A vehicle-road or ship-shore coordinated emission monitoring system and method

Abstract

The present invention discloses a vehicle-road or ship-shore coordinated emission monitoring system and method. Through the cooperation of a vehicle-ship positioning coordinated terminal module, a roadside vehicle vibration monitoring module, a shore-side ship emission monitoring module and an intelligent monitoring module, real-time monitoring of vehicles and ships on the road and ship-shore is achieved; on the one hand, the positioning information of vehicles and ships is obtained, and emission information and meteorological information are combined to achieve emission monitoring and vehicle and ship status information monitoring. The advantages of the scheme of the present invention are clear positioning, easy to move and deploy equipment, and full use of existing facilities. It can be applied to the emission monitoring of dynamic inland ships and the control of inland waterways. It is easy to implement and can be used for ship law enforcement management. The effect is significant and has broad engineering application prospects.

Description

Technical Field

[0001] The present invention belongs to the field of emission monitoring of inland vessels, and in particular relates to a vehicle-road or ship-shore coordinated emission monitoring system and method. Background Art

[0002] With the construction of my country's comprehensive three-dimensional transportation network, the number of inland vessels has continued to increase, and large-scale and standardized vessels have continued to emerge. The following problems exist in the monitoring of inland vessels: inland vessels are scattered, discharge is random, there is a gap between the oil quality and vehicle oil, and the pollution discharge of inland vessels is not easy to perceive and difficult to supervise; the pollution discharge of inland vessels has a large impact and involves water sources; the environmental impact is large, and open environmental monitoring is difficult.

[0003] At present, the common emission monitoring method for inland vessels is mainly to install it at the ship's sewage outlet, which is a marine product. There is no sensing means on the shore side. The existing sensing means are incomplete.

[0004] Therefore, in order to timely perceive the emissions of inland vessels, an emission monitoring method, device and system for inland vessels are proposed to address the lack of perception means and the current confusion of ships, different ship types, different emissions and unclear perception. Summary of the invention

[0005] In view of the above problems, the object of the present invention is to provide a vehicle-road or ship-shore coordinated emission monitoring system and method.

[0006] The specific technical solution for achieving the purpose of the present invention is:

[0007] A vehicle-road or ship-shore collaborative emission monitoring system, comprising a vehicle-ship positioning collaborative terminal module, a roadside vehicle vibration monitoring module, a shore-side ship emission monitoring module and an intelligent monitoring module;

[0008] The vehicle-ship positioning cooperative terminal module is used to obtain high-precision positioning of vehicles or ships, and transmit the positioning information to the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module;

[0009] The roadside vehicle vibration monitoring module is arranged on the roadside, receives positioning information and monitors the traveling state and running state of the roadside vehicle, and transmits the positioning information and state information to the intelligent monitoring module;

[0010] The side ship emission monitoring module is arranged on the shore side, receives positioning information and monitors the traveling state and operation state of the ship, and transmits the positioning information and state information to the intelligent monitoring module;

[0011] The intelligent monitoring module realizes vehicle-road and ship-shore emission monitoring based on positioning information and ship and vehicle status information, and displays it in real time.

[0012] Furthermore, the vehicle-ship positioning cooperative terminal module includes a main control chip, a positioning unit and a communication unit;

[0013] The positioning unit is used to achieve precise positioning, and the main control chip transmits the positioning information obtained by the positioning unit to the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module through the communication unit;

[0014] The communication unit includes a built-in antenna to achieve communication with the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module.

[0015] Furthermore, the roadside vehicle vibration monitoring module includes a main control chip, a vibration sensor, a meteorological unit, a data transmission unit and a fixing bracket;

[0016] The fixing bracket is used to fix the roadside vehicle vibration monitoring module;

[0017] The vibration sensor is used to detect road vibration signals and determine the type of vehicle corresponding to the vibration through pre-calibration information;

[0018] The meteorological unit is used to sense local meteorological information and cooperate with the vibration signal sensed by the vibration sensor to assist in determining the vehicle type;

[0019] The main control chip receives the positioning information sent by the vehicle-ship positioning cooperative terminal module through the data transmission unit, and transmits the monitored vehicle vibration information to the intelligent monitoring module.

[0020] Furthermore, the shore-side ship emission monitoring module includes a main control chip, an emission monitoring sensor, a meteorological unit, a data transmission unit and a fixing bracket;

[0021] The fixing bracket is used to fix the shore-side ship emission monitoring module;

[0022] The emission monitoring sensor is used to sense ship emission information and determine emission ship information through prior calibration;

[0023] The meteorological unit is used to sense local meteorological information and cooperate with the emission signal sensed by the emission monitoring sensor to assist in determining the emission ship information;

[0024] The main control chip receives the positioning information sent by the vehicle-ship positioning cooperative terminal module through the data transmission unit, and transmits the monitored ship emission information to the intelligent monitoring module.

[0025] Furthermore, the intelligent monitoring module includes a high-precision map unit, a data analysis unit and a display unit;

[0026] The high-precision map unit of the intelligent monitoring module updates the high-precision map through the high-precision positioning information of the vehicle-ship positioning cooperative terminal module, and the data analysis unit determines the travel and operation status of vehicles or ships on the road side and the shore side based on the high-precision positioning information, vehicle information, and ship information.

[0027] Furthermore, the travel and operation status of the vehicles or ships on the road side and the shore side include:

[0028] Vehicle and vessel speed, power consumption, fuel consumption, and emissions;

[0029] The emissions are:

[0030] GNOX=B·(N·β+10-6·Vy·CNOx)

[0031] Among them, GNOX is the NOx emission, B is the fuel consumption, N is the nitrogen content in the fuel, β is the conversion rate of nitrogen in the fuel, Vy is the amount of smoke generated by the fuel, and CNOx is the temperature-type NO concentration.

[0032] The present invention also provides a vehicle-road or ship-shore coordinated emission monitoring method based on the above system, comprising the following steps:

[0033] The vehicle or ship positioning cooperative terminal module is used to obtain high-precision positioning of the vehicle or ship, and the positioning information is simultaneously transmitted to the roadside vehicle vibration monitoring module and the shore-side ship emission monitoring module, and then transmitted to the intelligent monitoring module through the roadside vehicle vibration monitoring module and the shore-side ship emission monitoring module;

[0034] The roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module determine the travel and operation status of the vehicle or ship;

[0035] The intelligent monitoring module determines the overall operating status of the vehicle or ship based on high-precision positioning information, vehicle information, and ship information, and realizes coordinated emission monitoring between vehicle and road or ship and shore.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] (1) The solution of the present invention realizes real-time monitoring of vehicles and ships on the road and the shore through the cooperation of the vehicle-ship positioning cooperative terminal module, the roadside vehicle vibration monitoring module, the shoreside ship emission monitoring module and the intelligent monitoring module; on the one hand, the positioning information of vehicles and ships is obtained, and the emission monitoring and vehicle and ship status information are monitored in combination with the emission information and meteorological information;

[0038] (2) The solution of the present invention can achieve high-precision positioning. Combined with the Beidou satellite system, it can be developed on the basis of open source maps. The long-term accumulated application will form a self-built map of road width, channel width, and roadside element points;

[0039] (3) The solution of the present invention can realize vehicle weight detection, which is applicable to typical road sections, distinguished from road deflection, and only screen out heavy-loaded trucks. It can correspond to the direction and speed of travel. Long-term accumulated application will form statistics and predictions on the heavy-load passenger vehicle throughput in a specific section;

[0040] (4) The scheme of the present invention can realize ship emission detection, which is applicable to typical waterway sections. It is different from the principle of ship-borne emission detection and can correspond to the direction and speed of travel. The long-term accumulated application will form the statistics and prediction of atmospheric pollution in specific sections;

[0041] (5) The solution of the present invention is applicable to integrated highway and waterway hubs, such as important highway freight channels, highway entrances and exits, large port areas, and navigation locks. It is based on high-precision positioning, vehicle weight conversion, and ship emission conversion, and integrates the wide application of highways and waterways. It has prominent key points, simple principles, convenient deployment, and easy expansion.

[0042] The present invention is further described below in conjunction with specific implementation modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the layout of the vehicle-road or ship-shore coordinated emission monitoring system in an embodiment of the present invention.

[0044] Figure 2 It is a schematic diagram of collecting data in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] Example

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. The described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an kind" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0048] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0049] Beidou high-precision positioning refers to the use of Beidou navigation satellite "static relative positioning technology" to obtain high-precision coordinates (millimeter level) of monitoring points. At present, the main high-precision satellite positioning method is the "static relative positioning method", which is suitable for important structures such as dams and bridges. The baseline vector between the base station and the monitoring station is solved by the principle of least squares adjustment. The monitoring station is considered to be stationary. By collecting a long period of time and a large amount of satellite observation data, it is gradually refined through iterative calculations to solve the high-precision baseline vector, thereby obtaining a "millimeter level" positioning result. The existing satellite positioning method has low positioning accuracy (generally 10 to 25 meters), signal blind spots (in mountainous areas, tunnels, and densely built areas), and low output frequency (generally about 1 to 10 Hz) when used for dynamic locations such as vehicles and ships. Therefore, when used for dynamic locations such as vehicles and ships, the base station is not densely deployed and the time-varying characteristics of the monitoring station cannot be applied. This solution adopts a hierarchical differential method, that is, the roadside or shoreside equipment works for 5 minutes to obtain the accurate position within 5 minutes; the roadside equipment broadcasts the position every 30 seconds, and the vehicle-mounted or ship-mounted high-precision positioning terminal obtains the correction value through the network and other means. Multiple roadside or shoreside equipment can correspond to a single vehicle-mounted or ship-mounted terminal to form a high-precision positioning network. Figure 1 As shown;

[0050] More specifically, a vehicle-road or ship-shore collaborative emission monitoring system includes a vehicle-ship positioning collaborative terminal module, a roadside vehicle vibration monitoring module, a shore-side ship emission monitoring module and an intelligent monitoring module;

[0051] The vehicle-ship positioning cooperative terminal module is used to obtain high-precision positioning of vehicles or ships, and transmit the positioning information to the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module;

[0052] The roadside vehicle vibration monitoring module is arranged on the roadside, receives positioning information and monitors the traveling state and running state of the roadside vehicle, and transmits the positioning information and state information to the intelligent monitoring module;

[0053] The side ship emission monitoring module is arranged on the shore side, receives positioning information and monitors the traveling state and operation state of the ship, and transmits the positioning information and state information to the intelligent monitoring module;

[0054] The intelligent monitoring module realizes vehicle-road and ship-shore emission monitoring based on positioning information and ship and vehicle status information, and displays it in real time.

[0055] The vehicle-ship positioning cooperative terminal module includes a main control chip MCU, a positioning unit and a communication unit;

[0056] The positioning unit is used to achieve precise positioning. The main control chip MCU transmits the positioning information obtained by the positioning unit to the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module through the communication unit. The positioning unit can correspond to the high-precision map of the intelligent monitoring module, support open source self-built maps, or accumulate and form self-made high-precision maps;

[0057] The communication unit includes a built-in antenna to achieve communication with the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module.

[0058] The roadside vehicle vibration monitoring module includes a main control chip, a vibration sensor, a meteorological unit, a data transmission unit and a fixing bracket;

[0059] The fixing bracket is used to fix the roadside vehicle vibration monitoring module and stabilize the corresponding sensor;

[0060] The vibration sensor is used to detect road vibration signals and determine the type of vehicle corresponding to the vibration through pre-calibration information, such as passenger cars, medium-duty trucks with a load capacity of 20 tons and 59 tons;

[0061] The meteorological unit is used to sense local meteorological information, responsible for sensing local rain, wind, and fog information, and cooperates with the vibration signal sensed by the vibration sensor (such as the vehicle speed is reduced in abnormal weather conditions, and the vibration information is weighted) to assist in determining the vehicle type;

[0062] The roadside vehicle vibration monitoring module also has a built-in high-precision positioning module to indicate the location on the roadside or shore side. Multiple high-precision positioning terminals based on Beidou technology can form a differential network and be regarded as differential base stations. The vehicle-ship positioning collaborative terminal module performs differential positioning with the differential base stations.

[0063] Based on this, the integration of information from high-precision positioning and vibration sensors can support information collection and communication in Beidou blind spots such as tunnels.

[0064] The main control chip receives the positioning information sent by the vehicle-ship positioning cooperative terminal module through the data transmission unit, and transmits the monitored vehicle vibration information to the intelligent monitoring module.

[0065] The traditional method of measuring the external dimensions of a vehicle is mainly parking measurement. The vehicle is parked on a specified measuring scale. In addition to the scale, an infrared light curtain and a beam photoelectric sensor are installed to measure the length of the vehicle. The laser rangefinder on the top is then used to perform a line scan of the vehicle to obtain the height and width of the vehicle. The advantage of this method is that it can obtain the weight, length and width information of the vehicle more accurately. The disadvantage is that it is time-consuming, inefficient and does not meet actual needs. The existing vehicle weight and overload measurement methods are mostly seen in overload control stations. They can achieve overload and overload tests at 80 kilometers per hour, but are subject to many restrictions such as lane restrictions and dynamic road weighing. The advantage is that the vehicle can be measured without stopping. The disadvantage is that the number of required equipment and photoelectric controllers is large, and the number of photoelectric controllers determines the accuracy of the measurement, and there are many influencing factors. This solution obtains the corresponding relationship between vibration and vehicle weight through samples, abandoning the traditional idea of ​​obtaining weight through the number of vehicle axles. In specific operations, first, four vibration information peaks of about 5 tons for a passenger car, about 10 tons for a medium-sized empty truck, about 30 tons for a medium-sized heavy-loaded truck, and about 50 tons for a heavy-loaded truck are taken as benchmark data, and frequency analysis (maximum vibration speed, frequency, acceleration) is performed on the vibration data of the entire vehicle through a 50-meter section, and a corresponding proportional relationship is made for the four benchmark data to obtain the approximate weight.

[0066] The shore-side ship emission monitoring module includes a main control chip, an emission monitoring sensor, a meteorological unit, a data transmission unit and a fixing bracket;

[0067] The fixing bracket is used to fix the shore-side ship emission monitoring module;

[0068] The emission monitoring sensor is used to sense ship emission information and determine the emission ship information through pre-calibration, such as calibrating three types of ships with a gross tonnage of 500, 1,000 and 3,000 tons. The shore-side equipment stores the maximum value of the entire emission process and uses wavelet amplification technology to reversely infer ship emissions. Compared with the roadside equipment, the meteorological module has a higher weight;

[0069] Including: discharge of three types of ships with a gross tonnage of 500, 1000 and 3000, the distance between the ship discharge port and the shore equipment is 10 meters, and the reference value is Np (p = 1, 2, ..., P);

[0070] Based on the local amplification pattern recognition of low-frequency similarity, the reference data fi (i=1, 2, ..., N) is decomposed by wavelet multi-scale to obtain the low-frequency similarity data set Aifj on the decomposition scale j;

[0071] Compare the collected data g, perform wavelet multi-scale transformation, and obtain the low-frequency sub-similarity Aig on the same scale as Aifj;

[0072] Calculate the similarity Cri between Aifj and Ajg;

[0073] Judgment, if the similarity calculation result between the image to be identified and a certain type of partial discharge reference value is Crk (k = 1, 2, ..., ND), then calculate the closeness Dp between the sample to be identified and each type of enlarged pattern; the reference partial discharge image pattern corresponding to the maximum Dp is the recognition result, corresponding to the actual value of the emission obtained at multiple scales.

[0074] In general, the idea of ​​fuzzy classification is adopted. Since the total tonnage of the ship is directly related to emissions, the fuzzy definition is divided into three levels;

[0075] Since the emission monitoring sensors of actual ships and vehicles are installed later, it is necessary to judge the emission attenuation by the spacing between the sensors. Obviously, the shorter the spacing, the higher the accuracy. In fact, the installation spacing can sometimes reach 1 meter, so the coefficient will be adjusted accordingly.

[0076] After that, the overall parameters of the low-frequency parameters are firstly locally amplified, and the emission data is analogized to obtain an interval. Corresponding to the detection results, the emission is analogized by level, spacing, and amplification, and the emission is divided into a certain interval;

[0077] The meteorological unit is used to sense local meteorological information and cooperate with the emission signal sensed by the emission monitoring sensor to assist in determining the emission ship information;

[0078] The main control chip receives the positioning information sent by the vehicle-ship positioning cooperative terminal module through the data transmission unit, and transmits the monitored ship emission information to the intelligent monitoring module.

[0079] China's coastal areas, the Yangtze River main channel and the Xijiang River main channel have been included in the control area. Affected by the failure and maintenance of shipboard oil and gas equipment, the actual emissions of a single ship are easily affected by the shipboard equipment. There is still no intelligent means to regulate the emissions of sulfur oxides, particulate matter emissions, etc. The traditional shipborne equipment inspection cannot achieve accurate control of all actual sailing ships. In principle, the existing emission sensing equipment includes two types: fixed and portable. Fixed sniffers have high structural requirements and are easily affected by distance. Portable gas measuring instruments require close-range measurement on board, which greatly reduces the detection efficiency. The innovation of this solution is: matching the changes in the ship's travel speed through shore-side equipment to obtain the corresponding relationship between the ship and the emission, abandoning the traditional single-ship emission control idea. The emission data obtained in this embodiment is as follows Figure 2 shown.

[0080] The intelligent monitoring module includes a high-precision map unit, a data analysis unit and a display unit;

[0081] The high-precision map unit of the intelligent monitoring module updates the high-precision map through the high-precision positioning information of the vehicle-ship positioning cooperative terminal module, and the data analysis unit determines the travel and operation status of vehicles or ships on the road side and the shore side based on the high-precision positioning information, vehicle information, and ship information.

[0082] Furthermore, the travel and operation status of the vehicles or ships on the road side and the shore side include:

[0083] Vehicle and vessel speed, power consumption, fuel consumption, and emissions;

[0084] The emissions are:

[0085] GNOX=B·(N·β+10-6·Vy·CNOx)

[0086] Among them, GNOX is the NOx emission, B is the fuel consumption, N is the nitrogen content in the fuel, β is the conversion rate of nitrogen in the fuel, Vy is the amount of smoke generated by the fuel, and CNOx is the temperature-type NO concentration.

[0087] The present invention also provides a vehicle-road or ship-shore coordinated emission monitoring method based on the above system, comprising the following steps:

[0088] The vehicle or ship positioning cooperative terminal module is used to obtain high-precision positioning of the vehicle or ship, and the positioning information is simultaneously transmitted to the roadside vehicle vibration monitoring module and the shore-side ship emission monitoring module, and then transmitted to the intelligent monitoring module through the roadside vehicle vibration monitoring module and the shore-side ship emission monitoring module;

[0089] The roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module determine the travel and operation status of the vehicle or ship;

[0090] The intelligent monitoring module determines the overall operating status of the vehicle or ship based on high-precision positioning information, vehicle information, and ship information, and realizes coordinated emission monitoring between vehicle and road or ship and shore.

[0091] The travel and operation status of the vehicles or ships on the road side and the shore side include:

[0092] Vehicle and vessel speed, power consumption, fuel consumption, and emissions;

[0093] The emissions are:

[0094] GNOX=B·(N·β+10-6·Vy·CNOx)

[0095] Among them, GNOX is the NOx emission, B is the fuel consumption, N is the nitrogen content in the fuel, β is the conversion rate of nitrogen in the fuel, Vy is the amount of smoke generated by the fuel, and CNO is the temperature-type NO concentration.

[0096] The present invention is based on the shore side, realizes the approximate position of inland river vessels and oil pollution discharge, gas discharge, etc., and is installed in combination with brackets deployed on the shore side. Combined with satellite positioning, video perception and comprehensive perception of multiple types of sensors, accurate perception of emissions from inland river vessels in sections is achieved. The method has clear positioning, easy-to-move and easy-to-deploy equipment, and makes full use of existing facilities. It can be applied to emission monitoring of dynamic inland river vessels and can be used for the management and control of inland waterways. The method is easy to implement and can be used for ship law enforcement management, with significant effects and broad prospects for engineering applications.

[0097] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A vehicle-road or ship-shore coordinated emission monitoring system, characterized in that: It includes vehicle-ship positioning cooperative terminal module, road-side vehicle vibration monitoring module, shore-side ship emission monitoring module and intelligent monitoring module; The vehicle-ship positioning cooperative terminal module is used to obtain high-precision positioning of vehicles or ships, and transmit the positioning information to the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module; The roadside vehicle vibration monitoring module is arranged on the roadside, receives positioning information and monitors the traveling state and running state of the roadside vehicle, and transmits the positioning information and state information to the intelligent monitoring module; The side ship emission monitoring module is arranged on the shore side, receives positioning information and monitors the traveling state and operation state of the ship, and transmits the positioning information and state information to the intelligent monitoring module; The intelligent monitoring module realizes vehicle-road and ship-shore emission monitoring based on positioning information and ship and vehicle status information, and displays it in real time.

2. The vehicle-road or ship-shore coordinated emission monitoring system according to claim 1, characterized in that: The vehicle-ship positioning cooperative terminal module includes a main control chip, a positioning unit and a communication unit; The positioning unit is used to achieve precise positioning, and the main control chip transmits the positioning information obtained by the positioning unit to the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module through the communication unit; The communication unit includes a built-in antenna to achieve communication with the roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module.

3. The vehicle-road or ship-shore coordinated emission monitoring system according to claim 1, characterized in that: The roadside vehicle vibration monitoring module includes a main control chip, a vibration sensor, a meteorological unit, a data transmission unit and a fixing bracket; The fixing bracket is used to fix the roadside vehicle vibration monitoring module; The vibration sensor is used to detect road vibration signals and determine the type of vehicle corresponding to the vibration through pre-calibration information; The meteorological unit is used to sense local meteorological information and cooperate with the vibration signal sensed by the vibration sensor to assist in determining the vehicle type; The main control chip receives the positioning information sent by the vehicle-ship positioning cooperative terminal module through the data transmission unit, and transmits the monitored vehicle vibration information to the intelligent monitoring module.

4. The vehicle-road or ship-shore coordinated emission monitoring system according to claim 1, characterized in that: The shore-side ship emission monitoring module includes a main control chip, an emission monitoring sensor, a meteorological unit, a data transmission unit and a fixing bracket; The fixing bracket is used to fix the shore-side ship emission monitoring module; The emission monitoring sensor is used to sense ship emission information and determine emission ship information through prior calibration; The meteorological unit is used to sense local meteorological information and cooperate with the emission signal sensed by the emission monitoring sensor to assist in determining the emission ship information; The main control chip receives the positioning information sent by the vehicle-ship positioning cooperative terminal module through the data transmission unit, and transmits the monitored ship emission information to the intelligent monitoring module.

5. The vehicle-road or ship-shore coordinated emission monitoring system according to claim 1, characterized in that: The intelligent monitoring module includes a high-precision map unit, a data analysis unit and a display unit; The high-precision map unit of the intelligent monitoring module updates the high-precision map through the high-precision positioning information of the vehicle-ship positioning cooperative terminal module, and the data analysis unit determines the travel and operation status of vehicles or ships on the road side and the shore side based on the high-precision positioning information, vehicle information, and ship information.

6. The vehicle-road or ship-shore coordinated emission monitoring system according to claim 5, characterized in that: The travel and operation status of the vehicles or ships on the road side and the shore side include: Vehicle and vessel speed, power consumption, fuel consumption, and emissions; The emissions are: GNOX=B·(N·β+10-6·Vy·CNOx) Among them, GNOX is the NOx emission, B is the fuel consumption, N is the nitrogen content in the fuel, β is the conversion rate of nitrogen in the fuel, Vy is the amount of smoke generated by the fuel, and CNOx is the temperature-type NO concentration.

7. The vehicle-road or ship-shore coordinated emission monitoring method according to claim 1, characterized in that: The following steps are involved: The vehicle or ship positioning cooperative terminal module is used to obtain high-precision positioning of the vehicle or ship, and the positioning information is simultaneously transmitted to the roadside vehicle vibration monitoring module and the shore-side ship emission monitoring module, and then transmitted to the intelligent monitoring module through the roadside vehicle vibration monitoring module and the shore-side ship emission monitoring module; The roadside vehicle vibration monitoring module and the shoreside ship emission monitoring module determine the travel and operation status of the vehicle or ship; The intelligent monitoring module determines the overall operating status of the vehicle or ship based on high-precision positioning information, vehicle information, and ship information, and realizes coordinated emission monitoring between vehicle and road or ship and shore.

8. The vehicle-road or ship-shore coordinated emission monitoring method according to claim 7 is characterized in that: The travel and operation status of the vehicles or ships on the road side and the shore side include: Vehicle and vessel speed, power consumption, fuel consumption, and emissions; The emissions are: GNOX=B·(N·β+10-6·Vy·CNOx) Among them, GNOX is the NOx emission, B is the fuel consumption, N is the nitrogen content in the fuel, β is the conversion rate of nitrogen in the fuel, Vy is the amount of smoke generated by the fuel, and CNOx is the temperature-type NO concentration.

Images