The invention relates to a photoelectric double-channel automatic watching following semi- diving device, belonging to ship engineering technical field, comprising a casing, vertical and horizontal tail fins, reversible screw propeller, top frame, connection pipe, vent-pipe, power system, vertical and horizontal tail fin executer, photoelectric periscopic window, signal processing encryption and decryption machine, transmitting and receiving energy exchange base array, hydraulic sensor, control system, air compressing bottle, rapid blow valve, ballast tank, water injection system, and water injection valve. The semi-diving device can be completely hidden underwater and can only expose the periscopic window for detecting and encrypts the detected image signal and transmits it in form of water sound wireless signal to the underwater mother boat. The encrypted control instructions emitted by the underwater mother boat are transmitted to the semi-diving device in the data transmission form of water sound digital communication and command the semi-diving device to work after decrypted. The encrypted water sound wireless signal is unable to be modified, broken down, intercepted or utilized by the enemy and can be widely applied to military and civil occasions and the others.