A method, system, and construction machinery for visualizing construction trajectories.

Abstract

This invention discloses a method, system, and type of engineering machinery for visualizing construction trajectories, belonging to the field of vehicle engineering technology. The method includes: constructing a transparency cache bitmap and calculating the overlay of transparency based on construction trajectory data; determining the area to be displayed on the screen in response to a screen display command; determining whether the area to be displayed contains dirty areas; if the area does not contain dirty areas, reusing the previous frame's screen display bitmap for screen drawing; otherwise, mapping the transparency of local cache windows to color values ​​sequentially based on a preset color lookup table and frame processing rules, and mapping the color values ​​to corresponding display pixels in a preset screen display bitmap, and performing screen drawing based on the current frame's screen display bitmap. This invention enables real-time visualization of engineering machinery movement trajectories under low cost, low computing power, and large data volume conditions.

Description

Technical Field

[0001] This invention belongs to the field of vehicle engineering technology, and in particular relates to a method, system and engineering machinery for visualizing the construction trajectory of engineering machinery. Background Technology

[0002] In the compaction phase of road construction, the number of compaction passes is a key indicator determining the quality of pavement compaction, directly affecting the road's load-bearing capacity and service life. The most basic method is to obtain compaction data manually. Construction workers visually observe the roller's trajectory, manually recording the compacted area and number of passes, while simultaneously using handheld temperature measuring devices to randomly check the compaction temperature. This method relies on manual experience and suffers from problems such as large recording errors, omissions in recording and compaction, and incomplete temperature monitoring. Furthermore, it cannot provide real-time feedback on compaction progress, easily leading to over-compaction or under-compaction in localized areas, thus affecting construction quality.

[0003] Some high-end road rollers are equipped with monitoring systems based on high-precision positioning and big data processing. These systems calculate the number of compaction passes using complex trajectory overlay algorithms and rely on high-performance hardware to render and display the data. However, such systems have high hardware costs, and their algorithms have strict requirements on the computing power of the equipment. They cannot be adapted to the low-configuration vehicle-mounted tablets widely used in construction scenarios (such as devices with less than 2GB of memory and a quad-core processor of less than 1.5GHz). When processing compaction trajectories with a construction area exceeding 10,000 square meters and a positioning data sampling frequency of 1Hz, traditional algorithms will experience problems such as data rendering stuttering (frame rate below 15fps), calculation delays exceeding 5 seconds, and even app crashes, failing to meet the needs of real-time monitoring. Summary of the Invention

[0004] The purpose of this invention is to provide a construction machinery construction trajectory visualization system and construction machinery, in order to solve the problem that existing construction machinery such as road rollers cannot achieve real-time visualization display of trajectory data under low cost, low computing power, and large data volume conditions.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention provides a method for visualizing the construction trajectory of engineering machinery, comprising the following steps:

[0007] Obtain construction trajectory data within the target construction area, map the construction trajectory data to the corresponding cached pixels in a preset transparency cache bitmap, and calculate the transparency of each cached pixel by superimposing the transparency of the cached pixels.

[0008] Extract the transparency of the cached pixels corresponding to the screen display area from the transparency cache bitmap and store them in a preset local cache window, wherein the screen display area includes dirty areas;

[0009] The dirty regions within the local cache window are merged, and the merged dirty regions are divided into several strip regions. Based on a preset color lookup table and frame processing rules, the transparency of the strip regions is mapped to color values ​​in sequence.

[0010] The color value is mapped to the corresponding display pixel in the preset screen display bitmap, and the screen display bitmap is superimposed with the previous frame screen display bitmap to obtain the current frame screen display bitmap. Screen drawing is performed based on the current frame screen display bitmap.

[0011] The method for calculating the overlay of transparency of cached pixels is as follows:

[0012] The transparency of cached pixels corresponding to dirty areas in the transparency cache bitmap is superimposed and calculated according to a preset first mapping relationship, wherein the first mapping relationship is:

[0013] Transparency = Transparency of the previous sampling period + Change in transparency

[0014] = (Transparency change value * Number of compaction passes) + Initial transparency.

[0015] The dirty areas include: old dirty areas in the screen display area that were not processed in the previous frame and new dirty areas that have changed in transparency compared to the previous frame.

[0016] The framing rules include:

[0017] Based on a time budget, a maximum time threshold is set for color conversion in each frame. When the cumulative processing time for a frame reaches the maximum time threshold, processing is immediately paused, and the remaining tasks are left for subsequent frames.

[0018] Based on the quantity budget, a maximum threshold for the number of strip regions to be processed per frame is set. When the number of processing in a frame reaches the maximum threshold, processing is immediately paused, and the remaining tasks are left for subsequent frames.

[0019] The local cache window includes a transparency cache bitmap corresponding to the screen area to be displayed. The screen area to be displayed includes the construction area to be displayed and its edge prefetching area. The edge prefetching area is the area corresponding to a preset display pixel value or preset world coordinate value that extends outward from the construction area to be displayed.

[0020] The method for extracting the transparency of the cached pixels corresponding to the area to be displayed on the screen from the transparency cache bitmap and storing it in a preset local cache window is as follows:

[0021] Based on the range and scaling ratio of the area to be displayed on the screen, calculate the world coordinate range corresponding to the construction area to be displayed. Then, expand the world coordinate range of the construction area to be displayed outwards by a certain range to obtain the world coordinate range corresponding to the local cache window. Initialize the local cache window based on the size of the world coordinate range corresponding to the local cache window. Map the world coordinate range corresponding to the local cache window to cache pixel coordinates in the transparency cache bitmap using a world-to-cache conversion matrix. Input the cache pixel coordinates and their transparency into the local cache window for storage.

[0022] In response to a screen display command, the area to be displayed on the screen is determined. If the area to be displayed on the screen does not contain dirty areas, the previous frame of the screen display bitmap is reused for screen drawing. The screen drawing result includes color values ​​and their corresponding number of compaction passes.

[0023] The construction trajectory data is obtained based on the position, direction of travel, and speed of the target construction machinery within a sampling period. The direction of travel includes: forward, reverse, small-angle turn, and large-angle turn; wherein, small-angle turn refers to a turn angle ≤ 30°, and large-angle turn refers to a turn angle > 30°.

[0024] When making a small-angle turn, the corresponding endpoints of the two rectangular units before and after sampling are directly connected to form a continuous polygonal region;

[0025] When making a sharp turn, the trajectories of the two rectangular units before and after sampling are smoothed using Bézier curves to form a smooth turning region. The rectangular unit is an equivalent physical model of the target engineering machinery.

[0026] Secondly, the present invention provides a construction machinery construction trajectory visualization system, comprising: a generation end, a consumption end, and a data buffer disposed between the generation end and the consumption end;

[0027] The generating end is used to acquire the motion data of the target construction machinery and generate the construction trajectory data of the target construction machinery based on the motion data;

[0028] The data buffer includes: a transparency cache bitmap, a screen display bitmap, and a local buffer window. The transparency cache bitmap stores the transparency of all world coordinates of the target construction area, the screen display bitmap stores the color value of the area to be displayed on the screen, and the local buffer window stores the transparency of the area to be displayed on the screen.

[0029] The consumer terminal is used to receive screen display instructions and send them to the processor, and to render and display the final image according to the screen display bitmap;

[0030] The processor is communicatively connected to the generating end, the data buffer, and the consumer end. The processor is used to construct a transparency cache bitmap based on the construction trajectory data, and to construct a screen display bitmap and a local buffer window based on screen display instructions.

[0031] Thirdly, the present invention provides an engineering machinery, including the engineering machinery construction trajectory visualization system as described above, or the engineering machinery construction trajectory visualization method as described above.

[0032] Beneficial effects: Compared with traditional vector Boolean / full map recalculation, the visualization method for construction machinery construction trajectories proposed in this application ensures processing speed and smooth interaction through transparency overlay calculation and color lookup table mapping. It is adaptable to low-end CPUs and does not require replacement with high-performance vehicle-mounted hardware. System deployment can be easily completed by simply installing an App based on the visualization method of this application on an existing low-end vehicle-mounted tablet. Through striping and time-budgeted frame-by-frame coloring, long-term blocking and screen flickering of the main thread are avoided, balancing real-time performance and stability, and enabling long-term operation. The monitoring equipment cost for a single road roller is reduced from 20,000 yuan in traditional intelligent systems to less than 5,000 yuan, significantly reducing the equipment investment of construction teams. It reduces the road rework rate caused by under-compaction and over-compaction. Based on a rework cost of 50,000 yuan per kilometer of road, it can reduce rework losses by 30%-50%. Construction personnel can view the "color pass heat map" in real time through the vehicle-mounted tablet interface, intuitively judge the compaction progress, and the operation threshold is low, requiring no professional training. Attached Figure Description

[0033] Figure 1 This is a flowchart of the construction machinery construction trajectory visualization method of the present invention;

[0034] Figure 2 This is a schematic diagram of the construction trajectory visualization system for engineering machinery of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1

[0037] refer to Figure 1 As shown, a method for visualizing the construction trajectory of engineering machinery includes the following steps:

[0038] Obtain construction trajectory data within the target construction area, map the construction trajectory data to the corresponding cached pixels in the transparency cache bitmap, and perform overlay calculations on the transparency of the cached pixels;

[0039] In response to screen display commands, the system determines the construction area to be displayed corresponding to the area to be displayed on the screen. If the construction area to be displayed does not contain dirty areas, the previous frame's screen display bitmap is reused for screen drawing. Otherwise, the system extracts the transparency of the construction area to be displayed and the corresponding cached pixels at its edges from the transparency cache bitmap and stores it in the local cache window. Dirty areas within the local cache window are merged, and the merged dirty areas are divided into several strip regions. Based on a preset color lookup table and frame processing rules, the transparency of the strip regions is mapped to color values ​​in sequence, and the color values ​​are mapped to the display pixels of the screen display bitmap. The screen display bitmap is superimposed with the previous frame's screen display bitmap to obtain the current frame's screen display bitmap, and screen drawing is performed based on the current frame's screen display bitmap.

[0040] The visualization method described above will be explained using a road roller as an example.

[0041] Multiple sensors deployed on the road roller are used to acquire real-time motion data of the road roller, including position, direction of travel, and speed data. Based on the position, direction of travel, and speed, the construction trajectory data of the road roller within the target construction area within a sampling period is obtained. The direction of travel includes forward, reverse, small-angle turn, and large-angle turn. The construction trajectory data includes the world coordinates of each point in the target construction area and the trajectory of the compaction operation.

[0042] The movement of the road roller can be equivalent to the translational motion of a rectangular unit, which is the equivalent physical model of the target construction machinery. The area covered by the rectangular unit is the current construction area. When reversing, the consistency of the left and right endpoints of the two rectangular units before and after sampling is corrected (left to left, right to right) to avoid self-intersection and triangles. When making a small-angle turn (turning angle ≤ 30°), the corresponding endpoints of the two rectangular units before and after sampling are directly connected to form a continuous polygonal area. When making a large-angle turn (turning angle > 30°), the trajectory of the two rectangular units before and after sampling is smoothed by Bézier curve to form a smooth turning area.

[0043] The generated construction trajectory data is added to the data cache at fixed time intervals. A world-to-cache transformation matrix is ​​used to convert the world coordinates of each point in the construction trajectory data into the positions of cached pixels in the transparency cache bitmap. The transparency of the cached pixels corresponding to the dirty areas in the transparency cache bitmap is then calculated by superimposing the first mapping relationship of "transparency - number of compaction passes". The first mapping relationship is obtained through a preset single transparency change value and the number of compaction passes, and the formula is:

[0044] Transparency = Transparency of the previous sampling period + Change in transparency

[0045] = (Transparency change value * Number of compaction passes) + Initial transparency.

[0046] A transparency cache bitmap is a dedicated storage structure such as a two-dimensional array or sequence for storing transparency. Each cached pixel in the transparency cache bitmap has an initial transparency of 0. With each increase in the compaction pass, the corresponding transparency increases by a preset value until the maximum transparency is reached, indicating that the maximum compaction pass has been achieved. For example, when construction machinery passes through a certain area for the first time, the transparency of each cached pixel in that area is 10. When it passes through the area a second time, the transparency of each cached pixel in that area becomes 20.

[0047] The screen display commands include: full display of the entire construction area and display of a portion of the construction area.

[0048] In construction mode, when it is necessary to fully display the entire construction area or to pan and scale the display of a portion of the construction area, the construction area to be displayed on the screen contains dirty areas. The transparency of the construction area to be displayed on the screen and the corresponding cached pixels of its edge prefetched area are extracted from the transparency cache bitmap and stored in the local cache window. At this time, the dirty area corresponding to the local cache window contains both the old dirty area data that was not processed in the previous frame and the newly added dirty area data (new dirty area) whose transparency has changed. After merging the two, the dirty area data that needs to be processed is obtained. The merged dirty area is divided into several strip regions. Based on the preset color lookup table and frame processing rules, the transparency of the strip regions is mapped to color values ​​in turn.

[0049] In this embodiment, the local cache window includes a transparency cache bitmap corresponding to the screen area to be displayed. The screen area to be displayed includes the construction area to be displayed and its edge prefetch area. The method for extracting the transparency of the cached pixels corresponding to the screen area to be displayed from the transparency cache bitmap and storing it in the preset local cache window is as follows: Calculate the world coordinate range corresponding to the construction area to be displayed based on the range and scaling ratio of the screen area to be displayed; expand a certain range (i.e., the edge prefetch area) around the world coordinate range of the construction area to be displayed to obtain the world coordinate range corresponding to the local cache window; initialize the local cache window based on the size of the world coordinate range corresponding to the local cache window; map the world coordinate range corresponding to the local cache window to the coordinates of cached pixels in the transparency cache bitmap through a world-to-cache transformation matrix; and input the cached pixel coordinates and their transparency into the local cache window for storage. Because of the edge prefetch area, when the screen area to be displayed moves or scales slightly, it is not necessary to immediately rebuild the entire local cache window. When the entire construction area is fully displayed, the value of this edge prefetch area can be 0.

[0050] In this embodiment, the dirty area is divided into multiple strip regions at a fixed height (e.g., 32 pixels), and each strip region is entered into the processing queue as an independent unit to be processed for sequential processing.

[0051] The color lookup table stores a second mapping relationship between "transparency and color value". This second mapping relationship can be a continuous mapping with equal steps: the transparency value uniformly corresponds to the gradient color, which is suitable for displaying continuous changes; or a discrete palette mapping: the transparency range is divided into several intervals corresponding to the number of compaction passes, and each interval corresponds to a fixed color, which is suitable for displaying the number of compaction passes.

[0052] Set the animation per frame (e.g., approximately 16.7 milliseconds per frame when there are 60 frames per second), and the frame processing rules are as follows: Based on the time budget, set the maximum time threshold for color conversion in each frame. When the cumulative processing time of this frame reaches the maximum time threshold, the processing is immediately paused, and the remaining tasks are left for subsequent frames to process; Based on the quantity budget, set the maximum number of strip areas to be processed in each frame. When the number of strip areas processed in this frame reaches the quantity threshold, the processing is paused.

[0053] The color values ​​are written to the corresponding display pixels of the screen display bitmap. The screen display bitmap is then overlaid with the previous frame's screen display bitmap to obtain the current frame's screen display bitmap. Screen drawing is performed based on the current frame's screen display bitmap. Only a local interface is updated, i.e., the newly processed strip area, rather than the entire screen, reducing interface flicker and resource waste.

[0054] When displaying a partial construction area, the area to be displayed on the screen may not contain any changed dirty areas. In this case, the area to be displayed on the screen does not change, and no complex calculations are required. The previous frame's screen display bitmap can be directly reused for screen drawing.

[0055] Example 2

[0056] refer to Figure 2 As shown, a construction machinery construction trajectory visualization system includes:

[0057] A generator, a consumer, and a data buffer located between the generator and the consumer;

[0058] The generating end is used to acquire the motion data of the target construction machinery and generate the construction trajectory data of the target construction machinery based on the motion data;

[0059] The data buffer includes: a transparency cache bitmap, a screen display bitmap, and a local buffer window. The transparency cache bitmap stores the transparency of all world coordinates of the target construction area, the screen display bitmap stores the color value of the area to be displayed on the screen, and the local buffer window stores the transparency of the area to be displayed on the screen.

[0060] The consumer terminal is used to receive screen display instructions and send them to the processor, and to render and display the final image according to the screen display bitmap;

[0061] The processor is communicatively connected to the generating end, the data buffer, and the consumer end. The processor is used to construct a transparency cache bitmap based on the construction trajectory data, and to construct a screen display bitmap and a local buffer window based on screen display instructions.

[0062] The generator is communicatively connected to several sensors installed on the target construction machinery. The sensors are used to collect motion data of the target construction machinery, and include position sensors, speed sensors, and direction sensors.

[0063] The processor includes:

[0064] An initialization module is used to initialize a transparency cache bitmap, a screen display bitmap, and a local buffer window in the data buffer.

[0065] The transparency overlay module is used to map construction trajectory data to corresponding cached pixels in the transparency cache bitmap and to perform overlay calculations on the transparency of the cached pixels.

[0066] The dirty area management module is used to determine and merge dirty areas within a local cache window, and divides the merged dirty areas into several strip regions.

[0067] The frame-by-frame coloring module maps the transparency of the strip area to color values ​​in sequence based on a preset color lookup table and frame processing rules, and then maps the color values ​​to the display pixels of the screen display bitmap.

[0068] The time spent on color processing per frame is ≤Tmax ms, and the number of strip regions processed per frame is ≤Nmax. This avoids interface lag caused by processing a large amount of data at once. Tmax represents the maximum time threshold for color conversion per frame, and its value is related to the screen refresh rate. Nmax represents the maximum number of strip regions processed per frame, and its value is related to the screen refresh rate.

[0069] The dirty area includes: the dirty area in the screen to be displayed that was not processed in the previous frame and the area whose transparency has changed compared to the previous frame.

[0070] The motion data of the target construction machinery is acquired at least once per second.

[0071] The screen display area includes: the construction area to be displayed and its edge pre-fetching area. The edge pre-fetching area includes the area corresponding to the preset display pixel value or preset world coordinate value that extends outward from the construction area to be displayed.

[0072] The architecture of separating the generation and consumption ends can ensure that the collection and injection frequency of construction trajectory data on the generation end is stable. When drawing complex interfaces, it does not affect the continuous reception of new data. The consumption end maintains a stable data processing speed, meeting the reliability goal of "adding one trajectory per second and running continuously for 8 hours".

[0073] Example 3

[0074] This invention also provides an engineering machinery, which includes the engineering machinery construction trajectory visualization system described in Embodiment 2 above, or implements the engineering machinery construction trajectory visualization method described in Embodiment 1.

[0075] Construction machinery includes: road rollers, pavers, milling machines, excavators, cranes, pump trucks, and mixer trucks.

[0076] Specifically, the logic of the above-mentioned construction trajectory visualization method can be deployed in the controller of the construction machinery, or in the central control screen of the construction machinery, and the construction trajectory in the whole or part of the construction area can be displayed on the screen of the central control screen for easy viewing by the operator.

[0077] In summary, compared with traditional vector Boolean / full map recalculation, the construction machinery trajectory visualization method of this application ensures processing speed and smooth interaction through transparency overlay calculation and color lookup table mapping. It is adaptable to low-end CPUs and does not require replacement with high-performance vehicle hardware. System deployment can be easily completed by simply installing an App based on the visualization method of this application on an existing low-end vehicle tablet. Through striping and time-budgeted frame-by-frame coloring, long-term blocking and screen flickering of the main thread are avoided, balancing real-time performance and stability, and enabling long-term operation. The monitoring equipment cost of a single road roller is reduced from 20,000 yuan in traditional intelligent systems to less than 5,000 yuan, significantly reducing the equipment investment of the construction team. It reduces the road rework rate caused by under-compaction and over-compaction. Based on a rework cost of 50,000 yuan per kilometer of road, it can reduce rework losses by 30%-50%. Construction personnel can view the "color pass heat map" in real time through the vehicle tablet interface, intuitively judge the compaction progress, and the operation threshold is low, requiring no professional training.

[0078] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for visualizing the construction trajectory of engineering machinery, characterized in that, Includes the following steps: Obtain construction trajectory data within the target construction area, map the construction trajectory data to the corresponding cached pixels in a preset transparency cache bitmap, and calculate the transparency of each cached pixel by superimposing the transparency of the cached pixels. Extract the transparency of the cached pixels corresponding to the screen display area from the transparency cache bitmap and store them in a preset local cache window, wherein the screen display area includes dirty areas; The dirty regions within the local cache window are merged, and the merged dirty regions are divided into several strip regions. Based on a preset color lookup table and frame processing rules, the transparency of the strip regions is mapped to color values ​​in sequence. The color value is mapped to the corresponding display pixel in the preset screen display bitmap, and the screen display bitmap is superimposed with the previous frame screen display bitmap to obtain the current frame screen display bitmap. Screen drawing is performed based on the current frame screen display bitmap.

2. The method for visualizing the construction trajectory of engineering machinery according to claim 1, characterized in that, The method for calculating the overlay of transparency of cached pixels is as follows: The transparency of cached pixels corresponding to dirty areas in the transparency cache bitmap is superimposed and calculated according to a preset first mapping relationship, wherein the first mapping relationship is: Transparency = Transparency of the previous sampling period + Change in transparency = (Transparency change value * Number of compaction passes) + Initial transparency.

3. The method for visualizing the construction trajectory of engineering machinery according to claim 1, characterized in that, The dirty areas include: old dirty areas in the screen display area that were not processed in the previous frame and new dirty areas that have changed in transparency compared to the previous frame.

4. The method for visualizing the construction trajectory of engineering machinery according to claim 1, characterized in that, The framing rules include: Based on a time budget, a maximum time threshold is set for color conversion in each frame. When the cumulative processing time for a frame reaches the maximum time threshold, processing is immediately paused, and the remaining tasks are left for subsequent frames. Based on the quantity budget, a maximum threshold for the number of strip regions to be processed per frame is set. When the number of processing in a frame reaches the maximum threshold, processing is immediately paused, and the remaining tasks are left for subsequent frames.

5. The method for visualizing the construction trajectory of engineering machinery according to claim 1, characterized in that, The local cache window includes a transparency cache bitmap corresponding to the screen area to be displayed. The screen area to be displayed includes the construction area to be displayed and its edge prefetching area. The edge prefetching area is the area corresponding to a preset display pixel value or preset world coordinate value that extends outward from the construction area to be displayed.

6. The method for visualizing the construction trajectory of engineering machinery according to claim 1 or 5, characterized in that, The method for extracting the transparency of the cached pixels corresponding to the area to be displayed on the screen from the transparency cache bitmap and storing it in a preset local cache window is as follows: Based on the range and scaling ratio of the area to be displayed on the screen, calculate the world coordinate range corresponding to the construction area to be displayed. Then, expand the world coordinate range of the construction area to be displayed outwards by a certain range to obtain the world coordinate range corresponding to the local cache window. Initialize the local cache window based on the size of the world coordinate range corresponding to the local cache window. Map the world coordinate range corresponding to the local cache window to cache pixel coordinates in the transparency cache bitmap using a world-to-cache conversion matrix. Input the cache pixel coordinates and their transparency into the local cache window for storage.

7. The method for visualizing the construction trajectory of engineering machinery according to claim 1, characterized in that, In response to a screen display command, the area to be displayed on the screen is determined. If the area to be displayed on the screen does not contain dirty areas, the previous frame of the screen display bitmap is reused for screen drawing. The screen drawing result includes color values ​​and their corresponding number of compaction passes.

8. The method for visualizing the construction trajectory of engineering machinery according to claim 1, characterized in that, The construction trajectory data is obtained based on the position, direction of travel, and speed of the target construction machinery within a sampling period. The direction of travel includes: forward, reverse, small-angle turn, and large-angle turn; wherein, small-angle turn refers to a turn angle ≤ 30°, and large-angle turn refers to a turn angle > 30°. When making a small-angle turn, the corresponding endpoints of the two rectangular units before and after sampling are directly connected to form a continuous polygonal region; When making a sharp turn, the trajectories of the two rectangular units before and after sampling are smoothed using Bézier curves to form a smooth turning region. The rectangular unit is an equivalent physical model of the target engineering machinery.

9. A visualization system for the construction trajectory of engineering machinery, characterized in that, include: A generator, a consumer, and a data buffer located between the generator and the consumer; The generating end is used to acquire the motion data of the target construction machinery and generate the construction trajectory data of the target construction machinery based on the motion data; The data buffer includes: a transparency cache bitmap, a screen display bitmap, and a local buffer window. The transparency cache bitmap stores the transparency of all world coordinates of the target construction area, the screen display bitmap stores the color value of the area to be displayed on the screen, and the local buffer window stores the transparency of the area to be displayed on the screen. The consumer terminal is used to receive screen display instructions and send them to the processor, and to render and display the final image according to the screen display bitmap; The processor is communicatively connected to the generating end, the data buffer, and the consumer end. The processor is used to construct a transparency cache bitmap based on the construction trajectory data, and to construct a screen display bitmap and a local buffer window based on screen display instructions.

10. An engineering machinery, characterized in that, Includes the construction machinery trajectory visualization system as described in claim 9, or implements the construction machinery trajectory visualization method as described in any one of claims 1 to 8 above.

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