Multi-mode monitoring system and method for mooring cable made of mixed materials

Abstract

The invention provides a mixed material mooring rope multi-mode monitoring system and method, and the system comprises a multi-mode sensor which is disposed at a preset position of a mixed material mooring rope, and is used for collecting the tension and posture data of the preset position of the mixed material mooring rope, the collected data is transmitted to the data collecting and processing terminal through the multi-path data transmission network; the data acquisition and processing terminal is used for calculating the tension of the mooring cable based on attitude data in the obtained monitoring data of the mooring cable made of the mixed material; and for the calculated tension result, the collected tension value is used as a reference value to carry out baseline adjustment, abnormal tension value elimination is carried out through difference calculation, and based on the obtained attitude data and the tension data after baseline adjustment and abnormal value elimination, multi-modal monitoring of the mooring line made of the mixed material is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of mooring line safety monitoring, and in particular relates to a mixed material mooring line multi-modal monitoring system and method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the marine engineering and shipbuilding industries, mooring cables are important devices that connect ships to anchorages, and their performance is directly related to the safety and stability of ships. Traditional mooring cables are mostly made of a single material, such as steel cables or synthetic fiber cables, each of which has its own advantages and limitations. Although steel cables have excellent tensile strength and durability, they are deficient in corrosion resistance and weight; synthetic fiber cables are light and corrosion-resistant, but they perform poorly under high loads and wear. Therefore, the emergence of hybrid mooring cables aims to combine the advantages of two or more materials to improve the overall performance of mooring cables. However, although the advantages of hybrid mooring cables are obvious, the monitoring of their in-situ status still faces many challenges.

[0004] The inventors found that in actual applications, the environment in which the mooring cable is located is complex and changeable, including factors such as ocean currents, waves, and marine attachments, which will affect the tension and state of the mooring cable. Traditional monitoring methods usually rely on only a single sensor, such as a tension sensor or a displacement sensor, which easily leads to one-sided data collection and cannot fully reflect the working state of the mooring cable under the influence of errors such as data drift; secondly, although there have been some studies on the monitoring and correction methods of single-material mooring cables, they cannot be effectively applied to the monitoring of mixed-material mooring cables; furthermore, the existing monitoring methods lack an effective sensor data transmission strategy, and when a single sensor fails, it will affect the data collection of the entire mooring cable line. Summary of the invention

[0005] The embodiments of the present invention provide a multimodal monitoring system and method for a mixed-material mooring cable, so as to solve the problem that the traditional solution usually relies on only a single sensor, which easily leads to one-sided data collection and cannot fully reflect the working status of the mooring cable under the influence of errors such as data drift; secondly, although the traditional solution has a monitoring and correction method for a single-material mooring cable, it cannot be effectively applied to the monitoring of a mixed-material mooring cable; furthermore, the existing monitoring method lacks an effective sensor data transmission strategy, and when a single sensor fails, it will affect the data collection of the entire mooring cable line.

[0006] According to a first aspect of an embodiment of the present invention, there is provided a mixed material mooring cable multi-modal monitoring system, comprising:

[0007] A multimodal sensor arranged at a preset position of a hybrid material mooring cable, which is used to collect tension and posture data at the preset position of the hybrid material mooring cable, and transmit the collected data to a data collection and processing terminal via a multipath data transmission network; wherein the multipath data transmission network adopts the following architecture: the multimodal sensors arranged on the hybrid material mooring cable are numbered in the order in which they are arranged, and for an odd-numbered multimodal sensor, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next two consecutive multimodal sensors, and for an even-numbered multimodal sensor, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next adjacent even-numbered multimodal sensor;

[0008] The data acquisition and processing terminal is used to calculate the tension of the mooring cable based on the posture data in the obtained monitoring data of the mixed material mooring cable; for the calculated tension result, the baseline is adjusted with the collected tension value as the reference value, and the tension abnormal values ​​are eliminated by difference calculation, and the multi-modal monitoring of the mixed material mooring cable is realized based on the obtained posture data and the tension data after baseline adjustment and abnormal value elimination.

[0009] Furthermore, the collected data is transmitted to the data collection and processing terminal via the multi-path data transmission network, and the following transmission strategy is specifically implemented:

[0010] Input the data to be transmitted by the multimodal sensor into the hash function to generate a hash check code of fixed length;

[0011] Packing the data to be transmitted by the multimodal sensor and its corresponding hash check code to form a data packet;

[0012] The data packets of each multimodal sensor are multi-transmitted based on a multi-path data transmission network until they reach the data acquisition and processing terminal. Except for the first multimodal sensor, each multimodal sensor acts as a relay node to forward data. When each multimodal sensor acting as a relay node receives data from other multimodal sensors, hash verification is performed.

[0013] Furthermore, for the calculated tension result, the collected tension value is used as the reference value for baseline adjustment, specifically: the average tension value of the tension sensor over a period of time is taken as the reference value, and the average mooring tension value within the same period of time is calculated based on the posture data, and two tension curves are drawn on the coordinate axis. The mooring tension curve calculated based on the posture data is translated along the coordinate axis so that the average values ​​of the two curves are both the reference values, and the baseline adjustment is completed.

[0014] Furthermore, the multimodal sensor includes but is not limited to a tension sensor and a posture sensor, wherein the multimodal sensor is mainly arranged in a tension-sensitive area of ​​the mixed material mooring cable, and the tension-sensitive area includes a portion of the cable close to the float, a portion where ballast weights are arranged, and an area where the material of the mixed material mooring cable changes.

[0015] Furthermore, the mooring line tension is calculated based on the posture data in the obtained mixed material mooring line monitoring data, and is specifically calculated based on the catenary theory.

[0016] Furthermore, the multimodal sensors are evenly arranged in other areas except the tension sensitive area.

[0017] Furthermore, the mixed-material mooring cable adopts a mooring cable made of at least two types of materials, and the material types of the mooring cable include steel cable, polyester cable or nylon cable.

[0018] According to a second aspect of an embodiment of the present invention, a mixed material mooring cable multi-modal monitoring method is provided, which is based on the above-mentioned mixed material mooring cable multi-modal monitoring system, and the method comprises:

[0019] Real-time acquisition of tension and posture data of a preset position of a hybrid material mooring cable, wherein the tension and posture data are transmitted via a multipath data transmission network; the multipath data transmission network adopts the following architecture: the multimodal sensors arranged on the hybrid material mooring cable are numbered in order, and for odd-numbered multimodal sensors, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next two consecutive multimodal sensors, and for even-numbered multimodal sensors, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next adjacent even-numbered multimodal sensors;

[0020] The mooring cable tension is calculated based on the posture data obtained in the monitoring data of the mixed material mooring cable. For the calculated tension result, the baseline is adjusted with the collected tension value as the reference value, and the tension outliers are eliminated through difference calculation. Based on the obtained posture data and the tension data after baseline adjustment and outlier elimination, multimodal monitoring of the mixed material mooring cable is realized.

[0021] According to a third aspect of an embodiment of the present invention, there is provided an electronic device, comprising a memory, a processor, and a computer program stored and running on the memory, wherein when the processor executes the program, the method for multimodal monitoring of a mixed-material mooring cable is implemented.

[0022] According to a fourth aspect of an embodiment of the present invention, there is provided a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the multi-modal monitoring method for a mixed-material mooring cable.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) The present invention provides a method for multimodal monitoring of a mixed material mooring cable. The scheme can effectively realize comprehensive and accurate monitoring of a mixed material mooring cable by deploying multimodal sensors at specific locations. Secondly, the scheme provides a multipath data transmission network. The network effectively solves the impact of a single multimodal sensor failure on other sensors through multipath transmission. At the same time, the accuracy of data transmission is effectively guaranteed by combining the step-by-step verification of each relay node. Furthermore, the scheme provides a tension correction method, which effectively guarantees the accuracy of the obtained mooring cable tension.

[0025] (2) The present invention provides a specific deployment strategy for multi-modal sensors based on the characteristics of the mixed material mooring cable. By deploying sensors in the tension-sensitive areas of the mixed material mooring cable, including the cable close to the buoy, the part where the ballast weight is arranged, and the material change area of ​​the mixed material mooring cable, combined with uniform deployment in the non-tension-sensitive areas, the effectiveness of multi-modal monitoring of the mixed material mooring cable is effectively guaranteed.

[0026] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] Figure 1 It is a flow chart of the process of arranging the measuring points of the mixed material mooring cable multi-modal sensor in the embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of the mixed material mooring cable in sections according to an embodiment of the present invention;

[0030] Figure 3 It is a flow chart of the data verification and hierarchical multi-path transmission method described in an embodiment of the present invention;

[0031] Figure 4 4 is a flow chart of a mooring line tension correction method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0035] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0036] In one or more embodiments, the present embodiment provides a mixed material mooring line multi-modal monitoring system, comprising: a multi-modal sensor and a data acquisition and processing terminal arranged at a preset position of the mixed material mooring line, wherein:

[0037] A multimodal sensor arranged at a preset position of the mixed material mooring cable, which is used to collect the tension and posture data of the preset position of the mixed material mooring cable, and transmit the collected data to the data collection and processing terminal via a multipath data transmission network;

[0038] In a specific implementation, the multimodal sensor includes but is not limited to a tension sensor and a posture sensor (including an inclination sensor and a displacement sensor), wherein the multimodal sensor is mainly arranged in a tension-sensitive area of ​​a mixed material mooring cable, and the tension-sensitive area includes a portion of the cable close to the floating body, a portion where ballast weights are arranged, and an area where the material of the mixed material mooring cable changes.

[0039] In a specific implementation, the multimodal sensors are also evenly arranged in other areas except the tension sensitive area.

[0040] In a specific implementation, the mixed-material mooring cable is a mooring cable made of at least two types of materials, and the material types of the mooring cable include steel cable, polyester cable or nylon cable.

[0041] In the specific implementation, it is necessary to arrange the measurement points of the mixed material mooring cable multimodal sensor in advance, specifically:

[0042] Mixed material mooring cables refer to mooring cables made of more than one material type (steel cables, polyester cables, nylon cables, etc.). Multimodal data collection for mooring cable status mainly refers to obtaining tension and inclination data at different positions of the mooring cable based on tension and inclination sensors. Taking steel cables and polyester cables as examples, the sensor measurement point arrangement method is as follows:

[0043] First, the types of mooring lines are divided into anchor chain type and cable type. Then, it is determined whether the cable-type mooring line has a built-in monitoring sensor. Based on whether the built-in sensor is present, it is determined whether the cable-type mooring line segment needs to be equipped with a monitoring sensor.

[0044] Then, the length of the mooring cable where sensors need to be deployed and the number of sensors planned to be deployed are determined, and tension sensors and attitude sensors are deployed separately to determine the preliminary monitoring plan.

[0045] Finally, evaluate whether the underwater signal transmission spacing meets the requirements and determine the final layout plan.

[0046] The flow chart of the method for arranging multi-modal sensor measurement points for mixed material mooring cables is as follows: Figure 1 The mooring cable segmentation diagram is shown in Figure 2 As shown, the contents in the figure are explained as follows:

[0047] Tension sensitive locations: the part of the mooring cable close to the buoy, the part where the ballast weight is arranged, and the area where the material (type) changes. These areas are usually subject to higher external forces and have higher tension, so they need to be monitored intensively.

[0048] Non-tension sensitive locations: refers to other mooring sections other than tension sensitive locations. In these areas, although there may be no significant tension changes, regular monitoring is still required to ensure the safety of the overall system.

[0049] Signal transmission distance: For underwater wireless transmission, the distance is set to the distance between the two sensors with the longest distance. For wired transmission of built-in sensors, no distance description is given.

[0050] The multi-path data transmission network adopts the following architecture: the multi-modal sensors arranged on the mixed material mooring cable are numbered in order, and for the odd-numbered multi-modal sensors, the collected data and the received multi-modal sensor data to be forwarded are forwarded through the two consecutive multi-modal sensors behind them; and for the even-numbered multi-modal sensors, the collected data and the received multi-modal sensor data to be forwarded are forwarded through the adjacent even-numbered multi-modal sensors behind them;

[0051] In a specific implementation, the collected data is transmitted to the data collection and processing terminal via the multi-path data transmission network, and the following transmission strategy is specifically implemented:

[0052] Input the data to be transmitted by the multimodal sensor into the hash function to generate a hash check code of fixed length;

[0053] Packing the data to be transmitted by the multimodal sensor and its corresponding hash check code to form a data packet;

[0054] The data packets of each multimodal sensor are multi-transmitted based on a multi-path data transmission network until they reach the data acquisition and processing terminal. Except for the first multimodal sensor, each multimodal sensor acts as a relay node to forward data. When each multimodal sensor acting as a relay node receives data from other multimodal sensors, hash verification is performed.

[0055] Specifically, the method based on data verification and hierarchical multi-path transmission refers to monitoring data hash verification and redundant path upload. This method can ensure that subsequent nodes continue to work when a relay node fails. For example, No. 1, 2, 3, and 4 are signal transmission nodes. If No. 2 node fails, No. 1 will still transmit data to No. 3, ensuring that data is not interrupted and improving the fault tolerance of monitoring network data transmission.

[0056] (1) Data preparation

[0057] Each sensor first prepares for the transmission of monitoring data. The sensor inputs the data to be transmitted into the hash function to generate a hash check code of fixed length. This hash value is used to verify the integrity of the data during transmission.

[0058] (2) Data Packaging and Sending

[0059] The sensor packages the raw monitoring data and the calculated hash value together to form a data packet and sends it to the target sensor. The data transmission path and target sensor are dynamically determined by the multi-path transmission network. For example, sensor No. 1 can transmit data to sensors No. 2 and No. 3 at the same time.

[0060] (3) Data forwarding

[0061] The sensor number is determined based on the spatial location of the sensor. Figure 3 In the example of a multi-path data transmission network architecture described in , each signal transmission path is determined, such as: sensor 1 transmits data to sensors 2 and 3, sensor 2 transmits data to sensors 3 and 4, and so on. In this process, each sensor acts as a relay node, responsible for receiving and forwarding data from other sensors to ensure the effective propagation of information in the network.

[0062] (4) Data Verification

[0063] When the target sensor receives the data sent from the previous sensor, it analyzes the received data. This analysis includes separating the original data from the hash value and recalculating the hash value of the newly received data using the same hash algorithm. The target sensor then compares the recalculated hash value with the received hash value.

[0064] (4) Error detection and retransmission

[0065] It includes consistency confirmation and error handling. Consistency confirmation means that the two hash values ​​are consistent. The target sensor confirms that the data is not lost or damaged during the transmission process, and then stores the data for subsequent processing. Error handling means that the hash values ​​are inconsistent, indicating that an error occurred during the data transmission process. The target sensor will immediately request the previous sensor to resend the data.

[0066] (5) Repeated loop

[0067] Subsequent sensors repeat the above process until all monitoring data are correctly transmitted to the data acquisition and processing terminal.

[0068] The data acquisition and processing terminal is used to calculate the tension of the mooring cable based on the posture data in the obtained monitoring data of the mixed material mooring cable; for the calculated tension result, the baseline is adjusted with the collected tension value as the reference value, and the tension abnormal values ​​are eliminated by difference calculation, and the multi-modal monitoring of the mixed material mooring cable is realized based on the obtained posture data and the tension data after baseline adjustment and abnormal value elimination.

[0069] In a specific implementation, the mooring line tension is calculated based on the posture data in the obtained mixed material mooring line monitoring data, and is specifically calculated based on the catenary theory.

[0070] Mooring tension correction refers to the process of obtaining the tension sensor and attitude sensor, and then calculating the mooring cable tension based on the mooring cable attitude monitoring results using the catenary theory or the tensioned mooring cable stiffness calculation method. The tension sensor data is then used as the reference value to make a baseline adjustment to the mooring tension calculated using the attitude data. The error value estimation method is used to eliminate the results of tension monitoring with large deviations to achieve mooring cable tension correction.

[0071] The flow chart of the mooring line tension correction method is as follows: Figure 3 As shown, the correction method is explained as follows:

[0072] Tension calculation algorithm: for catenary mooring, it refers to the catenary theory (a mathematical model used to describe the curve shape formed by the mooring cable under the action of gravity); for tension mooring, it refers to the tension mooring stiffness calculation method.

[0073] Baseline adjustment: The tension calculated from the posture data is adjusted based on the baseline value of the tension sensor to eliminate potential errors.

[0074] The specific process of baseline adjustment is as follows: take the average tension value of the tension sensor over a period of time As a benchmark value, the average mooring tension value in the same period is calculated based on the attitude data. Draw two tension curves on the coordinate axis, and translate the mooring tension curve calculated based on the attitude data along the coordinate axis so that the average values ​​of the two curves are The baseline adjustment is completed.

[0075] Difference evaluation: The tensiometer monitoring value is recorded as Z A , the tension value calculated by the posture sensor is recorded as Z B , the difference between the estimated value and the monitored value is recorded as X, the normalized difference is recorded as X*, and the allowable error is recorded as δ, and we have:

[0076] X= | Z A -Z B | (1)

[0077]

[0078] Error elimination: Through the error value estimation method, those monitoring results showing large deviations are identified and eliminated to improve the reliability of the data.

[0079] In one or more embodiments, based on the above system, a mixed material mooring line multi-modal monitoring method is provided, which is based on the above mixed material mooring line multi-modal monitoring system, and the method includes:

[0080] Real-time acquisition of tension and posture data of a preset position of a hybrid material mooring cable, wherein the tension and posture data are transmitted via a multipath data transmission network; the multipath data transmission network adopts the following architecture: the multimodal sensors arranged on the hybrid material mooring cable are numbered in order, and for odd-numbered multimodal sensors, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next two consecutive multimodal sensors, and for even-numbered multimodal sensors, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next adjacent even-numbered multimodal sensors;

[0081] The mooring cable tension is calculated based on the posture data obtained in the monitoring data of the mixed material mooring cable. For the calculated tension result, the baseline is adjusted with the collected tension value as the reference value, and the tension outliers are eliminated through difference calculation. Based on the obtained posture data and the tension data after baseline adjustment and outlier elimination, multimodal monitoring of the mixed material mooring cable is realized.

[0082] In further embodiments, there is also provided:

[0083] An electronic device includes a memory and a processor and computer instructions stored in the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the method described in the above embodiment. For the sake of brevity, no further description is given here.

[0084] It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general-purpose processors, digital signal processors DSP, application-specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0085] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0086] A computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the method described in the above embodiment is completed.

[0087] The method in the above embodiment can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0088] Those skilled in the art will appreciate that the units, i.e., algorithm steps, of the various examples described in the present embodiment can be implemented in electronic hardware or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mixed material mooring line multi-modal monitoring system, characterized in that: include: A multimodal sensor arranged at a preset position of a hybrid material mooring cable, which is used to collect tension and posture data at the preset position of the hybrid material mooring cable, and transmit the collected data to a data collection and processing terminal via a multipath data transmission network; wherein the multipath data transmission network adopts the following architecture: the multimodal sensors arranged on the hybrid material mooring cable are numbered in the order in which they are arranged, and for an odd-numbered multimodal sensor, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next two consecutive multimodal sensors, and for an even-numbered multimodal sensor, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next adjacent even-numbered multimodal sensor; The data acquisition and processing terminal is used to calculate the tension of the mooring cable based on the posture data in the obtained monitoring data of the mixed material mooring cable; for the calculated tension result, the baseline is adjusted with the collected tension value as the reference value, and the tension abnormal values ​​are eliminated by difference calculation, and the multi-modal monitoring of the mixed material mooring cable is realized based on the obtained posture data and the tension data after baseline adjustment and abnormal value elimination.

2. A mixed material mooring line multi-modal monitoring system as claimed in claim 1, characterized in that: The multi-path data transmission network transmits the collected data to the data collection and processing terminal, and specifically implements the following transmission strategy: Input the data to be transmitted by the multimodal sensor into the hash function to generate a hash check code of fixed length; Packing the data to be transmitted by the multimodal sensor and its corresponding hash check code to form a data packet; The data packets of each multimodal sensor are multi-transmitted based on a multi-path data transmission network until they reach the data acquisition and processing terminal. Except for the first multimodal sensor, each multimodal sensor acts as a relay node to forward data. When each multimodal sensor acting as a relay node receives data from other multimodal sensors, hash verification is performed.

3. A mixed material mooring line multi-modal monitoring system as claimed in claim 1, characterized in that: For the calculated tension result, the collected tension value is used as the reference value for baseline adjustment. Specifically, for the calculated tension result, the collected tension value is used as the reference value for baseline adjustment. Specifically, the average tension value of the tension sensor over a period of time is taken as the reference value, and the average mooring tension value over the same period of time is calculated based on the posture data. Two tension curves are drawn on the coordinate axis, and the mooring tension curve calculated based on the posture data is translated along the coordinate axis so that the average values ​​of the two curves are both the reference values, thus completing the baseline adjustment.

4. A mixed material mooring line multi-modal monitoring system as claimed in claim 1, characterized in that: The multimodal sensor includes but is not limited to a tension sensor and a posture sensor, wherein the multimodal sensor is mainly arranged in a tension-sensitive area of ​​the mixed material mooring cable, and the tension-sensitive area includes a portion of the cable close to the floating body, a portion where ballast weights are arranged, and an area where the material of the mixed material mooring cable changes.

5. A mixed material mooring line multi-modal monitoring system as claimed in claim 1, characterized in that: The mooring line tension is calculated based on the posture data in the obtained mixed material mooring line monitoring data, and is specifically calculated based on the catenary theory.

6. A mixed material mooring line multi-modal monitoring system as claimed in claim 1, characterized in that: The multimodal sensors are also evenly arranged in other areas except the tension sensitive area.

7. A mixed material mooring line multi-modal monitoring system as claimed in claim 1, characterized in that: The mixed material mooring cable is a mooring cable made of at least two types of materials, and the material types of the mooring cable include steel cable, polyester cable or nylon cable.

8. A multi-modal monitoring method for mixed material mooring lines, characterized in that: The method is based on a mixed material mooring cable multimodal monitoring system as claimed in any one of claims 1 to 7, and comprises: Real-time acquisition of tension and posture data of a preset position of a hybrid material mooring cable, wherein the tension and posture data are transmitted via a multipath data transmission network; the multipath data transmission network adopts the following architecture: the multimodal sensors arranged on the hybrid material mooring cable are numbered in order, and for odd-numbered multimodal sensors, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next two consecutive multimodal sensors, and for even-numbered multimodal sensors, the collected data and the received multimodal sensor data to be forwarded are forwarded through the next adjacent even-numbered multimodal sensors; The mooring cable tension is calculated based on the posture data obtained in the monitoring data of the mixed material mooring cable. For the calculated tension result, the baseline is adjusted with the collected tension value as the reference value, and the tension outliers are eliminated through difference calculation. Based on the obtained posture data and the tension data after baseline adjustment and outlier elimination, multimodal monitoring of the mixed material mooring cable is realized.

9. An electronic device comprising a memory, a processor and a computer program stored and executed on the memory, characterized in that When the processor executes the program, the multi-modal monitoring method for a mixed-material mooring cable as claimed in claim 8 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a multi-modal monitoring method for a mixed-material mooring cable as claimed in claim 8 is implemented.

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