The underwater exploration equipment establishes a connection with the mothership using sound waves, transmitting the obtained survey results and its operational status back to the mothership via sound waves. However, underwater acoustic channels are quite complex, affected by factors such as multipath effects, Doppler shifts, transmission loss, and ocean noise. These adverse conditions pose significant challenges to the telemetry of underwater exploration equipment. This paper studies a reliable multi-node efficient acoustic telemetry method for underwater exploration equipment, capable of achieving stable telemetry of the exploration equipment efficiently in complex ocean environments. It validates the accuracy of the algorithm through simulations.