Suspension type charging device and in-situ detection system thereof

Abstract

The invention discloses a suspension type charging device and an in-situ detection system thereof, and relates to the technical field of charging piles, the suspension type charging device comprises a charging pile body, a detection robot and a suspension bag; the detection robot is arranged at the bottom of the charging pile body in a detachable connection mode and used for walking on the seabed and conducting in-situ detection. The suspension bag is of an annular bag body structure and is used for providing buoyancy to enable the charging pile body to float on the sea surface or suspend at the water bottom; the charging pile body is fixed to the middle of the suspension bag and used for charging the detection robot. When the detection robot sinks to the seabed for in-situ detection, the detection robot is electrically connected with the charging pile body through the charging wire for charging; the technical effects that buoyancy adjustment is accurate, flexibility is improved, offshore attitude stability is improved, functions are diversified, and suspension stability is improved during offshore charging can be achieved.

Description

Technical Field

[0001] This invention relates to the field of charging pile technology, and in particular to a suspended charging device and its in-situ detection system. Background Technology

[0002] In the field of marine energy and exploration, offshore charging stations are a core component of marine energy utilization, providing a continuous power supply for new energy vessels (such as electric research vessels) and seabed exploration equipment (such as autonomous robots), ensuring the stable operation of the equipment.

[0003] Regarding the charging of marine or seabed exploration devices, Chinese invention patent CN115743447B discloses a semi-submersible anti-collision marine charging pile, comprising: an upper part of the charging pile body is conical and a lower part is inverted conical; an airbag is provided around the outer periphery of the junction of the upper conical and lower inverted conical parts of the charging pile body; a compressed air chamber with a ring-shaped cross-section is provided inside the upper conical part of the charging pile body; the compressed air chamber is connected to the airbag through an air pump, which is located at the lower part of the compressed air chamber; the air pump controls the buoyancy of the charging pile body by drawing or filling gas into the airbag; this invention, by providing a ring-shaped airbag around the outer periphery of the charging pile, solves the floating problem of marine charging piles while providing anti-collision protection for marine charging piles, avoiding direct collisions between the charging pile body and ships; after the marine charging pile is connected to a new energy vessel, the gas in the airbag is extracted to reduce its volume until the marine charging pile is suspended below the sea surface, avoiding collisions with the new energy vessel.

[0004] While the above-mentioned solution improves operational efficiency to some extent when charging seabed exploration devices, in actual use, it relies solely on the inflation and deflation of airbags, resulting in low buoyancy control precision. This makes it unable to adapt to sudden environmental changes encountered during floating charging at sea, and it lacks an active stabilization mechanism. In harsh sea conditions, it is prone to tilting or swaying, affecting the reliability of the charging connection. Furthermore, it focuses only on the charging function and does not integrate seabed exploration capabilities, thus limiting its application in marine scientific research or resource exploration. Summary of the Invention

[0005] This application provides a suspended charging device and its in-situ detection system, which solves the technical problems of coarse buoyancy adjustment, low flexibility, insufficient stability at sea, single function and insufficient suspension stability during charging at sea in the prior art. It achieves the technical effects of precise buoyancy adjustment, improved flexibility, improved stability at sea, multiple functions and improved suspension stability during charging at sea.

[0006] This application provides a suspended charging device and its in-situ detection system, including a charging pile body, a detection robot, and a suspension bag; The exploration robot is detachably connected to the bottom of the charging pile body and is used to walk on the seabed and conduct in-situ exploration. The suspension bag is a ring-shaped bag structure used to provide buoyancy so that the charging pile body floats on the sea surface or is suspended on the seabed. The charging pile body is fixed in the middle of the suspension bag and is used to charge the exploration robot. When the exploration robot sinks to the seabed to conduct in-situ exploration, it is electrically connected to the charging pile body through a charging cable for charging. The suspension capsule is divided into three chambers by a diaphragm: a water chamber, a middle ring chamber, and an air chamber, arranged concentrically in three rings from the inside out. The air chamber is connected to an air pump via a pipe and is used to inflate and deflate the air to adjust buoyancy. The middle ring chamber is filled with iron powder. The outer wall of the detection robot is also fixed with multiple control components along its circumference. The control components include a support rod and an electromagnetic coil. When the electromagnetic coil is energized, it generates a magnetic field, which causes the iron powder to move in a specific direction and generates a magnetic torque to stabilize the attitude of the suspension bag.

[0007] Furthermore, the charging pile body includes a housing, a charging gun, a cable reel, an electrical control compartment, a solar panel, a battery, and an air pump; The receiving compartment is fixed to the inner top of the charging pile body and is used to accommodate the charging gun. A cable reel is fixed to the bottom of the receiving compartment. Motors are provided at both ends of the cable reel shaft for winding or releasing the charging cable. The charging gun is electrically connected to the charging cable. The electronic control compartment is located at the lower end of the cable reel and has embedded electronic control components. It is electrically connected to the air pump, solar panel and battery. The solar panel is laid on the outer surface of the charging pile body and is used to convert solar energy into electrical energy. The battery is located at the bottom inside the charging pile body and is used to store electrical energy.

[0008] Furthermore, the detection robot includes walking legs, a detection rod, and a probe; The walking legs are multi-legged structures, fixed to the bottom of the exploration robot, and used for moving on the seabed; multiple exploration rods are provided, evenly arranged along the circumference of the exploration robot, and a probe is fixed at the top of the exploration rod for collecting in-situ marine exploration data; the exploration robot is electrically connected to the charging gun of the charging pile body through a detachable interface.

[0009] Furthermore, the water chamber is located in the innermost layer, the air chamber is located in the outermost layer, the middle ring chamber is located in the middle layer, and the diaphragm is made of flexible material to ensure chamber isolation; the air chamber is connected to an air pump through a pipe and is used to inflate and deflate air to adjust buoyancy.

[0010] Furthermore, the charging pile body is also equipped with a liquid pump, which is connected to the water cavity through an independent water pipe.

[0011] Furthermore, the liquid pump is electrically connected to the electrical control cabin. By controlling the start and stop of the liquid pump, the injection and drainage into the water chamber can be controlled, thereby adjusting the overall weight of the suspension capsule and achieving precise suspension.

[0012] Furthermore, the support rod has an L-shaped structure; the electromagnetic coil is wrapped around the outside of the vertical section of the support rod. When the electromagnetic coil is energized, it generates a magnetic field, causing the iron powder to move in a specific direction and generating a magnetic torque to stabilize the attitude of the suspension bag; the electromagnetic coil communicates with the electronic control cabin via a carrier wave, and the electronic control cabin controls the start and stop of the electromagnetic coil according to sea state data to resist the disturbance of sea waves when floating on the sea surface.

[0013] Furthermore, a thin sheet of permanent magnet is embedded in the diaphragm of the middle ring cavity sidewall, which is used to form a superimposed magnetic field with the external electromagnetic coil.

[0014] One or more technical solutions provided in this application have at least the following technical effects or advantages: By combining the multi-chamber structure of the suspension capsule with air and liquid pumps, precise adjustment of buoyancy and weight is achieved. The interaction between iron powder in the central chamber and the electromagnetic coil ensures stable attitude of the suspension capsule during charging at sea. Independent control of the water chamber by the liquid pump enables rapid fine-tuning of weight. The magnetic attraction between the probe robot and the suspension capsule enhances the overall stability of the system. This effectively solves the technical problems of existing technologies, such as coarse buoyancy adjustment, low flexibility, insufficient attitude stability at sea, limited functionality, and insufficient suspension stability during charging at sea. It achieves the technical effects of precise buoyancy adjustment, improved flexibility, enhanced attitude stability at sea, multi-functionality, and improved suspension stability during charging at sea. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of a suspended charging device and its in-situ detection system according to the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the charging pile body of the suspended charging device and its in-situ detection system of the present invention charging the detection robot submerged on the seabed on the sea surface.

[0018] Figure 3 This is a longitudinal full sectional view of a suspended charging device and its in-situ detection system according to the present invention.

[0019] Figure 4This is a longitudinal full sectional view of the charging pile body and the suspension bag of a suspended charging device and its in-situ detection system according to the present invention.

[0020] Figure 5 This is a transverse full sectional view of the suspension capsule of the levitation charging device and its in-situ detection system according to the present invention.

[0021] In the diagram: 100, charging pile body; 101, storage compartment; 102, charging gun; 103, cable reel; 110, detection robot; 111, walking legs; 112, detection rod; 113, probe; 120, electrical control compartment; 121, solar panel; 130, battery; 140, air pump; 150, liquid pump; 200, suspension bag; 210, water chamber; 220, middle ring cavity; 221, iron powder; 230, air chamber; 240, support rod; 250, electromagnetic coil. Detailed Implementation

[0022] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0023] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] Please see Figure 1This is a schematic diagram of the overall structure of a suspended charging device and its in-situ detection system according to the present invention. The suspended charging device and its in-situ detection system of this application achieve precise adjustment of buoyancy and weight through the multi-chamber structure of the suspension bladder 200 and the cooperation of the air pump 140 and the liquid pump 150; the cooperation of the iron powder 221 in the central ring cavity 220 and the electromagnetic coil 250 ensures the stability of the suspension bladder 200 at sea; the independent control of the water cavity 210 by the liquid pump 150 enables rapid fine-tuning of weight; and the magnetic attraction between the detection robot 110 and the suspension bladder 200 enhances the overall stability of the system. This achieves the technical effects of precise buoyancy adjustment, improved flexibility, improved stability at sea, multifunctionality, and improved suspension stability during charging at sea.

[0026] Example 1: As Figure 1 and Figure 2 As shown, this application discloses a suspended charging device and its in-situ detection system, including a charging pile body 100, a detection robot 110, and a suspension bag 200. The detection robot 110 is detachably connected to the bottom of the charging pile body 100 and is used to walk on the seabed and conduct in-situ detection; the suspension bladder 200 is a ring-shaped bladder structure used to provide buoyancy so that the charging pile body 100 floats on the sea surface or is suspended on the seabed. The charging pile body 100 is fixed in the middle of the suspension bag 200 and is used to charge the exploration robot 110. When the exploration robot 110 sinks to the seabed to conduct in-situ exploration, it is electrically connected to the charging pile body 100 for charging through the charging cable. The suspension capsule 200 is divided into three chambers by a diaphragm, which are, from the inside out, a water chamber 210, a middle ring chamber 220 and an air chamber 230, arranged in three concentric rings. The air chamber 230 is connected to an air pump 140 through a pipe and is used to inflate and deflate the air to adjust the buoyancy. The middle ring chamber 220 is filled with iron powder 221. The outer wall of the detection robot 110 is also fixed with multiple control components along its circumference. The control components include a support rod 240 and an electromagnetic coil 250. When the electromagnetic coil 250 is energized, it generates a magnetic field, which causes the iron powder 221 to move in a specific direction and generates a magnetic torque to stabilize the attitude of the suspension bag 200.

[0027] like Figures 2 to 4 As shown, the charging pile body 100 includes a housing 101, a charging gun 102, a cable reel 103, an electrical control compartment 120, a solar panel 121, a storage battery 130, and an air pump 140. The receiving compartment 101 is fixed to the inner side of the top of the charging pile body 100 and is used to receive the charging gun 102; a winding frame 103 is fixed at the bottom of the receiving compartment 101, and motors are provided at both ends of the winding frame 103 shaft for winding or releasing the charging cable; the charging gun 102 is electrically connected to the charging cable. The electrical control compartment 120 is located at the lower end of the cable reel 103 and has embedded electronic control components. It is electrically connected to the air pump 140, the solar panel 121 and the battery 130. The solar panel 121 is laid on the outer surface of the charging pile body 100 and is used to convert solar energy into electrical energy. The battery 130 is located at the bottom inside the charging pile body 100 and is used to store electrical energy.

[0028] like Figures 1 to 3 As shown, the detection robot 110 includes walking legs 111, detection rods 112, and probes 113; The walking legs 111 are multi-legged structures and are fixed to the bottom of the exploration robot 110 for movement on the seabed; multiple exploration rods 112 are provided and are evenly arranged around the circumference of the exploration robot 110, and a probe 113 is fixed to the top of the exploration rod 112 for collecting in-situ marine exploration data; the exploration robot 110 is electrically connected to the charging gun 102 of the charging pile body 100 through a detachable interface.

[0029] like Figures 3 to 5 As shown, the water chamber 210 is located in the innermost layer, the air chamber 230 is located in the outermost layer, and the middle ring chamber 220 is located in the middle layer. The diaphragm is made of flexible material to ensure chamber isolation. The air chamber 230 is connected to the air pump 140 through a pipe and is used to inflate and deflate air to adjust buoyancy.

[0030] like Figures 2 to 5 As shown, the charging pile body 100 is also equipped with a liquid pump 150, which is connected to the water chamber 210 through an independent water pipe.

[0031] The liquid pump 150 is electrically connected to the electrical control compartment 120. By controlling the start and stop of the liquid pump 150, the water in the water chamber 210 is injected and drained, and the overall weight of the suspension bladder 200 is adjusted to achieve precise suspension.

[0032] The support rod 240 has an L-shaped structure; the electromagnetic coil 250 is wrapped around the outside of the vertical section of the support rod 240. When the electromagnetic coil 250 is energized, it generates a magnetic field, which causes the iron powder 221 to move in a specific direction and generates a magnetic torque to stabilize the attitude of the suspension bladder 200; the electromagnetic coil 250 communicates with the electrical control cabin 120 via carrier wave. The electrical control cabin 120 controls the start and stop of the electromagnetic coil 250 according to sea state data to resist the disturbance of sea waves when floating on the sea surface.

[0033] The diaphragm on the side wall of the central ring cavity 220 is embedded with a thin sheet of permanent magnet, which is used to form a superimposed magnetic field with the external electromagnetic coil 250.

[0034] This application utilizes the coordinated control of the three chambers (i.e., water chamber 210, middle ring chamber 220, and air chamber 230) of the suspension capsule 200 with the air pump 140 and liquid pump 150. The liquid pump 150 independently pumps water into and out of the water chamber 210, rapidly fine-tuning the weight; the air pump 140 adjusts the gas volume in the air chamber 230 to achieve buoyancy compensation; the electronic control cabin 120 automatically adjusts both based on depth sensor data, enabling the charging pile body 100 to suspend at any position on the sea surface, in water, or on the seabed. This makes it suitable for in-situ seabed exploration tasks, such as marine resource surveys and seabed pipeline inspections. The charging pile body 100 can also stably suspend near the exploration robot 110, ensuring uninterrupted charging.

[0035] This application utilizes a liquid pump 150 to independently control the injection and drainage of the water chamber 210, synchronized with the adjustment of the air chamber 230. When the exploration robot 110 is connected via a charging cable, the electrical control compartment 120 activates the liquid pump 150 to inject water into the water chamber 210 based on cable tension data to compensate for weight changes and prevent sudden buoyancy fluctuations. This system is suitable for dynamic operational scenarios, such as the frequent charging of mobile seabed exploration robots 110. The system can adapt to real-time load changes, preventing pile vibration.

[0036] This application establishes a magnetic field control system by connecting iron powder 221 within the central cavity 220 with an electromagnetic coil 250 on the probe robot 110. When energized, the electromagnetic coil 250 generates a magnetic field, causing the iron powder 221 to move in a directional manner and producing a magnetic torque. Simultaneously, a thin permanent magnet embedded in the diaphragm of the central cavity 220 enhances the magnetic field superposition effect, actively correcting the attitude of the suspension capsule 200 when both the probe robot 110 and the suspension capsule 200 are floating at sea. The electrical control cabin 120 controls the activation and deactivation of the electromagnetic coil 250 in real time using sea state data, making it suitable for high-wave areas or areas with complex ocean currents, such as straits or areas with variable weather, enabling the system to resist wave disturbances and maintain a horizontal attitude.

[0037] The device surface is coated with an anti-corrosion coating made of epoxy resin-based composite material. The electrical control cabin 120 is equipped with a communication module, which is configured to connect to a cellular network and underwater acoustic communication. When the device floats on the water surface, the attenuation of electromagnetic waves by seawater is negligible (only the very thin surface water layer is affected), and the communication module completes communication through the cellular network. When the device performs "automatic diving to avoid waves" or is fully submerged, the "underwater acoustic communication module" is activated (utilizing the propagation characteristics of sound waves in water, the attenuation is much lower than that of electromagnetic waves, supporting stable communication at depths of tens to hundreds of meters underwater) to obtain weather information and send positioning data to the detection robot 110. The anti-corrosion coating covers the outer surface of the charging pile body 100 and the suspension bladder 200, and the communication module allows the device to automatically dive to avoid waves in severe weather.

[0038] In actual operation, the steps of this embodiment are as follows: Step 1: After the device is transported to the target sea area by ship or drone, it is deployed into the sea. The electronic control cabin 120 automatically starts the air pump 140 to inflate the air chamber 230 of the suspension bag 200, causing the air bag to expand and generate buoyancy. At the same time, the solar panel 121 begins to absorb solar energy to charge the battery 130 and provide initial energy. Step 2: The electronic control cabin 120 sends a command, and the exploration robot 110 separates from the charging pile body 100 through the detachable interface. At the same time, the motor of the cable reel 103 releases the charging cable, allowing the robot to sink to the seabed. The walking legs 111 start up, pushing the robot to move along the seabed, and the probe 113 begins to collect marine data (such as temperature, salinity or geological information). Step 3: After the exploration robot 110 completes its exploration mission on the seabed, it returns to the charging point via its outriggers 111. The charging gun 102 is taken out of the housing 101 and connected to the detachable interface of the exploration robot 110. The motor of the cable reel 103 retracts the charging cable, achieving a tight connection. During the floating charging process at sea, the battery 130 is replenished with power through the solar panel 121 to charge the robot. At the same time, the data collected by the probe 113 is transmitted back to the ground station via the communication module. Step 4: When the suspension capsule 200 and the exploration robot 110 are in a floating state on the sea surface for charging, if the marine environment is relatively harsh, that is, the sea conditions are bad (such as the wave height exceeds 1 meter), the electronic control cabin 120 obtains real-time weather data through the communication module and activates the electromagnetic coil 250 on the exploration robot 110. After the electromagnetic coil 250 is energized, it generates a magnetic field, which causes the iron powder 221 in the middle ring cavity 220 to move in a specific direction and generate a magnetic torque. At the same time, the permanent magnet sheet on the side wall of the middle ring cavity 220 enhances the magnetic field and forms a superposition effect, which enables the device to float stably on the sea surface and improves the stability during the charging process. Step 5: If the entire device needs to be suspended in the sea, that is, when the suspension capsule 200 and the exploration robot 110 are fixed together and suspended in the sea, according to the seabed depth and sea conditions (such as wave size), the electrical control cabin 120 starts the liquid pump 150 to inject water into the water chamber 210, increasing the weight of the suspension capsule 200, so that the charging pile body 100 submerges to the predetermined depth; at the same time, the air pump 140 adjusts the gas volume of the air chamber 230 to compensate for the change in buoyancy and achieve a suspended state. During this process, the electromagnetic coil 250 and the iron powder 221 do not cooperate, and stable suspension can be achieved only by injecting water.

[0039] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages: This application uses a detection robot 110 as the core component, which moves on the seabed via outriggers 111, while a probe 113 collects data. A charging gun 102 is connected to the robot via a detachable interface, and the magnetic attraction of an electromagnetic coil 250 enhances stability during charging at sea. An electrical control cabin 120 integrates a communication module, enabling remote monitoring of sea conditions and equipment status, making it suitable for long-term marine scientific expeditions, such as seabed biological observation or water quality monitoring. The system integrates charging and detection, improving automation. Through multi-component collaboration (such as the multi-chamber suspension bladder 200, liquid pump 150, and electromagnetic coil 250), it solves technical problems such as coarse buoyancy control, unstable attitude during charging at sea, poor dynamic load adaptability, and limited functionality. This significantly improves the system's reliability, accuracy, and versatility in complex marine environments (such as deep-sea exploration and areas with strong waves), driving the evolution of marine charging technology from basic collision avoidance to intelligent in-situ detection.

[0040] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A suspended charging device and its in-situ detection system, characterized in that, It includes the charging pile body (100), the detection robot (110), and the suspension bag (200). The detection robot (110) is detachably connected to the bottom of the charging pile body (100) for walking on the seabed and conducting in-situ detection; the suspension bag (200) is a ring-shaped bag structure for providing buoyancy so that the charging pile body (100) floats on the sea surface or is suspended on the bottom of the water. The charging pile body (100) is fixed in the middle of the suspension bag (200) and is used to charge the exploration robot (110); when the exploration robot (110) sinks to the seabed for in-situ exploration, it is electrically connected to the charging pile body (100) through the charging cable for charging. The suspension capsule (200) is divided into three chambers by a diaphragm, which are, from the inside out, a water chamber (210), a middle ring chamber (220), and an air chamber (230), which are arranged in three concentric rings. The air chamber (230) is connected to an air pump (140) through a pipe and is used to inflate and deflate the air to adjust the buoyancy. The middle ring chamber (220) is filled with iron powder (221). The outer wall of the probe robot (110) is also fixed with multiple control components along its circumference. The control components include a support rod (240) and an electromagnetic coil (250). When the electromagnetic coil (250) is energized, it generates a magnetic field, which causes the iron powder (221) to move in a specific direction and generates a magnetic torque to stabilize the attitude of the suspension bag (200).

2. The levitation charging device and its in-situ detection system as described in claim 1, characterized in that, The charging pile body (100) includes a storage compartment (101), a charging gun (102), a cable reel (103), an electrical control compartment (120), a solar panel (121), a storage battery (130), and an air pump (140). The receiving compartment (101) is fixed on the inner side of the top of the charging pile body (100) and is used to receive the charging gun (102); a winding frame (103) is fixed at the bottom of the receiving compartment (101), and motors are provided at both ends of the winding frame (103) shaft for winding or releasing the charging line; the charging gun (102) is electrically connected to the charging line. The electrical control compartment (120) is located at the lower end of the cable reel (103) and has embedded electronic control components. It is electrically connected to the air pump (140), solar panel (121) and battery (130). The solar panel (121) is laid on the outer surface of the charging pile body (100) and is used to convert solar energy into electrical energy. The battery (130) is located at the bottom inside the charging pile body (100) and is used to store electrical energy.

3. The levitation charging device and its in-situ detection system as described in claim 1, characterized in that, The detection robot (110) includes walking legs (111), detection rods (112) and probes (113). The walking legs (111) are multi-legged structures and are fixed to the bottom of the exploration robot (110) for moving on the seabed; multiple exploration rods (112) are provided and are evenly arranged around the circumference of the exploration robot (110); a probe (113) is fixed at the top of the exploration rod (112) for collecting in-situ ocean exploration data; the exploration robot (110) is electrically connected to the charging gun (102) of the charging pile body (100) through a detachable interface.

4. The levitation charging device and its in-situ detection system as described in claim 1, characterized in that, The water cavity (210) is located in the innermost layer, the air cavity (230) is located in the outermost layer, the middle ring cavity (220) is located in the middle layer, and the diaphragm is made of flexible material to ensure the isolation of the chambers.

5. The levitation charging device and its in-situ detection system as described in claim 4, characterized in that, The charging pile body (100) is also equipped with a liquid pump (150), which is connected to the water chamber (210) through an independent water pipe.

6. The levitation charging device and its in-situ detection system as described in claim 5, characterized in that, The liquid pump (150) is electrically connected to the electrical control chamber (120). By controlling the start and stop of the liquid pump (150), the water is injected and drained into the water chamber (210), and the overall weight of the suspension bladder (200) is adjusted to achieve precise suspension.

7. The levitation charging device and its in-situ detection system as described in claim 1, characterized in that, The support rod (240) has an L-shaped structure; the electromagnetic coil (250) is wrapped around the outside of the vertical section of the support rod (240). The electromagnetic coil (250) communicates with the electrical control cabin (120) via carrier wave. The electrical control cabin (120) controls the start and stop of the electromagnetic coil (250) according to the sea state data to resist the disturbance of the waves when floating on the sea surface.

8. The levitation charging device and its in-situ detection system as described in claim 1, characterized in that, The diaphragm on the side wall of the central ring cavity (220) is embedded with a thin sheet of permanent magnet, which is used to form a superimposed magnetic field with the external electromagnetic coil (250).

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