Self-moving type seabed charging device and system

Abstract

The invention discloses a self-moving type seabed charging device and system. The charging device comprises a device support; the longitudinal screw propulsion unit is mounted on the device bracket and is used for providing thrust in the vertical direction; the transverse screw propulsion unit is mounted on the device bracket and is used for providing thrust in the horizontal direction; the battery module is mounted on the device bracket and is used for supplying power to the device; the electrical equipment module is mounted on the device bracket and is used for controlling the longitudinal screw propulsion unit and the transverse screw propulsion unit; and the wireless charging module is mounted on the device bracket and is used for wirelessly charging external equipment to be charged. The device at least realizes in-situ charging, greatly improves the operation efficiency, can be deployed on the seabed for a long time, and automatically moves to the vicinity and completes wireless charging when the electric quantity of seabed detection equipment is insufficient, so that the long process that the detection equipment goes back and forth to a mother ship to be recycled is omitted, and the continuous operation time of a single investigation task is increased in order of magnitude; and the exploration efficiency and the data acquisition density are greatly improved.

Description

Technical Field

[0001] This invention relates to the fields of marine engineering and underwater robotics, and in particular to an autonomous mobile underwater charging device and system for recharging underwater exploration equipment. Background Technology

[0002] Submarine geotechnical engineering investigation (such as in-situ testing of the physical and mechanical properties of seabed sediments / bedrock) is a core preliminary step in fields such as marine resource development (oil and gas, minerals), offshore wind power construction, submarine pipeline / cable route surveying, marine scientific research, and national defense engineering. The accuracy and efficiency of its results directly affect project safety, investment costs, and project timelines.

[0003] Currently, mainstream in-situ seabed rock and soil exploration equipment (such as static cone penetration test (CPT) and vane shear test (VST)) mainly relies on heavy-duty exploration equipment mounted on exploration mother ships for operation. The typical operational mode is "fixed location, deployment, testing, retrieval, and relocation." However, this traditional approach has a series of significant drawbacks: the built-in battery capacity of the exploration equipment is limited, resulting in short single underwater operation times; after the battery is depleted, it must be retrieved to the mother ship's deck for wired charging or battery replacement. This process is time-consuming, highly susceptible to sea conditions, and has a short effective operating window, leading to low overall exploration efficiency and high costs, making it difficult to meet the needs of large-scale, long-term, and high-density seabed exploration.

[0004] Regarding the charging problem of underwater equipment, existing technologies include some surface charging piles or underwater docking charging solutions. For example, patent document CN115743447A discloses a semi-submersible anti-collision marine charging pile, which uses airbags to control buoyancy and charge surface vessels. However, such solutions are mainly applied to the surface and rely on buoyancy control. In deep water, complex seabed topography, and environments with ocean current disturbances, it is difficult to achieve stable and accurate physical docking and energy transfer with seabed exploration equipment. For exploration equipment operating on the seabed, it is still necessary to surface or use a specific platform for charging, failing to fundamentally solve the problem of operational interruptions caused by the "recovery-charging" process.

[0005] Therefore, there is an urgent need for a device that can move autonomously directly in the seabed environment and provide in-situ, wireless charging services for multiple seabed exploration devices, so as to break the energy supply bottleneck of traditional exploration operations. Summary of the Invention

[0006] In view of this, the first aspect of the present invention discloses a self-propelled underwater charging device, the device comprising: a device support; a longitudinal helical propulsion unit mounted on the device support for providing vertical thrust; a transverse helical propulsion unit mounted on the device support for providing horizontal thrust; a battery module mounted on the device support for supplying power to the device; an electrical equipment module mounted on the device support for controlling the longitudinal and transverse helical propulsion units; and a wireless charging module mounted on the device support for wirelessly charging an external device to be charged.

[0007] In some embodiments disclosed in this invention, the device bracket includes a left bracket and a right bracket, and the wireless charging module is connected between the left bracket and the right bracket.

[0008] In some embodiments disclosed in this invention, the electrical equipment module includes a front electrical equipment module and a rear electrical equipment module, and the battery module includes a front battery module and a rear battery module; The front battery module and part of the front electrical equipment module are connected between the left and right brackets to form a stable front structure; the rear battery module and part of the rear electrical equipment module are connected between the left and right brackets to form a stable rear structure.

[0009] In some embodiments disclosed in this invention, the transverse helical propulsion unit includes a front transverse helical propulsion unit and a rear transverse helical propulsion unit; The front transverse spiral propulsion unit is connected to the front side of the left support and / or the right support and is located between the front electrical equipment modules; the rear transverse spiral propulsion unit is connected to the rear side of the left support and / or the right support and is located between the rear electrical equipment modules.

[0010] In some embodiments disclosed in this invention, the longitudinal helical propulsion unit includes an upper longitudinal helical propulsion unit and a lower longitudinal helical propulsion unit; The upper longitudinal spiral propulsion unit is located on the upper part of the left and right supports and surrounds the periphery of the wireless charging module; the lower longitudinal spiral propulsion unit is located on the lower part of the left and right supports and surrounds the periphery of the wireless charging module.

[0011] In some embodiments disclosed in this invention, the wireless charging module is a sleeve structure with a central through-hole, and a wireless charging coil is disposed inside the sleeve structure.

[0012] In some embodiments disclosed in this invention, the wireless charging module is configured to be fitted from top to bottom onto the corresponding part of an external device to be charged for wireless charging.

[0013] In some embodiments disclosed in this invention, the device is configured to enable autonomous navigation and charging among multiple seabed exploration devices by controlling the longitudinal and transverse propulsion units.

[0014] In some embodiments disclosed in this invention, the self-propelled underwater charging device is configured to float to the surface by controlling the longitudinal propulsion unit and be mounted on a recovery rod with a wireless charging coil on the bottom of the mother ship, so as to realize the recovery of the device and its own charging.

[0015] Furthermore, a second aspect of the present invention discloses a self-mobile seabed charging system, the self-mobile seabed charging system comprising the self-mobile seabed charging device and mother ship as described in any one of claims 1 to 9. The mothership has a recovery bar with a wireless charging coil on its bottom.

[0016] Compared with existing technologies, this invention achieves in-situ charging, greatly improving operational efficiency. It can be deployed on the seabed for a long time. When the power of the seabed exploration equipment is insufficient, it can autonomously move to its vicinity and complete wireless charging, eliminating the long process of the exploration equipment returning to and from the mother ship for recovery. This increases the continuous operation time of a single exploration mission by orders of magnitude, greatly improving exploration efficiency and data acquisition density. Attached Figure Description

[0017] 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.

[0018] Figure 1 This is a schematic diagram of the structure of the self-mobile underwater charging device according to an embodiment of the present invention; Figure 2 This is another structural schematic diagram of the self-mobile underwater charging device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the operation of the self-mobile underwater charging system according to an embodiment of the present invention.

[0019] Figure captions: 11. Left support; 12. Right support; 21. Upper longitudinal spiral propulsion unit; 22. Lower longitudinal spiral propulsion unit; 31. Front transverse spiral propulsion unit; 32. Rear transverse spiral propulsion unit; 41. Front electrical equipment module; 42. Rear electrical equipment module; 51. Front battery module; 52. Rear battery module; 60. Wireless charging module. Detailed Implementation

[0020] To facilitate understanding of the present invention, a more complete description of the invention 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 invention.

[0021] 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.

[0022] 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.

[0023] The application scenarios of this invention are not limited to seabed geotechnical engineering exploration; they are also applicable to any mission scenario requiring long-term, in-situ power replenishment for underwater mobile equipment, such as long-term marine environmental monitoring, seabed pipeline / cable inspection, and underwater archaeological exploration. The seabed exploration equipment may be a static cone penetrometer (CPT), a vane shear tester (VST), a seabed observation node, an autonomous underwater vehicle (AUV), or its towed body.

[0024] Please see Figure 1 This embodiment provides a self-propelled underwater charging device. The self-propelled underwater charging device includes a device support frame, a longitudinal propeller unit, a transverse propeller unit mounted on the device support frame, a battery module, an electrical equipment module, and a wireless charging module. The charging device integrates autonomous mobility and wireless charging capabilities, enabling it to cruise in the seabed environment and directly provide in-situ energy replenishment to operational underwater exploration equipment (such as a static cone penetrometer), thereby overcoming the inefficiency problem caused by the frequent retrieval of exploration equipment to the mother ship for charging in traditional operational modes.

[0025] Please combine Figures 1 to 2 The device bracket serves as the supporting frame for the charging device and is made of high-strength, corrosion-resistant material to ensure structural reliability under high-pressure deep-sea conditions.

[0026] In a preferred embodiment, such as Figure 1As shown, the device support frame is specifically composed of a left support 11 and a right support 12, which are arranged in parallel and symmetrically, providing a clear installation foundation for other structural modules. The wireless charging module 60 is fixedly connected in the middle position between the left support 11 and the right support 12. This left-right symmetrical frame structure design not only facilitates the modular installation and maintenance of each system, but more importantly, it provides a stable mechanical foundation for the device's movement on the seabed, which is beneficial for maintaining attitude balance.

[0027] To achieve precise control over the device's motion and position, the charging device is equipped with two propulsion systems.

[0028] The first propulsion system is a longitudinal propeller unit that provides vertical thrust, which includes an upper longitudinal propeller unit 21 and a lower longitudinal propeller unit 22.

[0029] exist Figure 1 In the preferred embodiment shown, the upper longitudinal propeller unit 21 consists of four independent propeller units (i.e., sub-upper longitudinal propeller units), two of which are mounted on the top outer side of the left support 11, and the other two are symmetrically mounted on the top outer side of the right support 12. These four propeller units surround the wireless charging module 60. Using the exact same layout, the lower longitudinal propeller unit 22 also consists of four sub-propeller units, mounted on the bottom outer side of the left and right supports 11 and 12. This propeller layout, which is completely symmetrical both vertically and horizontally and surrounds the core functional module (wireless charging module), is one of the most advantageous among all possible longitudinal propeller arrangements. Its advantage lies in the fact that by independently controlling the rotational speed and direction of these four or eight propeller units, the device can generate precise net lift or settling force, and can also generate torque to correct pitch and roll attitude through differential control. This ensures that when the device approaches and docks with the target, especially under complex ocean current interference, its core wireless charging module 60 can always remain horizontally stable, which is a prerequisite for reliable docking and charging.

[0030] Furthermore, the second propulsion system is a transverse propeller unit for providing horizontal thrust, comprising a front transverse propeller unit 31 and a rear transverse propeller unit 32. In such cases... Figure 1In the illustrated embodiment, the front transverse propulsion unit 31 specifically includes two sub-thruster units, which are directly connected to the front of the left support 11 and the right support 12 via mounting brackets. Specifically, each sub-thruster unit is "embedded" or "clamped" between two adjacent sub-electrical equipment modules on the corresponding support. This arrangement ensures extremely secure propulsion and effective thrust transmission. The rear transverse propulsion unit 32 is arranged symmetrically at the rear of the device. When the front and rear transverse propulsion units work together, the invention provides the device with omnidirectional horizontal movement capabilities, including forward, backward, turning, and lateral translation, enabling it to flexibly navigate the seabed and sequentially reach multiple dispersed detection equipment locations.

[0031] Furthermore, the energy and control system of the charging device adopts a distributed layout to optimize weight distribution and system reliability. The battery module includes a front battery module 51 and a rear battery module 52, which are respectively arranged at the center of the front and rear sections of the device frame. The electrical equipment module includes a front electrical equipment module 41 and a rear electrical equipment module 42.

[0032] Preferably, based on the common understanding of those skilled in the art and in combination with the conventional technical architecture of underwater autonomous vehicles, the key electrical components and their functions preferably included in the front electrical equipment module 41 and the rear electrical equipment module 42 are described in detail below. These electrical components work together to realize the intelligent control, autonomous navigation, environmental perception and energy management of the device.

[0033] Specifically, the front electrical equipment module 41 and the rear electrical equipment module 42 serve as a distributed control core, and are internally integrated into an electrical system that realizes functions such as intelligent control, autonomous navigation, environmental perception and energy management.

[0034] The electrical system includes a main controller and a motion controller. The main controller, acting as the system's brain, typically employs a high-performance embedded computer and is responsible for running global task planning, decision-making logic, status monitoring, and data fusion algorithms. The motion controller, as a dedicated control unit, receives trajectory and attitude commands from the main controller, performs high-speed closed-loop calculations, and drives the motors of each propeller in the longitudinal helical propulsion units 21 and 22 and the transverse helical propulsion units 31 and 32 to achieve precise six-degree-of-freedom motion and stable hovering.

[0035] Furthermore, the electrical system integrates multiple types of sensors. An inertial measurement unit (IMU) is used to measure the three-axis angular velocity and linear acceleration of the device in real time, forming the basis for calculating attitude and motion. Depth sensors provide precise water depth information for depth control. A Doppler log measures velocity relative to the ground or water, aiding in dead reckoning. A fiber optic compass or magnetic compass provides an absolute heading reference. A forward-looking imaging sonar or obstacle avoidance sonar, typically located in the forward module, detects terrain, obstacles, and identifies target detection equipment. A short-baseline or ultra-short-baseline underwater acoustic positioning system receiver receives signals from seabed or surface beacons to calculate the device's absolute or relative position, achieving precise positioning. An underwater camera and accompanying lighting system provide optical visual feedback during the end-of-course docking phase, identifying visual markings on the charging docking rod for high-precision visual servo alignment.

[0036] Furthermore, the electrical system integrates an underwater acoustic communication unit. This unit is the primary device enabling long-distance underwater command and data transmission and reception.

[0037] Furthermore, the electrical system integrates a wireless charging controller. The wireless charging controller specifically manages the energy transfer process of the wireless charging module 60, including handshake protocol, power control, and status monitoring.

[0038] In addition, each module includes a power management unit for safely and stably distributing the power from battery modules 51 and 52 to each subsystem; and a data storage unit for recording sensor data and logs throughout the operation. The front electrical equipment module 41 and the rear electrical equipment module 42 are interconnected for power and data via an internal bus (such as a CAN bus or Ethernet), which can form a redundant or distributed system to improve overall reliability. The above electrical components work in concert.

[0039] Therefore, the charging device can realize a closed loop of "perception-decision-control-execution" and complete the entire underwater operation process of autonomous cruising, precise docking and wireless charging.

[0040] Furthermore, the front battery module 51 is connected to the front areas of the left support 11 and the right support 12 on both sides, and its front and rear ends are fixedly connected to two sub-front electrical equipment modules, thus forming a box-shaped stable structure at the front of the device composed of the battery module, electrical equipment module, and support. The same connection method is also applied to the rear of the device, forming a rear stable structure with the rear battery module 52 and the rear electrical equipment module 42. This method of integrating the battery and electrical equipment as the main structural load-bearing components into the frame can significantly optimize the overall center of gravity distribution of the device, improve its stability in water movement, and enhance the overall torsional stiffness of the frame, compared to the scheme of concentrating all equipment in a separate compartment.

[0041] In a key preferred embodiment, the wireless charging module 60 is specifically designed as a centrally through-hole sleeve structure. For example... Figure 1 As shown, the sleeve is vertically connected between the left and right supports, and its hollow inner cavity forms a docking channel. The inner wall of the sleeve encapsulates a transmitting coil for underwater wireless power transmission. This unique sleeve structure has a decisive advantage over simple docking plane or probe-type designs. Its advantage lies in the fact that this invention provides automatic mechanical guidance and containment space.

[0042] Furthermore, when the charging device moves above the seabed exploration equipment to be charged, the charging docking rod on top of the exploration equipment may not be perfectly concentrically aligned with the sleeve due to ocean currents or positioning errors. In this case, as the device slowly descends, the inner wall of the sleeve's flared or straight section will contact the docking rod and guide it, allowing it to naturally slide into the center of the sleeve, ultimately achieving precise alignment between the transmitting coil and the receiving coil 202 mounted on the top of the docking rod. This significantly reduces the positioning accuracy requirements of the end effector and improves the success rate and reliability of docking in low-visibility, turbulent seabed environments.

[0043] Based on the aforementioned sleeve structure, the wireless charging module 60 is specifically configured to operate in a "sleeve-in" docking manner. For example... Figure 2 As shown, during the charging process, the self-propelled seabed charging device 100 first uses its propulsion system to move directly above the target seabed exploration equipment, and then controls the longitudinal helical propulsion units 21 and 22 to operate, causing itself to sink smoothly. During this process, the sleeve of the wireless charging module 60 is fitted onto the charging docking rod of the exploration equipment from top to bottom. When the docking rod is fully inserted into the inner cavity of the sleeve, the two form a tight fit. At this time, the wireless charging program is started, and electrical energy is transmitted wirelessly from the battery module of the device 100 to the exploration equipment. This method cleverly transforms the docking problem from a high-precision "point-to-point" insertion to a highly fault-tolerant "hole-shaft fit," which is the key to the practical application of the charging device.

[0044] Furthermore, the control system of the charging device is programmed to perform complex autonomous tasks. Thanks to its omnidirectional mobility and high-precision attitude control provided by multiple sets of propeller units (21, 22, 31, 32), the device can autonomously plan its path and navigate around obstacles on the seabed according to a preset route or received instructions. This invention can sequentially navigate to the working positions of multiple pre-deployed or randomly distributed seabed exploration devices, executing the aforementioned "positioning-approach-docking-charging-disengagement" process for each device. This means that a single charging device can construct a small seabed mobile charging network, continuously providing energy to multiple exploration terminals within a region, thereby achieving long-term, wide-area, and continuous exploration coverage of the target sea area. This is a revolutionary improvement over the traditional "one vessel, one device, charging and recovery" operation mode.

[0045] Please refer to Figure 3 As shown, this embodiment discloses a self-propelled underwater charging system using a charging device to solve the energy replenishment problem of the charging device itself. The charging system includes a charging device 10 and a mother ship 101. The charging device 10 is equipped with a self-charging function. When the battery modules 51 and 52 of the charging device 10 are low on power, the electrical system can plan a path to float to the vicinity of the water surface and navigate to the area below the mother ship 101. A retrieval rod 1011, which can be fitted onto the bottom of the mother ship 101, is also integrated with a wireless charging coil. At this time, the charging device 10 adopts the same docking strategy as when charging the detection equipment: it manipulates itself to precisely fit the sleeve of the wireless charging module 60 onto the mother ship's retrieval rod 1011. After successful docking, the mother ship can wirelessly charge the battery modules of the charging device 10 through the coil inside the retrieval rod 1011. Simultaneously, the docked charging device is convenient for the mother ship's operators to retrieve or maintain, forming a complete and efficient energy cycle and closed-loop operation process.

[0046] Based on the above structure, the charging device of the present invention can realize a seabed charging method, which includes the following automated operation process.

[0047] During the patrol operation phase, the charging device 100 deployed in the operating sea area receives charging task instructions from the surface control center or autonomously determined by the system. These instructions include the location coordinates of one or more seabed detection devices. Based on its own USBL positioning information and the target coordinates, the control unit plans the optimal patrol path and controls the lateral and longitudinal propulsion units to work together, driving the charging device along the path. During navigation, the forward-looking sonar continuously scans the terrain and obstacles ahead, enabling real-time obstacle avoidance.

[0048] During the docking and charging phase, when the charging device reaches a position several meters above the target equipment, it enters a precise docking mode. The vision system identifies the markings on the top of the docking rod or determines the coordinates via wireless positioning communication. The controller, combining DVL, depth gauge, and IMU data, performs high-precision closed-loop control of position and attitude, ensuring the charging device is stably hovered directly above the docking rod of the target equipment. Subsequently, the longitudinal thruster is controlled to lower the charging device at a uniform speed, automatically "capturing" and securing it to the docking rod using the sleeve structure of the wireless charging module 60. After docking, both ends complete a communication handshake, and wireless charging begins. During charging, the charging device can fine-tune the thruster to counteract ocean currents and maintain the docking state.

[0049] During the disengagement and relocation phase, after charging is completed, the charging device rises to the surface and detaches from the detection equipment, then proceeds to the next target device to repeat the process. In this way, a single charging device can act like an "undersea charging robot," autonomously providing on-demand energy replenishment to multiple fixed or mobile detection devices within a region, thus creating a flexible undersea energy supply network.

[0050] During the mother ship charging phase, the charging device employs the same docking strategy as when charging seabed equipment: precisely controlling its own posture, it places the sleeve of the wireless charging module 60 onto the mother ship's recovery rod 1011. After successful docking, the mother ship 101 wirelessly charges the battery module of the charging device 100 using a coil within the recovery rod 1011. This process simultaneously replenishes the charging device's energy and physically recovers it (it can be locked onto the recovery rod), facilitating deck recovery for maintenance. This system achieves a complete closed-loop energy flow from the mother ship, the self-propelled charging device, to the seabed exploration equipment, fundamentally revolutionizing the traditional operational mode where exploration equipment must return to the mother ship, and realizing the "de-manualization" and "continuity" of exploration operations.

[0051] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0052] 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 self-propelled underwater charging device, characterized in that, The device includes, A device support frame; A longitudinal helical propulsion unit, mounted on the device support, is used to provide thrust in the vertical direction; A transverse helical propulsion unit, mounted on the support frame of the device, is used to provide thrust in the horizontal direction; A battery module, mounted on the device bracket, is used to power the device; An electrical equipment module, installed on the device bracket, is used to control the longitudinal screw propulsion unit and the transverse screw propulsion unit; A wireless charging module is installed on the device bracket and is used to wirelessly charge external devices.

2. The self-propelled underwater charging device according to claim 1, characterized in that, The device support includes a left support and a right support, and the wireless charging module is connected between the left support and the right support.

3. The self-propelled underwater charging device according to claim 2, characterized in that, The electrical equipment module includes a front electrical equipment module and a rear electrical equipment module, and the battery module includes a front battery module and a rear battery module; The front battery module and part of the front electrical equipment module are connected between the left and right brackets to form a stable front structure; the rear battery module and part of the rear electrical equipment module are connected between the left and right brackets to form a stable rear structure.

4. The self-propelled underwater charging device according to claim 3, characterized in that, The transverse spiral propulsion unit includes a front transverse spiral propulsion unit and a rear transverse spiral propulsion unit; The front transverse spiral propulsion unit is connected to the front side of the left support and / or the right support and is located between the front electrical equipment modules; the rear transverse spiral propulsion unit is connected to the rear side of the left support and / or the right support and is located between the rear electrical equipment modules.

5. The self-propelled underwater charging device according to claim 2, characterized in that, The longitudinal helical propulsion unit includes an upper longitudinal helical propulsion unit and a lower longitudinal helical propulsion unit; The upper longitudinal spiral propulsion unit is located on the upper part of the left and right supports and surrounds the periphery of the wireless charging module; the lower longitudinal spiral propulsion unit is located on the lower part of the left and right supports and surrounds the periphery of the wireless charging module.

6. The self-propelled underwater charging device according to any one of claims 1 to 5, characterized in that, The wireless charging module is a sleeve structure that runs through the center, and a wireless charging coil is installed inside the sleeve structure.

7. The self-propelled underwater charging device according to claim 6, characterized in that, The wireless charging module is configured to be fitted from top to bottom onto the corresponding part of an external device to be charged for wireless charging.

8. The self-propelled underwater charging device according to claim 1, characterized in that, The device is configured to enable autonomous navigation and recharging among multiple seabed exploration devices by controlling the longitudinal and transverse helical propulsion units.

9. The self-propelled underwater charging device according to claim 1, characterized in that, The self-propelled underwater charging device is configured to float to the surface by controlling the longitudinal propulsion unit and be mounted on a recovery rod with a wireless charging coil on the bottom of the mother ship, so as to realize the recovery of the device and its own charging.

10. A self-propelled underwater charging system, characterized in that, The self-mobile subsea charging system includes the self-mobile subsea charging device and the mother ship as described in any one of claims 1 to 9; The mothership has a recovery bar with a wireless charging coil on its bottom.

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