Recent breakthrough in wireless energy transfer technology has enabled wireless sensor networks (WSNs) to operate with zero-downtime through the use of mobile energy chargers (MCs), that periodically replenish the energy supply of the sensor nodes. Due to the limited battery capacity of the MCs, a significant number of MCs and charging depots are required to guarantee perpetual operations in large scale networks. Existing methods for reducing the number of MCs and charging depots treat the charging tour planning and depot positioning problems separately even though they are inter-dependent. This paper is the first to jointly consider charging tour planning and MC depot positioning for large-scale WSNs. The proposed method solves the problem through the following three stages: charging tour planning, candidate depot identification and reduction, and depot deployment and charging tour assignment. The proposed charging scheme also considers the association between the MC charging cycle and the operational lifetime of the sensor nodes, in order to maximize the energy efficiency of the MCs. This overcomes the limitations of existing approaches, wherein MCs with small battery capacity ends up charging sensor nodes more frequently than necessary, while MCs with large battery capacity return to the depots to replenish themselves before they have fully transferred their energy to the sensor nodes. Compared with existing approaches, the proposed method leads to an average reduction in the number of MCs by 64%, and an average increase of 19.7 times on the ratio of total charging time over total traveling time.