reduction of the glider. This not only maintains a stable diving speed but also reduces the amount of oil discharged during the dive-surface transition, achieving energy savings. During ascent, the expansion rate of the pressure hull lags behind the decrease in seawater density, and the compensating accumulator forces hydraulic oil back into the outer bladder, increasing the volume increment of the underwater glider and ensuring the stability of the ascent speed. This design utilizes ocean pressure potential energy to achieve highly efficient dynamic passive buoyancy compensation.

[0029] An 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 thruster 4, a tail fin 37, and a rear fairing 5. These structures form the hydrodynamic shape of the underwater glider, which can reduce navigation drag while ensuring stable movement of the underwater glider under different ocean conditions.

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

[0031] The core structure of the underwater glider is the main sealed cavity, which is composed of a front cover 20, a front pressure shell 24, a transition rib ring 13, a rear pressure shell 31, and a rear cover 35 connected in sequence. Sealing rings are used for axial sealing between the components, ensuring the underwater glider's waterproof and pressure-resistant performance in the high-pressure environment of the deep sea. The main sealed cavity houses various power and control system components, which, through a rational layout and tight connection, achieve functions such as buoyancy adjustment, propulsion, energy supply, and data transmission. The rear end of the main sealed cavity is connected to an outer bladder, the volume of which directly determines the overall net buoyancy of the underwater glider. The key to buoyancy adjustment 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 a high-pressure solenoid valve 32 and a return solenoid valve 34, thereby enabling the underwater glider to ascend and descend.

[0032] The thermoelectric energy system includes a thermoelectric heat exchanger, a thermoelectric energy accumulator, and a phase change material (PCM). The thermoelectric heat exchanger 3 is fixed below the wing 1 of the underwater glider, secured by a mounting bracket fixed to the lateral openings of the front cover 20, rib ring 13, and rear cover 35. The heat exchanger utilizes the volume change of the PCM during temperature variations 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 low-temperature region of the deep sea, the PCM shrinks in volume as the temperature decreases, and hydraulic oil flows from the inner tank into the thermoelectric heat exchanger 3 and is stored in the thermoelectric energy accumulator. When it rises to the warmer, shallower water, the PCM expands, squeezing the hydraulic oil back into the outer bladder, generating buoyancy. A one-way valve 11 ensures unidirectional flow of the hydraulic oil during this process, preventing backflow and making buoyancy regulation more stable and reliable.

[0033] Flexible solar panels cover the pressure-resistant shell of the underwater glider, while rigid solar panels are mounted above the wings. A solar capture unit captures solar energy while floating on the surface or navigating in shallow water, converting it into electrical energy stored in the battery pack. Specifically, flexible gallium arsenide solar panels are laid on the surface of the pressure-resistant shell, while rigid crystalline silicon solar panels are mounted above the wings. The battery pack is fixed by a main support frame 15 and a secondary support frame 29, and connected to a worm gear motor and guide rails. The worm gear motor adjusts the angle of the battery pack to ensure a reasonable distribution of the underwater glider's center of gravity, optimizing its flight attitude. A DC motor 25 and a transmission gear 28 control a lead screw 26 to drive the battery pack support frame 29 to adjust the center of gravity, while a displacement sensor 2 collects position information. In shallow water or on the surface, solar energy provides power to 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-sufficiency 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, driven by the plunger pump motor, can actively adjust the flow of hydraulic oil when the thermoelectric system cannot provide sufficient buoyancy adjustment. The compensating accumulator, connected to the outer bladder, is primarily used for buoyancy compensation in deep-sea environments. Because the pressure hull experiences 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 deep-sea environments.

[0035] The propulsion system mainly consists of thruster 4 and thruster compensator 36, located at the tail of the underwater glider. Thruster 4 is used for directional propulsion, rapid movement, and depth-controlled buoyancy underwater, improving its navigation efficiency and mission execution capabilities. The thruster compensator assists the thruster in providing stability and precise control during depth-controlled navigation. After completing navigation in the target area, the thruster stops working, and the underwater glider maintains its depth through the buoyancy adjustment system. Temperature and salinity sensors and a matching water pump are used to collect ambient temperature, salinity, and other data in real time. The sensors are connected to a control circuit board, which enables real-time data processing, storage, and transmission. When the underwater glider surfaces, the communication system establishes a link with a satellite via an antenna, transmitting the collected data to a ground station to ensure timely feedback and monitoring of changes in the underwater environment.

[0036] The rear end of the main sealing cavity is connected to the outer bladder. The volume of the outer bladder determines the buoyancy of the underwater glider, and the flow of hydraulic oil between the outer bladder and the inner oil tank is controlled by a solenoid valve. The thermoelectric heat exchanger controls the flow of hydraulic oil at different water depths through the volume change of its internal phase change material, thus achieving buoyancy regulation. When the underwater glider rises or dives, the phase change material in the heat exchanger expands or contracts due to water temperature changes, forcing the hydraulic oil to circulate between the outer bladder, the inner oil tank, and the thermoelectric accumulator, thereby achieving dynamic buoyancy regulation.

[0037] Flexible solar panels are installed on the pressure hull of the underwater glider, while rigid solar panels are mounted above the wings. Solar capture units capture solar energy while floating on the surface or navigating in shallow water, converting it into electrical energy and storing it in the battery pack to power control circuits, communication systems, and sensors. The battery pack not only stores the electricity generated by solar energy but also provides backup power for the underwater glider's propulsion and other auxiliary devices, ensuring energy self-sufficiency under varying depths and lighting conditions. A plunger pump, acting as an auxiliary oil discharge device, works in conjunction with the thermoelectric system. When thermoelectric capture is insufficient or the phase change material does not reach the expected volume change rate, the plunger pump actively adjusts the hydraulic oil flow to ensure stable buoyancy regulation. A compensating accumulator, connected to the outer bladder, automatically adjusts buoyancy in the high-pressure environment of the deep sea to balance buoyancy losses caused by changes in the pressure hull volume and seawater density, further enhancing the underwater glider's deep-sea adaptability.

[0038] This invention relates to a fully self-sustaining underwater glider powered by multiple marine energy sources. A thermoelectric heat exchanger, located beneath the wing, drives the glider's buoyancy system via thermal energy. This heat exchanger utilizes the temperature difference between shallow and deep water to drive the expansion or contraction of a phase change material, generating hydraulic oil flow required for buoyancy regulation. Solar panels, located on the upper surface of the underwater glider, collect solar energy and convert it into electrical energy stored in a battery pack when the glider is floating or navigating in shallow water, powering the glider's control circuits, communication systems, sensors, and other electronic components. A buoyancy drive unit, consisting of a plunger pump and a compensating accumulator, provides emergency buoyancy regulation support when thermoelectric energy is insufficient. The compensating accumulator also passively compensates for buoyancy losses caused by changes in the pressure hull volume and seawater density in deep-sea environments.

[0039] The thermoelectric energy loop of this underwater glider significantly reduces the glider's energy dependence and improves the system's energy efficiency and self-sufficiency. The buoyancy adjustment method of the thermoelectric buoyancy system includes the following steps:

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

[0041] S2. Descent Phase: As the diving depth increases, the seawater pressure gradually increases. The hydraulic oil remaining in the outer bladder is forced into the compensating accumulator under external pressure, achieving passive buoyancy compensation. At the same time, the phase change material in the thermoelectric heat exchanger contracts in a low-temperature environment, causing the hydraulic oil in the inner tank to flow into the thermoelectric heat exchanger, preparing for subsequent buoyancy adjustments.

[0042] S3. Submersion / Float Conversion Stage: Once the underwater glider reaches the predetermined depth, the high-pressure solenoid valve opens, releasing hydraulic oil from the thermoelectric accumulator into the outer bladder, increasing the buoyancy of the underwater glider and causing it to begin to rise. If the oil level in the outer bladder is insufficient, the plunger pump will start, pumping hydraulic oil from the inner tank into the outer bladder to ensure a smooth submersion / float conversion process.

[0043] S4. Ascent Process: During the ascent of the underwater glider, the hydraulic oil in the compensating accumulator gradually flows back to the outer bladder, providing additional buoyancy compensation. At the same time, the phase change material in the thermoelectric heat exchanger expands in the high-temperature environment, squeezing the hydraulic oil into the thermoelectric accumulator to store the required amount of oil for the next diving and surfacing cycle.

[0044] S5. Cycle complete: The underwater glider rises to the surface, completing a full profile cycle. At this point, it can enter data transmission mode according to mission requirements, sending the collected environmental data to the ground station and adjusting the parameters for the next profile cycle.

[0045] The main control computer circuit board 30 of the underwater glider is connected to the control circuit board, responsible for the coordination and control of various components. The control circuit board is connected to the communication module and data acquisition module to monitor the operating status of the underwater glider and the operating parameters of various devices. The temperature and salinity sensor collects marine environmental data through the water pump and transmits the information to the control system in real time. The communication module includes a watertight communication cable, an antenna mast, and an antenna head. When the underwater glider surfaces, it transmits data to the ground station via satellite to achieve remote monitoring and transmission of mission commands.

[0046] This fully self-sustaining underwater glider utilizes a combined energy supply of thermoelectric energy and solar energy to power its buoyancy regulation system and other power systems. The glider captures thermoelectric energy underwater for buoyancy regulation, controlling the flow of hydraulic oil in the buoyancy regulation device based on the temperature difference between different sea depths. When surfacing or navigating in shallow water, it uses solar energy to power control, communication, and sensor systems. This design fundamentally solves the problem of limited flight time caused by insufficient power in traditional battery-powered underwater gliders, providing an efficient and stable power source for long-term monitoring in both deep and shallow waters. This marine energy-driven approach overcomes the limitations of traditional battery-powered underwater gliders, improves system reliability, and expands the application range of underwater gliders in complex marine environments. Through a multi-marine energy drive system, the underwater glider overcomes the limitations of traditional battery-powered systems, significantly improving endurance and environmental adaptability. The thermoelectric energy system efficiently utilizes water temperature differences in the deep sea for buoyancy regulation, reducing reliance on plunger pumps and battery power. The solar energy capture system provides power to the electronic control system in shallow environments, further improving energy efficiency. The overall design allows the underwater glider to flexibly switch operating modes according to environmental conditions, maintaining high self-sufficiency and reliability in both deep and shallow waters, thus providing a long-term, low-cost solution for marine environmental monitoring and scientific research.

[0047] In this technical solution, "self-sustaining" refers to the underwater glider's ability to capture energy from the marine environment, achieving fully autonomous energy supply and long-term operation, thus completely eliminating dependence on its own power source. The underwater glider disclosed in this invention effectively captures ocean thermal energy and solar energy to achieve fully self-sustaining operation. The system's internal buoyancy regulation system controls hydraulic oil flow through the thermal expansion and contraction of phase change materials, enabling active oil discharge during the submersion / surface transition process, replacing the traditional plunger pump method. A compensating accumulator effectively compensates for buoyancy losses caused by changes in seawater density and the compression of the pressure hull, achieving stable and energy-efficient system operation. Simultaneously, the system's solar energy unit charges the internal battery pack when operating in shallow water or on the surface, and the electrical energy in the battery pack powers 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 based on environmental information, thereby achieving energy recycling and stable output. Underwater gliders can perform long-term deep-sea observation and exploration, environmental data collection, and other tasks without external power 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 within the protection scope of the present invention.

Claims

1. A fully self-sustaining underwater glider powered by multiple marine energy sources, comprising a solar energy capture unit and a buoyancy adjustment system, characterized in that: The solar capture unit includes a flexible gallium arsenide solar panel fixed to the upper part of the pressure-resistant shell and a rigid crystalline silicon solar panel installed on the upper part of the wing. When the underwater glider is in a state of floating on the water 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, a return oil solenoid valve, a temperature difference heat exchanger, a temperature difference accumulator, a high-pressure solenoid valve, and a compensation accumulator. The outer bladder is connected to the inner oil tank via a return oil pipeline, and the return oil pipeline is equipped with the return oil solenoid valve. The inner oil tank and the outer bladder are connected by an oil drain pipe. The oil drain pipe is connected in series with the thermoelectric heat exchanger, the thermoelectric accumulator and the high-pressure solenoid valve. The thermoelectric heat exchanger is driven by temperature changes to draw in hydraulic oil from the inner oil tank or to discharge hydraulic oil to the thermoelectric accumulator. The thermoelectric 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. The compensation oil circuit is equipped with the plunger pump, which is used to drive the hydraulic oil in the inner oil tank to be discharged to the outer bladder. The compensating accumulator is directly connected to the outer bladder. During the descent of the underwater glider, the hydraulic oil in the outer bladder enters the compensating accumulator under external pressure. During the ascent of the underwater glider, the hydraulic oil in the compensating accumulator flows back to the outer bladder to passively compensate for the buoyancy changes caused by changes in seawater density and pressure hull volume.

2. The fully self-sustaining underwater glider powered by multiple marine energy sources according to claim 1, characterized in that: A first check valve is installed between the inner oil tank and the thermoelectric heat exchanger, and a second check valve is installed between the thermoelectric heat exchanger and the thermoelectric accumulator. The first check valve prevents hydraulic oil from flowing from the thermoelectric heat exchanger to the inner oil tank, and the second check valve prevents hydraulic oil from flowing from the thermoelectric accumulator to the thermoelectric heat exchanger.

3. The fully self-sustaining underwater glider powered by multiple marine energy sources according to claim 2, characterized in that: The compensation oil circuit is equipped with a third check valve, which prevents hydraulic oil from flowing from the outer bladder to the inner oil tank.

4. The fully self-sustaining underwater glider powered by multiple marine energy sources according to claim 3, characterized in that: The outer bladder and the thermoelectric heat exchanger are installed outside the pressure-resistant shell, while the inner oil tank, plunger pump, return oil solenoid valve, thermoelectric accumulator, high-pressure solenoid valve, and compensation accumulator are installed inside the pressure-resistant shell.

5. The fully self-sustaining underwater glider powered by multiple marine energy sources according to claim 4, characterized in that: The pressure hull is fitted with glider wings on both sides, and the thermal energy exchanger is installed below the wings of the underwater glider.

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