CN104992545A - Underwater detection relay platform system - Google Patents
Underwater detection relay platform system Download PDFInfo
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- CN104992545A CN104992545A CN201510397997.3A CN201510397997A CN104992545A CN 104992545 A CN104992545 A CN 104992545A CN 201510397997 A CN201510397997 A CN 201510397997A CN 104992545 A CN104992545 A CN 104992545A
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 66
- 238000007667 floating Methods 0.000 claims abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 17
- 239000004020 conductor Substances 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 239000003999 initiator Substances 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 6
- 239000010935 stainless steel Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000000178 monomer Substances 0.000 claims description 3
- 238000010422 painting Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 230000007774 longterm Effects 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000000737 periodic effect Effects 0.000 abstract 1
- 238000004804 winding Methods 0.000 abstract 1
- 238000013461 design Methods 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000003203 everyday effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention provides an underwater detection relay platform system. The underwater detection relay platform system comprises a satellite antenna bin, a platform floating body, a lifting device and a relay control bin. The relay control bin communicates with a subsurface buoy through a cable, communicates with the satellite antenna bin through an underwater acoustic communication set and uploads received subsurface buoy data to a remote shore base through the underwater acoustic communication set and a satellite antenna. A remote shore base command is transmitted to the underwater acoustic communication set through a satellite and the satellite antenna and is parsed through the relay control bin and then downloaded to the subsurface buoy. Meanwhile, the relay control bin detects changes of the depth of the relay control bin and controls the lifting device to ascend and descend the satellite antenna bin according to a schedule. A warping winch is used as the lifting device and connected with the satellite antenna bin through ropes and used for achieving lifting of the satellite antenna bin by winding and unwinding the ropes. By means of the underwater detection relay platform system, the long-term periodic measurement of fixed-point marine environment parameters can be achieved, and real-time monitoring can be achieved.
Description
Technical field
The present invention relates to technical field of measurement and test, particularly a kind of undersea detection relaying plateform system.
Background technology
The collection of ocean data is long-continued processes, and underwater information collecting device, as subsurface buoy, can obtain the long-continued data of different depth under water, because its buoyancy aid is generally positioned at below the water surface, therefore has good security and disguise.
But owing to being operated in below the water surface, the data real-time exchange between underwater detection equipment and long-range bank base is restricted, therefore, how improving the real-time communication performance of undersea detection and Information Collection System data, is current problem demanding prompt solution.
Summary of the invention
The present invention proposes a kind of undersea detection relaying plateform system, this plateform system carries underwater sound equipment, storage, treatment facility data, uses underwater winch mechanical hook-up folding and unfolding cable, the lifting in control antenna storehouse, realizes the exchanges data between subsea equipment and long-range bank base.
Technical scheme of the present invention is achieved in that
A kind of undersea detection relaying plateform system, comprising: satellite antenna storehouse, platform buoyancy aid and jacking gear, relay and control storehouse;
Described relay and control storehouse communicates with adopting cable between subsurface buoy, adopts underwater acoustic communication apparatus to communicate with between satellite antenna storehouse, and the subsurface buoy data received are uploaded to long-range bank base through underwater acoustic communication apparatus, satellite antenna; The instruction of long-range bank base reaches underwater acoustic communication apparatus through satellite, satellite antenna, and instruction downloads in subsurface buoy after relay and control storehouse is resolved; Meanwhile, the change of own depth is detected in relay and control storehouse, and controls according to timetable the lifting that jacking gear realizes satellite antenna storehouse;
Described jacking gear adopts underwater drainage cable winch, is connected, is realized the lifting in satellite antenna storehouse by folding and unfolding rope with between satellite antenna storehouse with rope;
Within the non-data communication work time, undersea detection relaying plateform system is hidden in below sea; When arriving the default floating working time, relay and control storehouse is waken satellite antenna storehouse up and is controlled jacking gear work, and satellite antenna storehouse is discharged sea; Satellite antenna storehouse carries out instruction and communicating data information with bank base commander machine by satellite, and the information in subsurface buoy and relay and control storehouse is uploaded to satellite antenna storehouse by underwater acoustic communication apparatus; After completing communication, satellite antenna storehouse enters dormant state; When relay and control storehouse, timetable recovery time arrives, and relay and control storehouse controls jacking gear and satellite antenna storehouse is recovered to the degree of depth of specifying and waits for task next time.
Alternatively, satellite communication mode is used between ground conductor plane and satellite antenna storehouse, using the underwater acoustic communication machine communication of RS232 interface between satellite antenna storehouse and relay and control storehouse, is the cable connecting communication mode of RS422/485 mode between relay and control storehouse and subsurface buoy.
Alternatively, its communication protocol is:
Master data frame format:
| Start character |
| Length |
| The address of order transmit leg |
| The address of order take over party |
| Command code |
| Data field (some bytes) |
| Frame check and |
| Termination character |
Message transmission starts, using termination character as ENMES to start character; Comprise the address of transmitting-receiving side in Frame, differentiate for this unit and resolve execution or forward;
Upstream and downstream defines:
Descending: ground conductor plane → satellite antenna storehouse → relay and control storehouse → subsurface buoy;
Up: subsurface buoy → relay and control storehouse → satellite antenna storehouse → ground conductor plane;
Repeat-back mode: to the north of between satellite antenna storehouse with relay and control storehouse, square sheet of paper used for painting or calligraphy formula communicates; In descending command process, after order initiator sends instruction, take over party can send repeat-back; If within a certain period of time, order initiator does not receive repeat-back, then think and send unsuccessfully, resend instruction; If still send failure, be recorded as abnormality, when satellite antenna position in storehouse is in the water surface, reported by data feedback channel machine of commanding earthward;
Jacking gear communications protocol comprises communication command form, and communication command comprises: state application, degree of depth inquiry, parameter change, business timetable change and read, locating information obtain.
Alternatively, after sea is exposed in described satellite antenna storehouse, if attitude is not steady, sent instructions to relay and control storehouse by underwater acoustic communication apparatus, request continues cable laying.
Alternatively, described satellite antenna storehouse is equipped with buoyancy aid and satellite antenna, and satellite antenna storehouse buoyancy aid adopts column type float structure, and satellite antenna is arranged in the middle of buoyancy aid.
Alternatively, described platform buoyancy aid and jacking gear comprise: stainless steel frame structure, deep water floating body material, watertight motor, underwater small row cable winch, mechanical driving device and lithium battery group under water.
Alternatively, described lithium battery is under water monomer stainless steel seal casinghousing structure, will be connected in parallel increase deposit electricity by lithium battery under water.
Alternatively, described winch entirety stainless sheet steel shell covers, and only retains cable hole.
The invention has the beneficial effects as follows:
(1) the undersea detection relaying plateform system of the present invention's design has certain versatility, the storage of ocean data, process can be met, in the mode of vertical antenna, the mode of satellite communication can be adopted, by subsurface buoy data upload to long-range bank base, receive simultaneously and assign bank base task;
(2) also the plateform system of the application of the invention long term periodicities that realizes ocean ocean environment parameter can measure, and can Real-Time Monitoring be realized.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of undersea detection relaying of the present invention plateform system;
Fig. 2 is the control block diagram in relay and control storehouse of the present invention;
Fig. 3 is that a heave period current curve diagram is tried in a kind of undersea detection relaying plateform system lake of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, undersea detection relaying plateform system of the present invention comprises: satellite antenna storehouse, platform buoyancy aid and jacking gear, relay and control storehouse.
Submerged buoy system entirety is connected with pouring weight by release, and anchorage is in seabed.Platform buoyancy aid and jacking gear work in the depth of water less than 100 meters, and relay and control storehouse communicates with adopting cable between subsurface buoy, adopts underwater acoustic communication apparatus to communicate with between satellite antenna storehouse.
Jacking gear adopts underwater small row cable winch, is connected, by folding and unfolding rope and then the lifting realizing satellite antenna storehouse with between satellite antenna storehouse with rope.Due to the restriction of battery electric quantity, the submerged buoy system the longest underwater working time is one month, and task is set to and is elevated once every day and the communication completing various instruction and data.
Within the non-data communication work time, plateform system is hidden in below sea, has disguise; When arriving the default floating working time, relay and control storehouse wakes satellite antenna storehouse up also according to the control strategy control machine operation preset, thus satellite antenna storehouse is discharged sea.After sea is exposed in satellite antenna storehouse, if attitude is not steady, sent instructions to relay and control storehouse by underwater acoustic communication apparatus, request continues cable laying; Then, satellite antenna storehouse carries out instruction and communicating data information with bank base commander machine by satellite, and the information of subsurface buoy and relaying plateform system also can be uploaded to satellite antenna storehouse by underwater acoustic communication apparatus.After completing communication, satellite antenna storehouse enters dormant state; When relay and control storehouse, timetable recovery time arrives, and relay and control storehouse controls electric machine rotation and satellite antenna storehouse is recovered to certain degree of depth and waits for task next time.
Satellite antenna storehouse is equipped with buoyancy aid and satellite antenna, and independent battery is powered, and satellite antenna storehouse buoyancy aid adopts column type float structure, satellite antenna is arranged in the middle of buoyancy aid, make center of gravity keep lower, when carrying out wireless communication when surfacing, satellite antenna storehouse keeps good dynamic stability.Satellite antenna storehouse can carry CTD (thermohaline spy instrument), underwater acoustic communication apparatus, can also the various self contained device of carry, tests the cycle variation law of various ocean environment parameter in lifting process.
In satellite antenna storehouse, a set of satellite communication circuit is installed, can multiple peripheral data be processed.Satellite antenna storehouse possesses the function of satellite beacon simultaneously, and when submerged buoy system emersion sea, or occur abnormal, sea is exposed in satellite antenna storehouse in non-setting-up time, all can send locating information, the position coordinates residing for report to commander's machine by Automatic continuous.
Satellite antenna storehouse needs to carry out counterweight adjustment, reasonable attitude can be kept to carry out satellite communication after making it expose sea, therefore, the stability of platform buoyancy aid and jacking gear is most important, and platform buoyancy aid of the present invention and jacking gear comprise: stainless steel frame structure, deep water floating body material, watertight motor, underwater small row cable winch, mechanical driving device and lithium battery group under water; Lithium battery is monomer stainless steel seal casinghousing structure under water, and electricity is 24V70AH, will be connected in parallel increase deposit electricity by lithium battery under water, and can power to motor, relay and control storehouse, CTD and underwater acoustic communication apparatus simultaneously; Relay and control storehouse is circuit kit system, according to the instruction of communication protocol storage forwarding and data, and realizes the lifting of satellite antenna storehouse according to the rotating of policy control motor, can also carry CTD and other underwater sound equipments.
Because needs long-term work is under water, in order to prevent the apposition growth of marine growth, winch entirety stainless sheet steel shell can be covered, only retaining cable hole, can effectively prevent sea organism attachment from growing in substantially airtight space like this.
In the process floated, winch is under the pulling force of satellite antenna storehouse positive buoyancy, and electric current is very little, is only 0 ~ 0.2A; In the process reclaiming antenna storehouse, electric current can be larger, particularly satellite antenna storehouse enters in the process of water, because the impact being subject to the resistance of seawater, ocean current and surface swells there will be the larger situation of electric current, equally also can be subject to the impact of ocean current and seawater resistance after entering water.In order to prevent long term overloading, overcurrent protection according to control strategy, can be carried out in relay and control storehouse, and such as, protection parameters is 2A, is greater than 2A meeting stoppage protection, and certain interval of time also repeatedly attempts recovering satellites antenna storehouse.
Relay and control storehouse of the present invention adopts MSP430 processor, has hyperchannel peripheral communications ability, is 4 passages, has RTC clock unit shown in figure, extends out 1G Flash and stores motor driving and energy consumption measurement part.Because needs long-term work is under water, energy consumption is vital problem; Most of the time every day is the non-working time, and system can be made during this period to be in dormant state.The power supply of other carry equipment is also need duration of work just to power, then power down process, the as far as possible waste of minimizing electricity during inoperative.
Relay and control storehouse plays the vital role formed a connecting link, and passes downwardly through cable and communicates with subsurface buoy under water, upwards communicated with satellite antenna storehouse by underwater acoustic communication apparatus, the subsurface buoy data received are uploaded to long-range bank base through underwater sound communication, satellite antenna; The instruction of long-range bank base reaches underwater acoustic communication apparatus through satellite, satellite antenna, and information is resolved through relay and control storehouse, and instruction downloads in subsurface buoy; Meanwhile, the change of own depth is detected in relay and control storehouse, and realizes the lifting process in satellite antenna storehouse according to the rotation of timetable control motor.Relay and control storehouse possesses good independence in systems in which, can judge voluntarily according to control strategy and realize lifting process, and cable laying, recovery task; In addition, relay and control storehouse has underwater platform effect concurrently, has multiple interface, can the multiple underwater instrument of carry and sensor.
In communication structure design of the present invention, comprise ground conductor plane, satellite antenna storehouse, relay and control storehouse and subsurface buoy electronics storehouse.Wherein, satellite communication mode is used between ground conductor plane and satellite antenna storehouse, using the underwater acoustic communication machine communication of RS232 interface between satellite antenna storehouse and relay and control storehouse, is the cable connecting communication mode of RS422/485 mode between relay and control storehouse and subsurface buoy electronics storehouse.
In order to realize the reliable communication between unit, efficient and rational communication protocol is vital, and the present invention has formulated a set of communication protocol, specific as follows:
(1) master data frame format
Arranging with reference to following table of master data frame format, is specially:
| Start character |
| Length |
| The address of order transmit leg |
| The address of order take over party |
| Command code |
| Data field (some bytes) |
| Frame check and |
| Termination character |
Message transmission starts, using termination character as ENMES to start character.Comprise the address of transmitting-receiving side in Frame, be convenient to this unit and differentiate that parsing performs or forwards.
(2) upstream and downstream definition
Descending: ground conductor plane → satellite antenna storehouse → relay and control storehouse → subsurface buoy
Up: subsurface buoy → relay and control storehouse → satellite antenna storehouse → ground conductor plane
(3) repeat-back mode
In order to increase communication reliability, the communication mode of replying all is taked in every bar instruction.
Wherein, to the north of between satellite antenna storehouse with relay and control storehouse, square sheet of paper used for painting or calligraphy formula communicates, and considers that satellite antenna storehouse is in factors such as sea attitudes, especially will note the reliability communicated.
In descending command process, after order initiator sends instruction, take over party can send repeat-back.If within a certain period of time, order initiator does not receive repeat-back, then think and send unsuccessfully, resend instruction, retransmits once at most.If still send failure, be recorded as abnormality, when satellite antenna position in storehouse is in the water surface, reported by data feedback channel machine of commanding earthward.
(4) communication instruction
Jacking gear communication control agreement comprises communication command form, and primary communications order comprises: state application, and the degree of depth is inquired about, parameter change, task scheduler change and reading, locating information acquisition etc.
The undersea detection relaying plateform system of the present invention's design carried out corresponding test early stage, and had carried out lake examination in 2015, and Fig. 3 is 70 meters dark section, Thousand-Island Lake, a heave period current curve.
After tested, when the net buoyancy 13kg of satellite antenna storehouse, one is elevated back and forth power consumption is 0.2Ah; Floating-upward process electric current is 0.2 ~ 0.5A, and removal process electric current is 0.8 ~ 1.7A.Load is in 20kg situation, and one is elevated back and forth power consumption is 0.35Ah; Floating-upward process electric current is 0.1 ~ 0.5A, and removal process electric current is 0.8 ~ 2.5A.Satellite antenna storehouse depth capacity is 40 meters, rising or falling speed be about 6.5 meters per minute.
The undersea detection relaying plateform system of the present invention's design has certain versatility, the storage of ocean data, process can be met, in the mode of vertical antenna, the mode of satellite communication can be adopted, by subsurface buoy data upload to long-range bank base, receive simultaneously and assign bank base task; Also the plateform system of the application of the invention long term periodicities that realizes ocean ocean environment parameter can measure, and can Real-Time Monitoring be realized.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a undersea detection relaying plateform system, is characterized in that, comprising: satellite antenna storehouse, platform buoyancy aid and jacking gear, relay and control storehouse;
Described relay and control storehouse communicates with adopting cable between subsurface buoy, adopts underwater acoustic communication apparatus to communicate with between satellite antenna storehouse, and the subsurface buoy data received are uploaded to long-range bank base through underwater acoustic communication apparatus, satellite antenna; The instruction of long-range bank base reaches underwater acoustic communication apparatus through satellite, satellite antenna, and instruction downloads in subsurface buoy after relay and control storehouse is resolved; Meanwhile, the change of own depth is detected in relay and control storehouse, and controls according to timetable the lifting that jacking gear realizes satellite antenna storehouse;
Described jacking gear adopts underwater drainage cable winch, is connected, is realized the lifting in satellite antenna storehouse by folding and unfolding rope with between satellite antenna storehouse with rope;
Within the non-data communication work time, undersea detection relaying plateform system is hidden in below sea; When arriving the default floating working time, relay and control storehouse is waken satellite antenna storehouse up and is controlled jacking gear work, and satellite antenna storehouse is discharged sea; Satellite antenna storehouse carries out instruction and communicating data information with bank base commander machine by satellite, and the information in subsurface buoy and relay and control storehouse is uploaded to satellite antenna storehouse by underwater acoustic communication apparatus; After completing communication, satellite antenna storehouse enters dormant state; When relay and control storehouse, timetable recovery time arrives, and relay and control storehouse controls jacking gear and satellite antenna storehouse is recovered to the degree of depth of specifying and waits for task next time.
2. undersea detection relaying plateform system as claimed in claim 1, it is characterized in that, satellite communication mode is used between ground conductor plane and satellite antenna storehouse, using the underwater acoustic communication machine communication of RS232 interface between satellite antenna storehouse and relay and control storehouse, is the cable connecting communication mode of RS422/485 mode between relay and control storehouse and subsurface buoy.
3. undersea detection relaying plateform system as claimed in claim 2, it is characterized in that, its communication protocol is:
Master data frame format:
Message transmission starts, using termination character as ENMES to start character; Comprise the address of transmitting-receiving side in Frame, differentiate for this unit and resolve execution or forward;
Upstream and downstream defines:
Descending: ground conductor plane → satellite antenna storehouse → relay and control storehouse → subsurface buoy;
Up: subsurface buoy → relay and control storehouse → satellite antenna storehouse → ground conductor plane;
Repeat-back mode: to the north of between satellite antenna storehouse with relay and control storehouse, square sheet of paper used for painting or calligraphy formula communicates; In descending command process, after order initiator sends instruction, take over party can send repeat-back; If within a certain period of time, order initiator does not receive repeat-back, then think and send unsuccessfully, resend instruction; If still send failure, be recorded as abnormality, when satellite antenna position in storehouse is in the water surface, reported by data feedback channel machine of commanding earthward;
Jacking gear communications protocol comprises communication command form, and communication command comprises: state application, degree of depth inquiry, parameter change, business timetable change and read, locating information obtain.
4. undersea detection relaying plateform system as claimed in claim 1, is characterized in that, after sea is exposed in described satellite antenna storehouse, if attitude is not steady, sent instructions to relay and control storehouse by underwater acoustic communication apparatus, request continues cable laying.
5. undersea detection relaying plateform system as claimed in claim 1, it is characterized in that, described satellite antenna storehouse is equipped with buoyancy aid and satellite antenna, and satellite antenna storehouse buoyancy aid adopts column type float structure, and satellite antenna is arranged in the middle of buoyancy aid.
6. undersea detection relaying plateform system as claimed in claim 1, it is characterized in that, described platform buoyancy aid and jacking gear comprise: stainless steel frame structure, deep water floating body material, watertight motor, underwater small row cable winch, mechanical driving device and lithium battery group under water.
7. undersea detection relaying plateform system as claimed in claim 6, it is characterized in that, described lithium battery is under water monomer stainless steel seal casinghousing structure, will be connected in parallel increase deposit electricity by lithium battery under water.
8. undersea detection relaying plateform system as claimed in claim 1, it is characterized in that, described winch entirety stainless sheet steel shell covers, and only retains cable hole.
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Cited By (15)
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| CN108710378A (en) * | 2018-04-28 | 2018-10-26 | 长沙金信诺防务技术有限公司 | A kind of device and its control method for underwater kit wireless communication |
| CN109367705A (en) * | 2018-11-26 | 2019-02-22 | 国家海洋局第海洋研究所 | A quasi-real-time communication submersible in polar seasonal ice area |
| CN110217348A (en) * | 2019-06-20 | 2019-09-10 | 嘉兴易声电子科技有限公司 | The acoustic buoy and control method of controllable subsurface buoy |
| CN110696965A (en) * | 2019-10-15 | 2020-01-17 | 中船重工(大连)海防环保科技有限公司 | Remote control lifting buoy |
| CN111114695A (en) * | 2019-12-31 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Underwater automatic adjustment and expansion type detection buoy |
| CN111245524A (en) * | 2020-01-08 | 2020-06-05 | 中国电子科技集团公司电子科学研究院 | Underwater preset communication system |
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| CN112924923A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Submerged buoy data exchange device |
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| CN113447108A (en) * | 2020-03-26 | 2021-09-28 | 哈尔滨学院 | Underwater sound signal processing device |
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| CN115694666A (en) * | 2022-09-28 | 2023-02-03 | 青岛智能导航与控制研究所 | Ocean information processing device |
| CN118573270A (en) * | 2024-08-05 | 2024-08-30 | 哈尔滨工程大学三亚南海创新发展基地 | Submerged buoy anti-forwarding acoustic system controlled by remote user side |
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